Outstanding issues with pr2_doors on Indigo

[archielee]

Current issues:

• Compile time issues:
  • Will not link properly for door_handle_detector
    CMakeFiles/doors_detector.dir/src/doors_detector.cpp.o: In function door_handle_detector::DoorDetector::detectDoors(door_msgs::Door_<std::allocator<void> > const&, sensor_msgs::PointCloud_<std::allocator<void> >, std::vector<door_msgs::Door_<std::allocator<void> >, std::allocator<door_msgs::Door_<std::allocator<void> > > >&) const': doors_detector.cpp:(.text+0x2265): undefined reference topr2_doors_common::transformTo(tf::TransformListener const&, std::string const&, door_msgs::Door_std::allocator const&, door_msgs::Door_std::allocator&, std::string const&)'
    doors_detector.cpp:(.text+0x56b2): undefined reference to pr2_doors_common::getDoorAngle(door_msgs::Door_<std::allocator<void> > const&)' doors_detector.cpp:(.text+0x5bee): undefined reference topr2_doors_common::getDoorAngle(door_msgs::Door_std::allocator const&)'
    doors_detector.cpp:(.text+0x5e01): undefined reference to pr2_doors_common::transformTo(tf::TransformListener const&, std::string const&, door_msgs::Door_<std::allocator<void> > const&, door_msgs::Door_<std::allocator<void> >&, std::string const&)' CMakeFiles/doors_detector.dir/src/doors_detector.cpp.o: In functiondoor_handle_detector::DoorDetector::detectDoorSrv(door_handle_detector::DoorsDetectorRequest_std::allocator&, door_handle_detector::DoorsDetectorResponse_std::allocator&)':
    doors_detector.cpp:(.text+0x73ae): undefined reference to pr2_doors_common::transformTo(tf::TransformListener const&, std::string const&, door_msgs::Door_<std::allocator<void> > const&, door_msgs::Door_<std::allocator<void> >&, std::string const&)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannAllocPts(int, int)'
    /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference to annDeallocPts(double**&)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannClose()'
    /home/alee/doors_ws/devel/lib/libcloud_geometry.so: undefined reference to ANNkd_tree::ANNkd_tree(double**, int, int, int, ANNsplitRule)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannAllocPt(int, double)'
    /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference to annDeallocPt(double*&)' collect2: error: ld returned 1 exit status make[2]: *** [/home/alee/doors_ws/devel/lib/door_handle_detector/doors_detector] Error 1 make[1]: *** [CMakeFiles/doors_detector.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... CMakeFiles/handle_detector.dir/src/handle_detector.cpp.o: In functiondoor_handle_detector::HandleDetector::detectHandle(door_msgs::Door_std::allocator const&, sensor_msgs::PointCloud_std::allocator, std::vector<door_msgs::Door_<std::allocator >, std::allocator<door_msgs::Door_<std::allocator > > >&) const':
    handle_detector.cpp:(.text+0x1ad4): undefined reference to pr2_doors_common::transformTo(tf::TransformListener const&, std::string const&, door_msgs::Door_<std::allocator<void> > const&, door_msgs::Door_<std::allocator<void> >&, std::string const&)' handle_detector.cpp:(.text+0x1ee4): undefined reference topr2_doors_common::getDoorNormal(door_msgs::Door_std::allocator const&)'
    handle_detector.cpp:(.text+0x380c): undefined reference to pr2_doors_common::transformTo(tf::TransformListener const&, std::string const&, door_msgs::Door_<std::allocator<void> > const&, door_msgs::Door_<std::allocator<void> >&, std::string const&)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannAllocPts(int, int)'
    /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference to annDeallocPts(double**&)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannClose()'
    /home/alee/doors_ws/devel/lib/libcloud_geometry.so: undefined reference to ANNkd_tree::ANNkd_tree(double**, int, int, int, ANNsplitRule)' /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference toannAllocPt(int, double)'
    /home/alee/doors_ws/devel/lib/libcloud_kdtree.so: undefined reference to `annDeallocPt(double_&)'
    collect2: error: ld returned 1 exit status
    make[2]: *_* [/home/alee/doors_ws/devel/lib/door_handle_detector/handle_detector] Error 1
    make[1]: *** [CMakeFiles/handle_detector.dir/all] Error 2
    make: *** [all] Error 2

After running pr2_doors_gazebo_demo pr2_doors_demo.launch:

• ERROR: cannot launch node of type [pr2_doors_actions/action_runner]: can't locate node [action_runner] in package [pr2_doors_actions]
• ERROR: cannot launch node of type [pr2_arm_move_ik/arm_ik]: can't locate node [arm_ik] in package [pr2_arm_move_ik]
• ERROR: cannot launch node of type [semantic_point_annotator/sac_inc_ground_removal_node]: can't locate node [sac_inc_ground_removal_node] in package [semantic_point_annotator]
• ERROR: cannot launch node of type [pr2_navigation_self_filter/self_filter]: can't locate node [self_filter] in package [pr2_navigation_self_filter]
• ERROR: cannot launch node of type [joint_trajectory_generator/joint_trajectory_generator]: can't locate node [joint_trajectory_generator] in package [joint_trajectory_generator]
• [move_base_local_node-48] process has died [pid 23081, exit code 1, cmd /opt/ros/indigo/lib/move_base/move_base odom:=base_odometry/odom cmd_vel:=navigation/cmd_vel move_base:=move_base_local move_base_simple:=move_base_local_simple __name:=move_base_local_node __log:=/home/alee/.ros/log/0d6f4116-d655-11e5-9de2-a4c494ddd02e/move_base_local_node-48.log].ctory_generator/joint_trajectory_generator]: can't locate node [joint_trajectory_generator] in package [joint_trajectory_generator]
• ERROR: cannot launch node of type [pr2_laser_snapshotter/pr2_laser_snapshotter_action]: can't locate node [pr2_laser_snapshotter_action] in package [pr2_laser_snapshotter]
• ERROR: cannot launch node of type [door_handle_detector/handle_detector_laser]: can't locate node [handle_detector_laser] in package [door_handle_detector]
• ERROR: cannot launch node of type [door_handle_detector/doors_detector_laser]: can't locate node [doors_detector_laser] in package [door_handle_detector]
• [ERROR] [1455809671.543737259, 6.562000000]: Could not load class tff_controller/TFFController: Could not find library corresponding to plugin tff_controller/TFFController. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.
• [ERROR] [1455809671.551587762, 6.564000000]: Could not load controller 'r_arm_cartesian_tff_controller' because controller type 'tff_controller/TFFController' does not exist
• [ERROR] [WallTime: 1455809672.553742] [6.823000] Failed to load r_arm_cartesian_tff_controller
• [FATAL] [1455809677.370204905, 8.188000000]: Failed to create the dwa_local_planner/DWAPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class dwa_local_planner/DWAPlannerROS with base class type nav_core::BaseLocalPlanner does not exist. Declared types are base_local_planner/TrajectoryPlannerROS cpr/mpc_planner/PathTracker cpr/stanley_planner/PathTracker
• [move_base_local_node-48] process has died [pid 22850, exit code 1, cmd /opt/ros/indigo/lib/move_base/move_base odom:=base_odometry/odom cmd_vel:=navigation/cmd_vel move_base:=move_base_local move_base_simple:=move_base_local_simple __name:=move_base_local_node __log:=/home/alee/.ros/log/993be186-d722-11e5-9a39-a4c494ddd02e/move_base_local_node-48.log].

Other errors:

• No type element found in transmission
• Door spawns much higher than ground