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Thread: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

  1. #1
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    How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    Hi guys,
    at first sorry for my poor english, I'm a Kraut.
    I wasted within the last weeks a lot of time trying to get KevinO's hexapod_ros-stack running on a Raspberry 3 for my PhantomX MKIII.
    At the moment the ROS repository is quite inconsistent in my mind. I tried it with Jessie and Xenial, on a Raspi2 and a Raspi3, with Indigo and Kinetic, from source and precompiled, from the ros- and the ros-shadow-fixed repositories. Every time after a lot of work in all variants there came insurmountable barriers in form of undiscoverable packages, unresolvable dependencies, hard compiler errors within the sources or incompatible compiler options and so on.
    There are a lot of tutorials in the web. But the most of them are outdated and the remaining tutorials causes the problems written before. I also tried the HowTo in the ROS-Wiki for Indigo and Kinetic without success.
    For example I've need one week till I found a hint in the net, that ROS Indigo will not run on Raspi 3 but only on Raspi 2. For Raspi 3 only ROS Kinetic is working.
    So I want to ask here for a working tutorial to install ROS and KevinO's stack an a Raspi (preferably a Raspi3). May be someone can provide a SD-card-image running in his PhantomX.
    I'm more interested in making experiments with robots and programming them instead of the annoying and frustrating (and especially ineffective) tries to install a working robot stack.

    My hardware:
    - PhantomX MKIII (AX-12)
    - Raspi 2 and Raspi 3
    - Asus Xtion Pro Live
    - IMU PhidgetSpatial 3/3/3 Basic
    - audio amplifier and speaker for audio output of the Raspi
    - no USB2AX but a logic for using the normal serial output of the Raspi for communication with the Dynamixel-servos
    - wireless PS3-controller

    Is there a chance to get this stack running on a Raspi 3 or must I downgrade to my Raspi 2? Does anyone have a working tutorial for this way inclusive the fitting compiler options and hints for unresolved dependencies, missing includes, undiscoverable packages and all the other nice banters within the ROS-repositories?

    I would very appreciating if there is a hero in shining armor having a solution for this frustrating problem.
    Last edited by SnowHead; 10-01-2016 at 04:07 AM.

  2. #2

    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    I believe there has been another person installing the Kevin's ROS stack on RPI. So far I don't think it matters much if installing on RPI2 or RPI3 as I believe they use the same image. That is I don't believe thee are any 64 bit releases yet for RPI3.

    What I don't remember is if they were using Debian or if they installed Ubuntu on their board.

    If it were me, I would try installing Ubuntu on it: https://wiki.ubuntu.com/ARM/RaspberryPi

    Then you should be able to do the same steps I did to install Rps Kinetic, which has support for Armf in pre built packages:
    http://wiki.ros.org/kinetic/Installation/Ubuntu

    Then you can probably do the same steps I did for Odroids in the posting: http://forums.trossenrobotics.com/sh...2135#post72135

    But maybe someone who has done it on RPI will chime in.

    Good Luck

  3. #3
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    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    Hi Kurt,
    thank you for your hints. Till now I only tried the official Ubuntu-Raspi-distributions Jessie and Xenial from the raspi-homepage. I'll try this weekend this unofficial one.
    But (for example) in the installation tutorial you linked is recommended the "ros-kinetic-desktop-full"-package. But this package is not available. So I tried in previous sessions to install the needed packages separate with the described problems with unresolvable dependencies and missing packages. For example for "rtabmap-ros" (needed by Kevins stack) there is a dependency to rviz. But I found no way to install rviz on a Raspi3. Always the old problem with missing packages and dependencies. Trying to install one package, there are needed a lot of other packages which also needs other packages by themself. This was a endless chain and I gave up frustrated.

  4. #4

    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    Again others are better at answering direct ROS stuff.

    Yes - Full was not available, so I just installed desktop on the Odroid.

    Now with ARM, things like gazebo and rviz don't work overly well (if at all), so most install these packages on a PC and setup for multiple processors...

    So for example on my ODroid: I don't have it build the hexapod_gazebo part of the project. I do that by adding the file:
    ./src/hexapod_ros/hexapod_gazebo/CATKIN_IGNORE

    Here is another thread talking about RPI: http://forums.trossenrobotics.com/sh...highlight=RPI3
    Last edited by KurtEck; 09-30-2016 at 04:52 PM.

