CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake

[ZWH55]

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:183 (message):
catkin_package() CATKIN_DEPENDS on 'decomp_util', which has been found in
'/home/zwh/plan/MPCC/TMPCPlanner/devel/share/decomp_util/cmake/decomp_utilConfig.cmake',
but it is not a catkin package

[oscardegroot]

Hi, I cannot reproduce the issue (I tried a fresh install to check, but it works for me). I think the issue is that decomp_util did not get compiled somehow, did you use the provided tasks to build?

I think running catkin build decomp_util separately will fix the problem. Please let me know.

[Yihappyy]

Hello, I have also encountered the same issue. I have already run catkin build decomp_util in advance according to the README, but when I generate the solver for mpc_planner_rosnavigation and then compile the workspace, this error will occur.
Looking forward to your reply.

[oscardegroot]

How are you building the planner, are you using mpc_planner_ws?

If not, is the name of the package DecompUtil instead of decomp_util? In that case it may somehow be related to the name of the folder and it would be best to rename to decomp_util.

If the error remains, please let me know how you are building so that I can try to reproduce it.

[Yihappyy]

I have renamed DecompUtil to decomp_util, but the error still persists.
I followed the prompt in the README, completed the build, and ran roslaunch mpc_planner_jackalsimulator ros1_jackalsimulator. launch successfully. However, when I wanted to use mpc_planner_rosnavigation, I first ran catkin build decomp_util. Then, python mpc_planner_rosnavigation/scripts/generate_rosnavigation_stolver.py was run successfully in Conda. When I tried to compile the workspace again, the above error occurred. My workspace is named catkin_ws_t-mpc.

[hmyooo]

Hello friends in the community, may I ask if catkin build mpc_planner is running during compilation? I'm not sure what 'your_system' means in 'catkin build mpc_planner_<your_system>' in readme. When I run catkin build mpc_planner, there will be the following error message:
Starting >>> guidance_planner
Starting >>> mpc_planner_util
Finished <<< guidance_planner [ 0.3 seconds ]
Finished <<< mpc_planner_util [ 0.2 seconds ]
Starting >>> mpc_planner_solver

Errors << mpc_planner_solver:cmake /home/rancho/1hmy/mpc_planner_ws/logs/mpc_planner_solver/build.cmake.004.log
CMake Error at /home/rancho/1hmy/mpc_planner_ws/src/mpc_planner/mpc_planner_solver/CMakeLists.txt:14 (include):
include could not find load file:

solver.cmake

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:367 (message):
catkin_package() could not find CFG_EXTRAS file. Either
'cmake/mpc_planner_solver-extras.cmake.develspace.em',
'cmake/mpc_planner_solver-extras.cmake.em',
'cmake/mpc_planner_solver-extras.cmake.develspace.in',
'cmake/mpc_planner_solver-extras.cmake.in',
'cmake/mpc_planner_solver-extras.cmake' or a variant specific to the
installspace must exist.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:16 (catkin_package)

cd /home/rancho/1hmy/mpc_planner_ws/build/mpc_planner_solver; catkin build --get-env mpc_planner_solver | catkin env -si /usr/bin/cmake /home/rancho/1hmy/mpc_planner_ws/src/mpc_planner/mpc_planner_solver --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/rancho/1hmy/mpc_planner_ws/devel/.private/mpc_planner_solver -DCMAKE_INSTALL_PREFIX=/home/rancho/1hmy/mpc_planner_ws/install -DCMAKE_BUILD_TYPE=Release; cd -

..........................................................................................................................
Failed << mpc_planner_solver:cmake [ Exited with code 1 ]
Failed <<< mpc_planner_solver [ 0.5 seconds ]
Abandoned <<< mpc_planner_modules [ Unrelated job failed ]
Abandoned <<< mpc_planner [ Unrelated job failed ]
[build] Summary: 4 of 7 packages succeeded.
[build] Ignored: 19 packages were skipped or are skiplisted.
[build] Warnings: None.
[build] Abandoned: 2 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 1.0 seconds total. Among them, I installed Acados according to the process in readme, but did not install Forces Pro. I don't know if this will have an impact? I am very much looking forward to receiving your reply, sincere hope and gratitude.

[oscardegroot]

@Yihappyy Sorry, I still cannot reproduce the issue. But looking at the original message, it seems that decomp_util was somehow build with cmake? Do you also have a folder decomp_util/cmake? If so, best to remove it and possibly to remove decomp_utilConfig.cmake too. The provided CMakelists.txt should be sufficient. Let me know if the issue persists.

[oscardegroot]

@hmyooo You do not have to install Forces Pro. In your case, it seems that the solver generation was not successful. Please generate a solver first per the instructions (with for example <your_system> as jackalsimulator) then build with catkin build mpc_planner_jackalsimulator.

For easier use of the planner I highly recommend the VSCode environment: https://github.com/tud-amr/mpc_planner_ws/tree/main where these steps are captured in tasks.

[hmyooo]

@hmyooo You do not have to install Forces Pro. In your case, it seems that the solver generation was not successful. Please generate a solver first per the instructions (with for example <your_system> as jackalsimulator) then build with catkin build mpc_planner_jackalsimulator.

For easier use of the planner I highly recommend the VSCode environment: https://github.com/tud-amr/mpc_planner_ws/tree/main where these steps are captured in tasks.

