PR2 Hydro Upgrade Problems

[Evan Krause]

Hello -- I'm in the process of upgrading our PR2 from Groovy to Hydro and am running into some issues. After reading through the Clearpath support page and through the other topics here I was finally able to install pr2-core-hydro and pr2-core (although I did encounter some apt-get deb Size Mismatch issues and had to install a few things with dpkg -i).

Now, I'm trying to "sudo apt-get install ros-hydo-pr2*" and am having unmet dependency problems. In particular, I'm getting:

The following packages have unmet dependencies:
 ros-hydro-pr2-base : Depends: ros-hydro-moveit-full but it is not going to be installed
                      Depends: ros-hydro-warehouse-ros but it is not going to be installed
 ros-hydro-pr2-desktop : Depends: ros-hydro-desktop-full but it is not going to be installed
 ros-hydro-pr2-gazebo : Depends: gazebo but it is not going to be installed
                        Depends: ros-hydro-gazebo-plugins but it is not going to be installed
 ros-hydro-pr2-gazebo-plugins : Depends: gazebo but it is not going to be installed
                                Depends: ros-hydro-gazebo-plugins but it is not going to be installed
                                Depends: ros-hydro-gazebo-ros but it is not going to be installed
 ros-hydro-pr2-hack-the-future : Depends: ros-hydro-slider-gui but it is not going to be installed
 ros-hydro-pr2-make-a-map-app : Depends: ros-hydro-map-store but it is not going to be installed
 ros-hydro-pr2-map-navigation-app : Depends: ros-hydro-map-store but it is not going to be installed
 ros-hydro-pr2-moveit-tutorials : Depends: ros-hydro-moveit-ros-planning-interface but it is not going to be installed
 ros-hydro-pr2-surrogate : Depends: ros-hydro-oculus-rviz-plugins but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

Could this be an issue with having the wrong sources? I have updated my source lists and they currently look like:
rosdebs.list
   deb http://packages.ros.org/ros/ubuntu precise main
pr2debs.list
    deb http://packages.ros.org/pr2/ubuntu precise main
    deb http://pr2packages.clearpathrobotics.com/pr2/ubuntu precise pr2
    deb http://pr2packages.clearpathrobotics.com/pr2/ubuntu precise main
pr2debspr2.list
    deb http://packages.ros.org/pr2/ubuntu precise pr2
sources.list
    deb http://us.archive.ubuntu.com/ubuntu precise multiverse
    deb http://us.archive.ubuntu.com/ubuntu precise universe

I've tried the usual fixes that I know of (apt-get clean, apt-get update, apt-get upgrade, and apt-get -f install), but I'm still having the same problem. Any guidance on how to resolve these issues is appreciated. Thanks!

[Devon Ash]

It seems this is a recurring issue with installing Hydro for some users. Can you please remove the packages.ros.org/pr2/ubuntu sources line. It points towards the Amazon S3 instances of the pr2 packages which is a different repository than the pr2packages.clearpathrobotics.com, which may be causing some conflicts.

Where does it say to add the packages.ros.org/pr2/ubuntu line to the sources list? I'll get it taken down as it looks like it is causing issues.

Please report back what happens when the packages.ros.org/pr2/ubuntu line is removed from the sources list and an apt-get update is run.

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[Evan Krause]

Thanks Devon. The packages.ros.org/pr2/ubuntu lines were already in my .list files and I didn't see anything explicitly saying to take them out. I removed the packages.ros.org/pr2/ubuntu lines so my sources now look like:

rosdebs.list
   deb http://packages.ros.org/ros/ubuntu precise main
pr2debs.list

    deb http://pr2packages.clearpathrobotics.com/pr2/ubuntu precise pr2
    deb http://pr2packages.clearpathrobotics.com/pr2/ubuntu precise main

sources.list
    deb http://us.archive.ubuntu.com/ubuntu precise multiverse
    deb http://us.archive.ubuntu.com/ubuntu precise universe

After doing apt-get update, apt-get upgrade, and then trying to reinstall, I still getting the same unmet dependencies errors.

[Devon Ash]

pr2-base was missing its dependency on warehouse-ros and I've added it back into the package.xml. Try using aptitude to install this package instead, it will try to resolve the conflicts instead of report them.

"sudo apt-get install aptitude"

"sudo aptitude install ros-hydro-pr2*"

To view this discussion on the web visit https://groups.google.com/d/msgid/pr2_users/3345d0f6-34a8-490e-b450-f6da3d338fdb%40googlegroups.com.