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    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    R3n33 might have more direct insight since she's worked with Rpi more than myself but let me see what we can figure out with your issue.

    So first off the package list on my github is only tested with Indigo, I'm currently using Kinetic and noticed that package grouping in the cases of ROS core packages has changed. For example, some things are now part of the desktop install that were not before. Like navigation is included in the desktop now. Sadly things like the sound-play package has build support dropped but will compile fine if you pull the source down and build it yourself.

    The over arching good news is in all cases aside from sound-play, if it says that package is unavailable it usually means it is part of the desktop install. Even better news is I can confirm that the hexapod stack builds fine in kinetic.

    Can you post the catkin errors? I can usually tell pretty quickly what's wrong with the build from those.

  6. #6
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    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    @KurtEck
    I already read this thread and will consider the hints to CATKIN_IGNORE and restart the compilation after 'Invoking "make -j4 -l4' failed" (I had this error too but did not restart the compiler).

    @KevinO
    Because I'll be afk till late evening today I'll try tomorrow installing the ros-kinetic-desktop on my Raspi3 with the Ubuntu recommended by Kurt. Afterwards I'll install the packages listed in your github (sound-play from source). Coming in problems I'll post the concrete error messages here.
    A question in advance: what's the ominous "Start button" Dan was talking about?
    Last edited by SnowHead; 10-01-2016 at 04:08 AM.

  7. #7

    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    You need to press the Start button on the DS3 controller to get the robot to do anything.

    Actually getting the DS3 to work at all on some processor boards can be a real pain in ...

  8. #8
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    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    @KurtEck

    Thx. I'va a cheap chinese controler with a separate USB-receiver (no bluetooth). This part I got to work and was able to check it with "jstest".


    @All

    I started the installation on my Raspi3.
    The used system is xenial "ubuntu-mate-16.04-desktop-armhf-raspberry-pi" from here.
    I was able to install ros-kinetic-desktop. Then I successfully installed audio_common for sound-play from source.
    For the packages listed by Kevin the installation works fine. The meanwhile missed packages I found in the shadow-fixed repository.
    The only problem is the navigation-package. It seems to be installed but will not be found:

    Code:
    $sudo apt-get ros-kinetic-navigation
    ...
    ros-kinetic-navigation is already the newest version (1.14.0-0xenial-20160927-193330-0700)
    ...
    
    $rospack find navigation
    [rospack] Error: package 'navigation' not found
    
    $ls -al /opt/ros/kinetic/share/ | grep navigation
    drwxr-xr-x   2 root root  4096 Okt  1 23:37 navigation
    
    $ls /opt/ros/kinetic/share/navigation
    package.xml
    I reinstalled the navigation-package with the same result. I hope this will not have negative effects running the robot.
    Can this become a problem and can it be fixed?

    The PS3-controller runs without problems in jstest.

    Tomorrow I'll install the phidgets-driver. Must I also install OpenNI2 or are the libs installed with ros are sufficient for the planned functions?

    In summary I can say that using the Ubuntu recommended by Kurt and switching from indigo to kinetic solved the problems I had before with the official Raspi-images an indigo.

    Unfortunately my postman today took the packet with my robot back to the post office because I wasn't at home. I can it pick from the post office not before tuesday because next monday is a public holiday in Germany. Damn! But I'll keep you posted.

    And another question to Kevin. I studied your xacro-files for the hexapod to learn how to adapt them to my robot. Especially the camera-links and -joints might be different. But I did not understand how you got the dimensions and positions of the links and joints. Especially the angles of the camera-frames are totally inscrutable for me. The wiki was no help for this very special cases. Could you make a glimpsed sketch, please, where to see how the dimensions for the links and joints for the camera has to be taken? This would be very helpful.

    Till now I want to thank you very much for your support. I hope I'll get the robot alive without further problems.
    Last edited by SnowHead; 10-02-2016 at 03:18 AM.

