fsuarez6 / phantom_omni Goto Github PK

Hi,
My computer is ubuntu18.04,

When I input:cd ~/catkin_ws && catkin_make
It can not catkin_make
[ 95%] Linking CXX executable /home/smile/catkin_ws/devel/lib/omni_common/omni_state //usr/lib/libPhantomIOLib42.so: undefined reference to exp@GLIBC_2.29'
collect2: error: ld returned 1 exit status
[100%] Linking CXX executable /home/smile/catkin_ws/devel/lib/omni_common/omni
//usr/lib/libPhantomIOLib42.so: undefined reference to `exp@GLIBC_2.29'
collect2: error: ld returned 1 exit status

`

My hole operation is here,what can i do :

`smile@smile-X3-S:/catkin_ws/src$ wstool init .
Error: There already is a workspace config file .rosinstall at ".". Use wstool install/modify.
smile@smile-X3-S:/catkin_ws/src$ wstool merge https://raw.github.com/fsuarez6/phantom_omni/hydro-devel/phantom_omni.rosinstall
Merge caused no change, no new elements found
smile@smile-X3-S:/catkin_ws/src$ wstool update
[phantom_omni] Updating /home/smile/catkin_ws/src/phantom_omni
[phantom_omni] Done.
smile@smile-X3-S:/catkin_ws/src$ source /opt/ros/melodic/setup.bash
smile@smile-X3-S:/catkin_ws/src$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Skip end-of-life distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "galactic"
Skip end-of-life distro "groovy"
Add distro "humble"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Skip end-of-life distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/smile/.ros/rosdep/sources.cache
smile@smile-X3-S:/catkin_ws/src$ rosdep check --from-paths . --ignore-src --rosdistro melodic
All system dependencies have been satisfied
smile@smile-X3-S:~/catkin_ws/src$ cd ~/catkin_ws && catkin_make
Base path: /home/smile/catkin_ws
Source space: /home/smile/catkin_ws/src
Build space: /home/smile/catkin_ws/build
Devel space: /home/smile/catkin_ws/devel
Install space: /home/smile/catkin_ws/install

Running command: "cmake /home/smile/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/smile/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/smile/catkin_ws/install -G Unix Makefiles" in "/home/smile/catkin_ws/build"

-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/smile/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/smile/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 3 packages in topological order:
-- ~~ - omni_msgs
-- ~~ - omni_common
-- ~~ - omni_description
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'omni_msgs'
-- ==> add_subdirectory(phantom_omni/omni_msgs)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- omni_msgs: 3 messages, 0 services
-- +++ processing catkin package: 'omni_common'
-- ==> add_subdirectory(phantom_omni/omni_common)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- +++ processing catkin package: 'omni_description'
-- ==> add_subdirectory(phantom_omni/omni_description)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/smile/catkin_ws/build

Running command: "make -j16 -l16" in "/home/smile/catkin_ws/build"

