IKFast plugin build error: can't find ikfast.h

[Patrick Goebel]

Hello,

My setup is Ubuntu 12.04 with the latest ROS Hydro debs as well as the latest debs for moveit-full and moveit-ikfast.

I am trying to build an IKFast plugin for my 6-dof arm following the instructions on the MoveIt! wiki given here.  Everything was proceed smoothly until I reached the following step to create the plugin:

rosrun moveit_ikfast create_ikfast_moveit_plugin.py <myrobot_name> <planning_group_name> <moveit_ik_plugin_pkg> <ikfast_output_path>

at which point I get the following output and error:

IKFast Plugin Generator
Loading robot from 'pedestal_pi_no_gripper_moveit_config' package ...
Creating plugin in 'pedestal_pi_right_arm' package ...
  found 4 planning groups: right_arm, right_hand, head, kinect
  found group 'right_arm'
  found source code generated by IKFast version 61

ERROR: can't find ikfast header file at '/opt/ros/hydro/share/moveit_ikfast/templates/ikfast.h'

Any ideas how to proceed?

Thanks!
patrick

[Patrick Goebel]

Forgot one detail: I'm using the 64-bit version of Ubuntu 12.04.

[Dave Hershberger]

This looks to me like a bug in the CMakeLists.txt of moveit_ikfast.  There is nothing in there that installs the ikfast.h template file into /opt/ros/hydro/share.

I submitted it as a bug: https://github.com/ros-planning/moveit_ikfast/issues/16.

In the meantime, I expect that it will work fine (or better anyway) if you clone the repo (https://github.com/ros-planning/moveit_ikfast) into your workspace and use the source version.

Dave

On 12/01/2013 10:03 AM, Patrick Goebel wrote:

[Patrick Goebel]

Thanks Dave--cloning the repo for moveit_ikfast got me going again without the error.

--patrick