squirrel-project / squirrel_perception Goto Github PK

In dependant packages you do a find_package(catkin REQUIRED COMPONENTS strands_v4r then it shouldn't be necessary to use your extra defined variables V4R_INCLUDE_DIR and STRANDSV4R_LIBS. It should be sufficient using the catkin_ variables.

setup.sh should also install the dlib debian package https://packages.debian.org/sid/amd64/libdlib-dev/download and the squirrel_perception/dlib folder can be removed

In squirrel_attention missing the following dependencies in CMakeLists.txt:

• add_dependencies(attention_fusion robotino_msgs_generate_messages_cpp)
• add_dependencies(attention_controller robotino_msgs_generate_messages_cpp)
• add_dependencies(attention_motion robotino_msgs_generate_messages_cpp)

In squirrel_perception_waypoint the following dependency in CMakeLists.txt is missing

• add_dependencies(squirrel_perception_waypoints_server squirrel_waypoint_msgs_generate_messages_cpp)

In squirrel_recognizer the following dependency misses in CMakeLists.txt:

• add_dependencies(squirrel_recognizer squirrel_object_perception_msgs_generate_messages_cpp)

In squirrel_tracking the following dependency misses in CMakeLists.txt:

• add_dependencies(meta_tracker squirrel_object_perception_msgs_generate_messages_cpp)

I can't compile squirrel_perception with travis, the config files seems to be right. and with docker on a local computer I can compile the package, but travis says:

Errors     << squirrel_active_exploration:make /root/catkin_ws/logs/squirrel_active_exploration/build.make.000.log
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory
virtual memory exhausted: Cannot allocate memory

make[2]: *** [CMakeFiles/squirrel_active_exploration_common.dir/src/io_utils.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [CMakeFiles/squirrel_active_exploration_common.dir/src/transform_utils.cpp.o] Error 1
make[2]: *** [CMakeFiles/squirrel_active_exploration_common.dir/src/pc_utils.cpp.o] Error 1
make[1]: *** [CMakeFiles/squirrel_active_exploration_common.dir/all] Error 2
make: *** [all] Error 2
cd /root/catkin_ws/build/squirrel_active_exploration; catkin build --get-env squirrel_active_exploration | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

what is it suppose to do squirrel_active_exploration to compile?

Could you put all your *.cmake files e.g. in v4r into a subfolder 'cmake-modules'. See for example: navigation/squirrel_rgbd_mapping/cmake-modules

For documentation purpose:
Reported by @Senka2112

rosdep install --from-paths squirrel_perception -i -y
WARNING: Package "libg2o" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:
squirrel_classification: Cannot locate rosdep definition for
[classifier_srv_definitions]

Recognition should not depend on segmentation, at least not always.

I've followed the instructions of how to install the new v4r binary:

roscd squirrel_perception
and then
./setup.bash

But sudo apt-get update now gives the following error:
Failed to fetch http://153.97.4.193/building/ubuntu/dists/xenial/InRelease Could not connect to 153.97.4.193:80 (153.97.4.193), connection timed out

Also, pinging this address fails. Consequently,
sudo apt-get install v4r yields

E: Unable to locate package v4r

I've compiled the latest v4r release from source. In catkin_make, this leads to errors that v4r/segmentation/dominant_plane_segmenter.hcannot be found.

Compiling v4r from the current Git sources lead to errors in catkin_make: 'DominantPlaneSegmenterParameter' is not a member of 'v4r'

Do you have any suggestion of how to solve this?

Thanks!

Daniel

In order to have a general overview of the squirrel software and be more efficient during the integration meetings, our software should be properly documented. On one hand, with installation and execution instructions and, on the other hand, with a software architecture diagram to see the interconnections and dependencies between the modules. It is not necessary a diagram per node, only the most important nodes that subscribe or publish topics used by other components.

The squirrel_recommender package holds the templates and a small tutorial about how to create the diagram https://github.com/squirrel-project/squirrel_recommender#Documentation-and-Templates (2.Documentation and Templates). Please use these templates to create your documentation.