  9. #9
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    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    Hmm, it seems that I reported success overhasty. Trying to start the system I got errormessages from libphidgets and rtabmap:

    libphidget
    Code:
    [ERROR] [1475410244.456080084]: Failed to load nodelet [/PhidgetsImuNodelet] of type [phidgets_imu/PhidgetsImuNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class phidgets_imu/PhidgetsImuNodelet with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet hexapod_sound/hexapod_sound hexapod_teleop_joystick/hexapod_teleop_joystick image_proc/crop_decimate image_proc/crop_nonZero image_proc/debayer image_proc/rectify imu_filter_madgwick/ImuFilterNodelet nodelet_tutorial_math/Plus openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/obstacles_detection rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/rgbd_odometry rtabmap_ros/stereo_odometry rtabmap_ros/stereo_throttle
    [ERROR] [1475410244.458071781]: The error before refreshing the cache was: According to the loaded plugin descriptions the class phidgets_imu/PhidgetsImuNodelet with base class type nodelet::Nodelet does not exist. Declared types are  depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/register depthimage_to_laserscan/DepthImageToLaserScanNodelet hexapod_sound/hexapod_sound hexapod_teleop_joystick/hexapod_teleop_joystick image_proc/crop_decimate image_proc/crop_nonZero image_proc/debayer image_proc/rectify imu_filter_madgwick/ImuFilterNodelet nodelet_tutorial_math/Plus openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid rtabmap_ros/data_odom_sync rtabmap_ros/data_throttle rtabmap_ros/disparity_to_depth rtabmap_ros/obstacles_detection rtabmap_ros/point_cloud_aggregator rtabmap_ros/point_cloud_xyz rtabmap_ros/point_cloud_xyzrgb rtabmap_ros/rgbd_odometry rtabmap_ros/stereo_odometry rtabmap_ros/stereo_throttle
    [PhidgetsImuNodelet-9] process has died [pid 2370, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load phidgets_imu/PhidgetsImuNodelet imu_manager __name:=PhidgetsImuNodelet __log:=/home/pi/.ros/log/33659838-8899-11e6-99db-b827ebdc8d38/PhidgetsImuNodelet-9.log].
    log file: /home/pi/.ros/log/33659838-8899-11e6-99db-b827ebdc8d38/PhidgetsImuNodelet-9*.log
    rtabmap
    Code:
    [ERROR] [1475410262.956420694]: Rtabmap: Parameter "LccBow/InlierDistance" doesn't exist anymore! You may look at this similar parameter: "Vis/InlierDistance"
    [ERROR] [1475410262.977543536]: Rtabmap: Parameter "LccBow/MinInliers" doesn't exist anymore! You may look at this similar parameter: "Vis/MinInliers"
    [ERROR] [1475410263.016945867]: Rtabmap: Parameter "LccIcp/Type" doesn't exist anymore! You may look at this similar parameter: "Reg/Strategy"
    terminate called after throwing an instance of 'UException'
      what():  [FATAL] (2016-10-02 14:11:14.594) Memory.cpp:1101::getNeighborsIdRadius() Condition (!referential.isNull()) not met!
    [rtabmap/rtabmap-25] process has died [pid 2562, exit code -6, cmd /opt/ros/kinetic/lib/rtabmap_ros/rtabmap --delete_db_on_start odom:=/rtabmap/odometry/synchronized rgb/image:=/rtabmap/camera/rgb/image_rect_color depth/image:=/rtabmap/camera/depth_registered/image_raw rgb/camera_info:=/rtabmap/camera/depth_registered/camera_info scan:=/scan goal_out:=current_goal __name:=rtabmap __log:=/home/pi/.ros/log/33659838-8899-11e6-99db-b827ebdc8d38/rtabmap-rtabmap-25.log].
    log file: /home/pi/.ros/log/33659838-8899-11e6-99db-b827ebdc8d38/rtabmap-rtabmap-25*.log