Scanning dependencies of target std_msgs_generate_messages_eus
Scanning dependencies of target _omni_msgs_generate_messages_check_deps_OmniButtonEvent
Scanning dependencies of target geometry_msgs_generate_messages_nodejs
Scanning dependencies of target _omni_msgs_generate_messages_check_deps_OmniState
Scanning dependencies of target std_msgs_generate_messages_nodejs
Scanning dependencies of target sensor_msgs_generate_messages_eus
Scanning dependencies of target std_msgs_generate_messages_py
Scanning dependencies of target geometry_msgs_generate_messages_py
Scanning dependencies of target _omni_msgs_generate_messages_check_deps_OmniFeedback
Scanning dependencies of target sensor_msgs_generate_messages_py
Scanning dependencies of target sensor_msgs_generate_messages_nodejs
Scanning dependencies of target std_msgs_generate_messages_cpp
Scanning dependencies of target sensor_msgs_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_cpp
Scanning dependencies of target geometry_msgs_generate_messages_eus
Scanning dependencies of target sensor_msgs_generate_messages_lisp
[ 0%] Built target std_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_nodejs
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target sensor_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target sensor_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target sensor_msgs_generate_messages_eus
[ 0%] Built target sensor_msgs_generate_messages_lisp
Scanning dependencies of target std_msgs_generate_messages_lisp
Scanning dependencies of target rosgraph_msgs_generate_messages_py
Scanning dependencies of target tf2_msgs_generate_messages_cpp
Scanning dependencies of target rosgraph_msgs_generate_messages_lisp
Scanning dependencies of target roscpp_generate_messages_lisp
Scanning dependencies of target roscpp_generate_messages_eus
Scanning dependencies of target rosgraph_msgs_generate_messages_eus
Scanning dependencies of target roscpp_generate_messages_py
Scanning dependencies of target rosgraph_msgs_generate_messages_nodejs
Scanning dependencies of target roscpp_generate_messages_nodejs
Scanning dependencies of target geometry_msgs_generate_messages_lisp
Scanning dependencies of target roscpp_generate_messages_cpp
[ 0%] Built target rosgraph_msgs_generate_messages_py
Scanning dependencies of target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target tf2_msgs_generate_messages_cpp
[ 0%] Built target rosgraph_msgs_generate_messages_eus
[ 0%] Built target rosgraph_msgs_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_lisp
[ 0%] Built target roscpp_generate_messages_nodejs
[ 0%] Built target rosgraph_msgs_generate_messages_nodejs
[ 0%] Built target roscpp_generate_messages_eus
[ 0%] Built target roscpp_generate_messages_py
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target _omni_msgs_generate_messages_check_deps_OmniFeedback
[ 0%] Built target rosgraph_msgs_generate_messages_cpp
[ 0%] Built target roscpp_generate_messages_cpp
[ 0%] Built target _omni_msgs_generate_messages_check_deps_OmniButtonEvent
[ 0%] Built target _omni_msgs_generate_messages_check_deps_OmniState
Scanning dependencies of target tf2_msgs_generate_messages_py
Scanning dependencies of target tf_generate_messages_lisp
Scanning dependencies of target tf2_msgs_generate_messages_nodejs
Scanning dependencies of target tf2_msgs_generate_messages_lisp
Scanning dependencies of target tf_generate_messages_cpp
Scanning dependencies of target tf_generate_messages_nodejs
Scanning dependencies of target tf_generate_messages_eus
Scanning dependencies of target actionlib_msgs_generate_messages_cpp
Scanning dependencies of target tf2_msgs_generate_messages_eus
Scanning dependencies of target actionlib_generate_messages_eus
Scanning dependencies of target actionlib_msgs_generate_messages_py
Scanning dependencies of target actionlib_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_cpp
Scanning dependencies of target tf_generate_messages_py
Scanning dependencies of target actionlib_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_cpp
[ 0%] Built target tf_generate_messages_lisp
Scanning dependencies of target actionlib_msgs_generate_messages_nodejs
[ 0%] Built target tf2_msgs_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_cpp
[ 0%] Built target tf2_msgs_generate_messages_nodejs
[ 0%] Built target tf2_msgs_generate_messages_lisp
[ 0%] Built target tf_generate_messages_eus
[ 0%] Built target actionlib_generate_messages_cpp
[ 0%] Built target tf_generate_messages_nodejs
[ 0%] Built target tf_generate_messages_py
[ 0%] Built target actionlib_generate_messages_lisp
[ 0%] Built target actionlib_generate_messages_eus
[ 0%] Built target actionlib_msgs_generate_messages_py
[ 0%] Built target actionlib_generate_messages_nodejs
Scanning dependencies of target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target actionlib_generate_messages_py
[ 0%] Built target tf2_msgs_generate_messages_eus
Scanning dependencies of target actionlib_msgs_generate_messages_eus
Scanning dependencies of target omni_msgs_generate_messages_eus
[ 0%] Built target actionlib_msgs_generate_messages_nodejs
Scanning dependencies of target omni_msgs_generate_messages_lisp
Scanning dependencies of target omni_msgs_generate_messages_nodejs
Scanning dependencies of target omni_msgs_generate_messages_py
[ 0%] Built target actionlib_generate_messages_py
[ 0%] Built target actionlib_msgs_generate_messages_lisp
Scanning dependencies of target omni_msgs_generate_messages_cpp
[ 4%] Generating EusLisp code from omni_msgs/OmniButtonEvent.msg
[ 4%] Built target actionlib_msgs_generate_messages_eus
[ 9%] Generating EusLisp code from omni_msgs/OmniFeedback.msg
[ 14%] Generating EusLisp code from omni_msgs/OmniState.msg