[Evan Krause]

Aptitude doesn't accept wildcards, so I tried "sudo aptitude install ros-hydro-pr2" as a first step and I get the output below. This seems promising at first, but accepting the proposed solution results in nothing being installed.

...
0 packages upgraded, 210 newly installed, 0 to remove and 0 not upgraded.
Need to get 33.5 MB of archives. After unpacking 133 MB will be used.

The following packages have unmet dependencies:

 ros-hydro-warehouse-ros : Depends: python-pymongo which is a virtual package.
The following actions will resolve these dependencies:

      Keep the following packages at their current version:   
1)      ros-hydro-moveit-commander [Not Installed]            
2)      ros-hydro-moveit-full [Not Installed]                 
3)      ros-hydro-moveit-pr2 [Not Installed]                  
4)      ros-hydro-moveit-ros [Not Installed]                  
5)      ros-hydro-moveit-ros-benchmarks [Not Installed]       
6)      ros-hydro-moveit-ros-benchmarks-gui [Not Installed]   
7)      ros-hydro-moveit-ros-planning-interface [Not Installed]
8)      ros-hydro-moveit-ros-visualization [Not Installed]    
9)      ros-hydro-moveit-ros-warehouse [Not Installed]        
10)     ros-hydro-moveit-setup-assistant [Not Installed]      
11)     ros-hydro-pr2 [Not Installed]                         
12)     ros-hydro-pr2-base [Not Installed]                    
13)     ros-hydro-pr2-moveit-tutorials [Not Installed]        
14)     ros-hydro-warehouse-ros [Not Installed]               



Accept this solution? [Y/n/q/?] y
No packages will be installed, upgraded, or removed.
0 packages upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
Need to get 0 B of archives. After unpacking 0 B will be used.

[Devon Ash]

Good stuff, looks like python-pymongo and ros-hydro-warehouse-ros need to be manually installed, and then this procedure can complete. This is probably because the pr2-base was missing warehouse-ros dependency (which I've fixed now).

To view this discussion on the web visit https://groups.google.com/d/msgid/pr2_users/1b43ff3e-b9fd-4dac-8d84-e2cf30ffc30b%40googlegroups.com.

[Evan Krause]

Well, after adding "deb http://security.ubuntu.com/ubuntu precise-security main" to my sources.list file I was able to install python-pymongo and then ros-hydro-warehouse-ros. But then going back to try and install all the ros-hydro-pr2* packages gives me yet another list of unmet dependencies.

It seems like there are a bunch of Ubuntu packages that aren't available for install, and the sources.list file seems suspiciously sparse to me. What should the sources.list look like? The http://aptproxy.willowgarage.com/us.archive.ubuntu.com/ubuntu repos were replaced with http://packages.namniart.com/repos/pr2/pr2-0.6.1/ubuntu/ repos, but now those are no longer available. Were those repos replaced with something else?

[Devon Ash]

"If the above link doesn't work, Austin Hendrix has gracefully set up a back-up repository at:

deb http://packages.namniart.com/repos/pr2/pr2-0.6.1/ubuntu/ precise pr2
deb http://packages.namniart.com/repos/pr2/pr2-0.6.1/ubuntu/ precise main"

I'll remove these from the tutorial above as it's nolonger online, but in general the namniart ones are no longer needed now that pr2packages.clearpathrobotics.com is up.

Hmm, lets get to the root of this. Could you post the new list of dependencies and we will try and see what we're missing. I have some fixing work to do tomorrow with this.

To view this discussion on the web visit https://groups.google.com/d/msgid/pr2_users/00f85f09-bcdd-485f-a7aa-259eeab5ae1c%40googlegroups.com.

[Evan Krause]

Right, I haven't been using the namniart repos, I just wanted to double check that I'm not just missing something in my sources.list. Now, running "sudo apt-get install ros-hydro-pr2*" gives:

The following packages have unmet dependencies:

 ros-hydro-pr2-desktop : Depends: ros-hydro-desktop-full but it is not going to be installed
 ros-hydro-pr2-gazebo : Depends: gazebo but it is not going to be installed
                        Depends: ros-hydro-gazebo-plugins but it is not going to be installed
 ros-hydro-pr2-gazebo-plugins : Depends: gazebo but it is not going to be installed
                                Depends: ros-hydro-gazebo-plugins but it is not going to be installed
                                Depends: ros-hydro-gazebo-ros but it is not going to be installed
 ros-hydro-pr2-hack-the-future : Depends: ros-hydro-slider-gui but it is not going to be installed

 ros-hydro-pr2-surrogate : Depends: ros-hydro-oculus-rviz-plugins but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

Also, using aptitude with "sudo aptitude install ros-hydro-pr2-desktop" gives:

0 packages upgraded, 104 newly installed, 0 to remove and 224 not upgraded.
Need to get 54.2 MB of archives. After unpacking 119 MB will be used.