    The logfile:
    Code:
    [0m[ INFO] [1475410251.751673366]: Starting node...[0m
    [33m[ WARN] [1475410252.719349244]: rtabmap: "subscribe_laserScan"  parameter is deprecated, use "subscribe_scan" instead. The scan topic is  still subscribed.[0m
    [0m[ INFO] [1475410253.073364020]: rtabmap: frame_id = base_link[0m
    [0m[ INFO] [1475410253.074109741]: rtabmap: map_frame_id = map[0m
    [0m[ INFO] [1475410253.074599371]: rtabmap: queue_size = 30[0m
    [0m[ INFO] [1475410253.075060043]: rtabmap: tf_delay = 0.050000[0m
    [0m[ INFO] [1475410253.075508320]: rtabmap: tf_tolerance = 0.100000[0m
    [0m[ INFO] [1475410253.075956231]: rtabmap: depth_cameras = 1[0m
    [0m[ INFO] [1475410253.079041770]: rtabmap: approx_sync = true[0m
    [0m[ INFO] [1475410255.073509297]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0"[0m
    [0m[ INFO] [1475410256.490454235]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30"[0m
    [0m[ INFO] [1475410258.660818816]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01"[0m
    [0m[ INFO] [1475410258.783744661]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01"[0m
    [0m[ INFO] [1475410258.983265139]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="true"[0m
    [0m[ INFO] [1475410259.653563136]: Setting RTAB-Map parameter "Rtabmap/DetectionRate"="1"[0m
    [0m[ INFO] [1475410260.114587739]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="0"[0m
    [33m[ WARN] [1475410263.024337870]: Rtabmap: Parameter name changed:  "LccIcp2/CorrespondenceRatio" -> "Icp/CorrespondenceRatio". Please  update your launch file accordingly. Value "0.2" is still set to the new  parameter name.[0m
    [33m[ WARN] [1475410263.756549989]: Rtabmap: Parameter name changed:  "RGBD/LocalLoopDetectionSpace" -> "RGBD/ProximityBySpace". Please  update your launch file accordingly. Value "true" is still set to the  new parameter name.[0m
    [33m[ WARN] [1475410263.865102764]: Rtabmap: Parameter name changed:  "RGBD/PoseScanMatching" -> "RGBD/NeighborLinkRefining". Please update  your launch file accordingly. Value "true" is still set to the new  parameter name.[0m
    [0m[ INFO] [1475410266.826158091]: RTAB-Map detection rate = 1.000000 Hz[0m
    [0m[ INFO] [1475410266.827469431]: rtabmap: Deleted database "/home/pi/.ros/rtabmap.db" (--delete_db_on_start is set).[0m
    [0m[ INFO] [1475410266.828157444]: rtabmap: Using database from "/home/pi/.ros/rtabmap.db".[0m
    [0m[ INFO] [1475410269.264969075]: rtabmap: Database version = "0.11.8".[0m
    [0m[ INFO] [1475410271.425857943]: 
    /rtabmap/rtabmap subscribed to:
       /rtabmap/camera/rgb/image_rect_color,
       /rtabmap/camera/depth_registered/image_raw,
       /rtabmap/camera/depth_registered/camera_info,
       /rtabmap/odometry/synchronized,
       /scan[0m
    [0m[ INFO] [1475410271.427240948]: rtabmap 0.11.8 started...[0m
    [31m[FATAL] (2016-10-02 14:11:14.594) Memory.cpp:1101::getNeighborsIdRadius() Condition (!referential.isNull()) not met![0m