[ 19%] Generating EusLisp manifest code for omni_msgs
[ 23%] Generating Javascript code from omni_msgs/OmniFeedback.msg
[ 28%] Generating Lisp code from omni_msgs/OmniButtonEvent.msg
[ 33%] Generating Lisp code from omni_msgs/OmniState.msg
[ 38%] Generating Javascript code from omni_msgs/OmniButtonEvent.msg
[ 42%] Generating Python from MSG omni_msgs/OmniButtonEvent
[ 47%] Generating Python from MSG omni_msgs/OmniState
[ 57%] Generating Javascript code from omni_msgs/OmniState.msg
[ 57%] Generating Lisp code from omni_msgs/OmniFeedback.msg
[ 61%] Generating Python from MSG omni_msgs/OmniFeedback
[ 66%] Generating C++ code from omni_msgs/OmniFeedback.msg
[ 71%] Generating C++ code from omni_msgs/OmniState.msg
[ 76%] Generating C++ code from omni_msgs/OmniButtonEvent.msg
[ 76%] Built target omni_msgs_generate_messages_nodejs
[ 76%] Built target omni_msgs_generate_messages_lisp
[ 80%] Generating Python msg init.py for omni_msgs
[ 80%] Built target omni_msgs_generate_messages_cpp
[ 80%] Built target omni_msgs_generate_messages_py
[ 80%] Built target omni_msgs_generate_messages_eus
Scanning dependencies of target omni_msgs_generate_messages
Scanning dependencies of target omni_state
Scanning dependencies of target omni
[ 80%] Built target omni_msgs_generate_messages
[ 85%] Building CXX object phantom_omni/omni_common/CMakeFiles/omni_state.dir/src/omni_state.cpp.o
[ 90%] Building CXX object phantom_omni/omni_common/CMakeFiles/omni.dir/src/omni.cpp.o
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:225:62: warning: ‘stdcall’ attribute ignored [-Wattributes]
HDCallbackCode HDCALLBACK omni_state_callback(void pUserData)
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp: In function ‘HDCallbackCode omni_state_callback(void)’:
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:298:42: warning: narrowing conversion of ‘omni_state->OmniState::joints.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
gimbal_angles[1], gimbal_angles[2] };
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:298:42: warning: narrowing conversion of ‘omni_state->OmniState::joints.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:297:29: warning: narrowing conversion of ‘(omni_state->OmniState::joints.hduVector3D::operator - omni_state->OmniState::joints.hduVector3D::operator)’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
omni_state->joints[2] - omni_state->joints[1], gimbal_angles[0],
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:298:42: warning: narrowing conversion of ‘gimbal_angles.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
gimbal_angles[1], gimbal_angles[2] };
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:298:42: warning: narrowing conversion of ‘gimbal_angles.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni_state.cpp:298:42: warning: narrowing conversion of ‘gimbal_angles.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:184:62: warning: ‘stdcall’ attribute ignored [-Wattributes]
HDCallbackCode HDCALLBACK omni_state_callback(void pUserData) {
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp: In function ‘HDCallbackCode omni_state_callback(void)’:
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:235:46: warning: narrowing conversion of ‘omni_state->OmniState::joints.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
omni_state->rot[1], omni_state->rot[2] };
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:235:46: warning: narrowing conversion of ‘omni_state->OmniState::joints.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:234:29: warning: narrowing conversion of ‘(omni_state->OmniState::joints.hduVector3D::operator - omni_state->OmniState::joints.hduVector3D::operator)’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
omni_state->joints[2] - omni_state->joints[1], omni_state->rot[0],
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:235:46: warning: narrowing conversion of ‘omni_state->OmniState::rot.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
omni_state->rot[1], omni_state->rot[2] };
^
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:235:46: warning: narrowing conversion of ‘omni_state->OmniState::rot.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
/home/smile/catkin_ws/src/phantom_omni/omni_common/src/omni.cpp:235:46: warning: narrowing conversion of ‘omni_state->OmniState::rot.hduVector3D::operator’ from ‘double’ to ‘float’ inside { } [-Wnarrowing]
[ 95%] Linking CXX executable /home/smile/catkin_ws/devel/lib/omni_common/omni_state
//usr/lib/libPhantomIOLib42.so: undefined reference to exp@GLIBC_2.29' collect2: error: ld returned 1 exit status phantom_omni/omni_common/CMakeFiles/omni_state.dir/build.make:117: recipe for target '/home/smile/catkin_ws/devel/lib/omni_common/omni_state' failed make[2]: *** [/home/smile/catkin_ws/devel/lib/omni_common/omni_state] Error 1 CMakeFiles/Makefile2:1839: recipe for target 'phantom_omni/omni_common/CMakeFiles/omni_state.dir/all' failed make[1]: *** [phantom_omni/omni_common/CMakeFiles/omni_state.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [100%] Linking CXX executable /home/smile/catkin_ws/devel/lib/omni_common/omni //usr/lib/libPhantomIOLib42.so: undefined reference to exp@GLIBC_2.29'
collect2: error: ld returned 1 exit status
phantom_omni/omni_common/CMakeFiles/omni.dir/build.make:117: recipe for target '/home/smile/catkin_ws/devel/lib/omni_common/omni' failed
make[2]: *** [/home/smile/catkin_ws/devel/lib/omni_common/omni] Error 1
CMakeFiles/Makefile2:2533: recipe for target 'phantom_omni/omni_common/CMakeFiles/omni.dir/all' failed
make[1]: *** [phantom_omni/omni_common/CMakeFiles/omni.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed
`