Folder is called v4r,the package is named strands_v4r (see v4r/package.xml) please decide for one of them
@mzillich @bajo Could you please fix this?

All over the place....

Good start is to use roscompile from https://github.com/DLu/roscompile (the ros-indigo-roscompile package does not work for me).

After you run roscompile you need to check CMakeLists.txt as it does add some INSTALL tag that might not work.

@jibweb @tpatten @edith-langer

I cant compile squirrel_classification, catkin says:

/home/robotino/git/robotino/src/squirrel_perception/squirrel_classification/src/shape_simple_classifier_node.cpp:129:21: error: ‘squirrel_object_perception_msgs::Classification’ has no member named ‘pose’
class_tmp.pose.push_back(pose_tmp);

Please review the packages , I saw that you have defined a lot of folders inside each packages that are not listed on the CMakeLists.

Take a look at http://wiki.ros.org/catkin/CMakeLists.txt the section 10. Optional Step: Specifying Installable Targets . It is optional but if you dont define the folders like data in squirrel_object_perception , this folder will be ignored when you release your package.
A simple example can be found on squirrel_robotino for meshes and urdf folders https://github.com/squirrel-project/squirrel_robotino/blob/indigo_dev/robotino_description/CMakeLists.txt#L12

It looks like the robot version from the demo was pulled into the main repository. It is missing the v4r/tmp directory!

I'm guessing those files were moved out according to the installation instructions in squirrel_scenarios. (Instead of copying perhaps)

This pull request should have been made to the @mzillich fork so he could check for issues like this!

Linking CXX executable /home/mz/work/SQUIRREL/code/catkin_ws/devel/lib/squirrel_tracking/object_tracker
CMakeFiles/object_tracker.dir/src/object_tracker.cpp.o: In function SquirrelTrackingNode::receiveImage(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)': object_tracker.cpp:(.text+0x4b6): undefined reference tov4r::ObjectTrackerMono::track(cv::Mat const&, Eigen::Matrix<float, 4, 4, 0, 4, 4>&, double&)'
CMakeFiles/object_tracker.dir/src/object_tracker.cpp.o: In function SquirrelTrackingNode::~SquirrelTrackingNode()': object_tracker.cpp:(.text+0xf8d): undefined reference tov4r::ObjectTrackerMono::~ObjectTrackerMono()'
CMakeFiles/object_tracker.dir/src/object_tracker.cpp.o: In function SquirrelTrackingNode::startTracking(squirrel_object_perception_msgs::StartObjectTrackingRequest_<std::allocator<void> >&, squirrel_object_perception_msgs::StartObjectTrackingResponse_<std::allocator<void> >&)': object_tracker.cpp:(.text+0x2418): undefined reference tov4r::ObjectTrackerMono::ObjectTrackerMono(v4r::ObjectTrackerMono::Parameter const&)'
object_tracker.cpp:(.text+0x245f): undefined reference to v4r::ObjectTrackerMono::setCameraParameter(cv::Mat const&, cv::Mat const&)' object_tracker.cpp:(.text+0x2918): undefined reference tov4r::ObjectTrackerMono::setObjectModel(v4r::SmartPtrv4r::Object const&)'
CMakeFiles/object_tracker.dir/src/object_tracker.cpp.o: In function v4r::SmartPtr<v4r::ObjectTrackerMono>::release()': object_tracker.cpp:(.text._ZN3v4r8SmartPtrINS_17ObjectTrackerMonoEE7releaseEv[_ZN3v4r8SmartPtrINS_17ObjectTrackerMonoEE7releaseEv]+0x3c): undefined reference tov4r::ObjectTrackerMono::~ObjectTrackerMono()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/mz/work/SQUIRREL/code/catkin_ws/devel/lib/squirrel_tracking/object_tracker] Error 1
make[1]: *** [squirrel_perception/squirrel_tracking/CMakeFiles/object_tracker.dir/all] Error 2
make: *** [all] Error 2