    Trying the installation of libphidgets using this howto nothing happens after start of rosmake. All packets are skipped and no "build"-directory was created and so no installation was possible.
    Code:
    [email protected]:~/ros_catkin_ws$ rosmake libphidgets
    [ rosmake ] rosmake starting...
    [ rosmake ] Packages requested are: ['libphidgets']
    [ rosmake ] Logging to directory /home/pi/.ros/rosmake/rosmake_output-20161002-141338
    [ rosmake ] Expanded args ['libphidgets'] to:
    ['libphidgets']
    [rosmake-0] Starting >>> catkin [ make ]
    [rosmake-0] Finished <<< catkin ROS_NOBUILD in package catkinive 0/19 Complete ]
     No Makefile in package catkin
    [rosmake-0] Starting >>> cmake_modules [ make ]
    [rosmake-2] Starting >>> genmsg [ make ]
    [rosmake-3] Starting >>> cpp_common [ make ]
    [rosmake-0] Finished <<< cmake_modules ROS_NOBUILD in package cmake_modules
     No Makefile in package cmake_modules
    [rosmake-0] Starting >>> rospack [ make ]
    [rosmake-0] Finished <<< rospack ROS_NOBUILD in package rospack
     No Makefile in package rospack
    [rosmake-0] Starting >>> roslib [ make ]
    [rosmake-2] Finished <<< genmsg ROS_NOBUILD in package genmsg
     No Makefile in package genmsg
    [rosmake-2] Starting >>> genlisp [ make ]
    [rosmake-3] Finished <<< cpp_common ROS_NOBUILD in package cpp_common
     No Makefile in package cpp_common
    [rosmake-3] Starting >>> genpy [ make ]
    [rosmake-1] Starting >>> gencpp [ make ]
    [rosmake-0] Finished <<< roslib ROS_NOBUILD in package roslibive 5/19 Complete ]
     No Makefile in package roslib
    [rosmake-0] Starting >>> geneus [ make ]
    [rosmake-2] Finished <<< genlisp ROS_NOBUILD in package genlisp
     No Makefile in package genlisp
    [rosmake-1] Finished <<< gencpp ROS_NOBUILD in package gencpp
     No Makefile in package gencpp
    [rosmake-1] Starting >>> gennodejs [ make ]
    [rosmake-2] Starting >>> rostime [ make ]
    [rosmake-3] Finished <<< genpy ROS_NOBUILD in package genpy
     No Makefile in package genpy
    [rosmake-0] Finished <<< geneus ROS_NOBUILD in package geneusive 9/19 Complete ]
     No Makefile in package geneus
    [rosmake-2] Finished <<< rostime ROS_NOBUILD in package rostime
     No Makefile in package rostime
    [rosmake-1] Finished <<< gennodejs ROS_NOBUILD in package gennodejs
     No Makefile in package gennodejs
    [rosmake-1] Starting >>> message_generation [ make ]
    [rosmake-2] Starting >>> roscpp_traits [ make ]
    [rosmake-1] Finished <<< message_generation ROS_NOBUILD in package message_generation
     No Makefile in package message_generation
    [rosmake-2] Finished <<< roscpp_traits ROS_NOBUILD in package roscpp_traits
     No Makefile in package roscpp_traits
    [rosmake-2] Starting >>> roscpp_serialization [ make ]
    [rosmake-2] Finished <<< roscpp_serialization ROS_NOBUILD in package roscpp_serialization
     No Makefile in package roscpp_serialization
    [rosmake-2] Starting >>> message_runtime [ make ]
    [rosmake-2] Finished <<< message_runtime ROS_NOBUILD in package message_runtime
     No Makefile in package message_runtime
    [rosmake-2] Starting >>> rosbuild [ make ]
    [rosmake-2] Finished <<< rosbuild ROS_NOBUILD in package rosbuild
     No Makefile in package rosbuild
    [rosmake-2] Starting >>> mk [ make ]
    [rosmake-2] Finished <<< mk ROS_NOBUILD in package mk
     No Makefile in package mk
    [rosmake-2] Starting >>> libphidgets [ make ]
    [rosmake-2] Finished <<< libphidgets ROS_NOBUILD in package libphidgets
     No Makefile in package libphidgets
    [ rosmake ] Results:
    [ rosmake ] Built 19 packages with 0 failures.
    [ rosmake ] Summary output to directory
    [ rosmake ] /home/pi/.ros/rosmake/rosmake_output-20161002-141338
    Trying to build libphidgets via "catkin_make" after a long, long build-time the compilation fails with:
    Code:
    [ 86%] Building CXX object CMakeFiles/dlib.dir/gui_widgets/base_widgets.o
    /home/pi/ros_catkin_ws/src/cob_extern/libconcorde_tsp_solver/build/Qsopt/qsopt.a: error adding symbols: File format not recognized
    collect2: error: ld returned 1 exit status
    ...
    Makefile:138: recipe for target 'all' failed
    make: *** [all] Error 2
    Invoking "make -j4 -l4" failed
    I've absolute no idea, what was my fault and how to fix this problems.
    Are there any hints?
    Last edited by SnowHead; 10-02-2016 at 09:12 AM.

  10. #10

    Re: How to install a functional ROS with KevinO's hexapod_ros on a Raspberry 3?

    Sorry, I can not directly answer either of these issues, as I don't have phidgets, I have razor and will transisition to BNO055.

    Hopefully Kevin or maybe r3n33 can help. Also not sure how much of the time I ran with rtabitmap lauches.

    Some hints, If I get something like, the invalid file format or the like, I often try: things like: catkin_make clean
    To try to rebuild everything.

    Other hint: Does your robot walk? That is I personally prefer to start by getting the basics working and then start adding things in as you need them.

    So I would first start off with launching: hexapod_simple and see if you can get it to walk around with the PS2...

    You can then see if the input controller works, and if the sound works and then IMU, and then ...

    It's been awhile since I played with any of this stuff, but was earlier playing around with trying to decouple the servo driver from the main code. In some of my experiments, I created my own launch files that are setup for the PhantomX. Again you can do it without your own launch files, but you then need to add parameters to the launch, to get the stuff specific to the PhantomX...
    I have that stuff in seperate fork/branch. These launch files are at: https://github.com/KurtE/hexapod_ros...bringup/launch

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