As shown in the image, after I install everything according to http://fsuarez6.github.io/projects/geomagic-touch-in-ros/, I got this issue while trying to catkin_make my workspace.

I am using ROS kinetics and Ubuntu 16.04 x64.

Thank you very much!

Is this supported for the latest Linux kernel (4.10.0-38-generic)? When I try to run

rosrun omni_common initialize_device.sh -c

I get the following error:

insmod: ERROR: could not insert module /home/adam/ros_ws/src/phantom_omni/omni_common/dummyraw1394/raw1394.ko: Invalid module format

hello author.I want to learn the forward kinematics of phantom omni ,can you give me the D-H parameter of phantom omni?

I used phantom_omni to do my work in Ubuntu 16.04 and Ubuntu 14.04 environments. When I roslaunch omni_common omni.launch, the system prompts: ERROR: cannot launch node of type [omni_common/omni]: can't locate node [omni] in package [omni_common].

Hi,

I followed the instructions to install the Phantom Omni. I am able to run both PHANToMConfiguration and PHANToMTest successfully. However after building this ros-package, I am getting the following error on launching the omni.launch file.

ERROR] [1520379495.119316581]: Failed to initialize haptic device

Could you please provide any guidance on solving this?

I am on Ubuntu 14.04 with Indigo.

Best,

Mike

Hi, i am writing you because i am having troubles to find the Openhaptics SDK, i am trying to get registered and download it from the 3Dsystems forums but no confirmation email arrives, do you know any other webpage where i can find it?
Best regards
Antonio
Cc @jlblancoc

Hey guys
I wanna use two phantom_omnis to control a simulator. But the driver seems to only support one omni. Therefore, do you guys have some suggestions and solutions?
Best Regards