Thank you very much for your reply. I have tried this website https://github.com/tud-amr/mpc_planner_ws/tree/main However, when running Jackal: Build, there is still a problem with the following steps: Starting >>> mpc_planner_solver

---

Errors << mpc_planner_solver:cmake /workspace/logs/mpc_planner_solver/build.cmake.000.log
CMake Error at /workspace/src/mpc_planner/mpc_planner_solver/CMakeLists.txt:14 (include):
include could not find load file:

solver.cmake

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:367 (message):
catkin_package() could not find CFG_EXTRAS file. Either
'cmake/mpc_planner_solver-extras.cmake.develspace.em',
'cmake/mpc_planner_solver-extras.cmake.em',
'cmake/mpc_planner_solver-extras.cmake.develspace.in',
'cmake/mpc_planner_solver-extras.cmake.in',
'cmake/mpc_planner_solver-extras.cmake' or a variant specific to the
installspace must exist.
Call Stack (most recent call first):
/opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
CMakeLists.txt:16 (catkin_package)

cd /workspace/build/mpc_planner_solver; catkin build --get-env mpc_planner_solver | catkin env -si /usr/bin/cmake /workspace/src/mpc_planner/mpc_planner_solver --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/workspace/devel/.private/mpc_planner_solver -DCMAKE_INSTALL_PREFIX=/workspace/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DPYTHON_VERSION=3; cd -

...............................................................................................
Failed << mpc_planner_solver:cmake [ Exited with code 1 ]
Failed <<< mpc_planner_solver [ 2.1 seconds ]
Abandoned <<< mpc_planner_modules [ Unrelated job failed ]
Abandoned <<< mpc_planner [ Unrelated job failed ]
Abandoned <<< mpc_planner_jackal [ Unrelated job failed ]

---

Warnings << roadmap:make /workspace/logs/roadmap/build.make.000.log ...............................................................................................
Finished <<< roadmap [ 16.3 seconds ]
Finished <<< guidance_planner [ 30.3 seconds ]
[build] Summary: 9 of 13 packages succeeded.
[build] Ignored: 14 packages were skipped or are skiplisted.
[build] Warnings: 1 packages succeeded with warnings.
[build] Abandoned: 3 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 39.4 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.

[hmyooo]

@hmyooo You do not have to install Forces Pro. In your case, it seems that the solver generation was not successful. Please generate a solver first per the instructions (with for example <your_system> as jackalsimulator) then build with catkin build mpc_planner_jackalsimulator.
For easier use of the planner I highly recommend the VSCode environment: https://github.com/tud-amr/mpc_planner_ws/tree/main where these steps are captured in tasks.

Thank you very much for your reply. I have tried this website https://github.com/tud-amr/mpc_planner_ws/tree/main However, when running Jackal: Build, there is still a problem with the following steps: Starting >>> mpc_planner_solver

Errors << mpc_planner_solver:cmake /workspace/logs/mpc_planner_solver/build.cmake.000.log CMake Error at /workspace/src/mpc_planner/mpc_planner_solver/CMakeLists.txt:14 (include): include could not find load file:

solver.cmake

CMake Error at /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:367 (message): catkin_package() could not find CFG_EXTRAS file. Either 'cmake/mpc_planner_solver-extras.cmake.develspace.em', 'cmake/mpc_planner_solver-extras.cmake.em', 'cmake/mpc_planner_solver-extras.cmake.develspace.in', 'cmake/mpc_planner_solver-extras.cmake.in', 'cmake/mpc_planner_solver-extras.cmake' or a variant specific to the installspace must exist. Call Stack (most recent call first): /opt/ros/noetic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package) CMakeLists.txt:16 (catkin_package)

cd /workspace/build/mpc_planner_solver; catkin build --get-env mpc_planner_solver | catkin env -si /usr/bin/cmake /workspace/src/mpc_planner/mpc_planner_solver --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/workspace/devel/.private/mpc_planner_solver -DCMAKE_INSTALL_PREFIX=/workspace/install -DCMAKE_BUILD_TYPE=RelWithDebInfo -DPYTHON_VERSION=3; cd -

............................................................................................... Failed << mpc_planner_solver:cmake [ Exited with code 1 ] Failed <<< mpc_planner_solver [ 2.1 seconds ] Abandoned <<< mpc_planner_modules [ Unrelated job failed ] Abandoned <<< mpc_planner [ Unrelated job failed ] Abandoned <<< mpc_planner_jackal [ Unrelated job failed ]

Warnings << roadmap:make /workspace/logs/roadmap/build.make.000.log ............................................................................................... Finished <<< roadmap [ 16.3 seconds ] Finished <<< guidance_planner [ 30.3 seconds ] [build] Summary: 9 of 13 packages succeeded. [build] Ignored: 14 packages were skipped or are skiplisted. [build] Warnings: 1 packages succeeded with warnings. [build] Abandoned: 3 packages were abandoned. [build] Failed: 1 packages failed. [build] Runtime: 39.4 seconds total. [build] Note: Workspace packages have changed, please re-source setup files to use them.

Sorry, the latest situation is that I used the jackal: generate slow and build command again without any errors, but ran JackalSimulator: Run Simulator command reports RLException error: [ros1_jackalsimulator.launch] is neither a launch file in package [mpc_planner_jackalsimulator] nor is [mpc_planner_jackalsimulator] a launch file name
The traceback for the exception was written to the log file

[oscardegroot]

Please use Jackal Simulator: Generate Solver and Build instead of Jackal: Generate Solver and Build to run the simulator. Then Jackal Simulator: Run Simulator

[hmyooo]

Please use Jackal Simulator: Generate Solver and Build instead of Jackal: Generate Solver and Build to run the simulator. Then Jackal Simulator: Run Simulator

Your suggestion is very useful, thank you very much！！！