The following packages have unmet dependencies:

 liblodo3.0 : Depends: libgsl0ldbl (>= 1.9) which is a virtual package.
 libpmap3.0 : Depends: libgsl0ldbl (>= 1.9) which is a virtual package.
 ros-hydro-rosdoc-lite : Depends: python-epydoc which is a virtual package.
                         Depends: python-kitchen but it is not going to be installed.
 libcegui-mk2-dev : Depends: libmng-dev which is a virtual package.
                    Depends: liblua5.1-dev which is a virtual package.

The following actions will resolve these dependencies:

      Keep the following packages at their current version:

1)      gazebo [Not Installed]                            
2)      libcegui-mk2-dev [Not Installed]                  
3)      liblodo3.0 [Not Installed]                        
4)      libpmap3.0 [Not Installed]                        
5)      robot-player [Not Installed]                      
6)      ros-hydro-desktop [Not Installed]                 
7)      ros-hydro-desktop-full [Not Installed]            
8)      ros-hydro-gazebo-plugins [Not Installed]          
9)      ros-hydro-gazebo-ros [Not Installed]              
10)     ros-hydro-gazebo-ros-pkgs [Not Installed]         
11)     ros-hydro-pr2-desktop [Not Installed]             
12)     ros-hydro-pr2-gazebo [Not Installed]              
13)     ros-hydro-pr2-gazebo-plugins [Not Installed]      
14)     ros-hydro-pr2-simulator [Not Installed]           
15)     ros-hydro-ros-full [Not Installed]                
16)     ros-hydro-rosdoc-lite [Not Installed]             
17)     ros-hydro-simulators [Not Installed]

[Evan Krause]

Hi Devon -- Any updates on this front?

Thanks,
Evan

[Francisco Vina]

Just a comment on Austin Hendrix's namniart backup repo mentioned previously,

It is online, just at a slightly different address:

http://packages.namniart.com/repos/pr2.bak/pr2-0.6.1/ubuntu/

I was reinstalling our PR2 recently and this repo worked fine: there were some issues with Clearpath's server which they are taking care of at the moment.

Best,

Francisco

[Evan Krause]

Thanks Francisco -- After using the source lists from your reinstall wiki (https://cvapwiki.csc.kth.se/dokuwiki/doku.php?id=the pr2:pr2_reinstall) I was able to install the rest of the ros and pr2 packages without issue.

Then, I had to fix some issues with the teleop packages as you mentioned on your wiki (by moving the yaml files into a config dir and launch files into a launch dir). I had to do this for both pr2_teleop and pr2_teleop_general.

Unfortunately, tuck_arms is not working. I tried "roslaunch pr2_tuckarm tuck_arms.launch" which appears to start fine (no error messages) but nothing happens on the PR2.

I also tried "rosrun pr2_tuckarm tuck_arms.py -r t -l t" which gives:
  [rosrun] You have chosen a non-unique executable, please pick one of the following:
  1) /opt/ros/hydro/lib/pr2_tuckarm/tuck_arms.py
  2) /opt/ros/hydro/share/pr2_tuckarm/scripts/tuck_arms.py
and neither of the choices work (no error messages).

The only way I can get tuck arms to work is by using pr2_teleop_general and starting it from the joystick.

Has anyone else had this issue? Any help is greatly appreciated. Thanks!

Evan

[Francisco Vina]

I haven't checked this but I'm guessing we will run into the same issue...

Have you tried downloading and compiling the tuck arms package from source (https://github.com/PR2/pr2_apps) ?

Francisco

[Justin Huang]

We had these exact issues when switching our PR2 to Hydro: 1) pr2_teleop fails to launch, 2) tuck_arms doesn't tuck arms, and 3) rqt_pr2_dashboard can't reset motors. These have all been fixed in the code, but haven't made it to the Ubuntu repositories yet. Our solutions to all these problems so far has been to just clone the code from Github and use those versions instead.

To view this discussion on the web visit https://groups.google.com/d/msgid/pr2_users/1d591842-52ff-484e-bbf4-b947b225a39a%40googlegroups.com.