Cmake error when downloading rbx2 packages

[aarav...@gmail.com]

Dear Patrick,

I am installing the rbx2 packages on my system (ubuntu 12.04 x64 bit , ROS hydro). After installing the rbx2 packages from github, I did catkin_make and getting the following errors:

CMake Error at /opt/ros/hydro/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a configuration file for package manipulation_msgs.
  Set manipulation_msgs_DIR to the directory containing a CMake configuration
  file for manipulation_msgs.  The file will have one of the following names:
    manipulation_msgsConfig.cmake
    manipulation_msgs-config.cmake
Call Stack (most recent call first):
  rbx2/rbx2_arm_nav/CMakeLists.txt:5 (find_package)

This error is invoked at the rbx2_arm_nav packages. 

I did git-pull to get be sure i am updated, but catkin_make wont build cleanly. I tried the same on a clean install of ubuntu on a virtual machine and getting the same error. 

Can you suggest some help to fix this. 

Thank you

Regards

AA Rav

[Patrick Goebel]

Hello AA Rav,

It sounds like you are missing the pre-requisite packages or at least the manipulation_msgs package.  The easiest way to install all the pre-requisites is to download and run the script rbx2-prereq.sh as explained near the beginning of Chapter 2.

--patrick

[aarav...@gmail.com]

Dear Patrick,

Thank for answering my question. 

 Actually I downloaded the pre-requisite packages by following the instructions given in the book. 

These are the steps I ran:

$ cd ~

$ wget https://raw.githubusercontent.com/pirobot/rbx2/hydro-devel/\

   rbx2-prereq.sh

$ sh rbx2-prereq.sh

I some messages when I did this :

$ sh rbx2-prereq.sh 
[sudo] password for rd: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Note, selecting 'ros-hydro-turtlebot-teleop' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-interactive-markers' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-actions' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-simulator' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-create' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-rviz-launchers' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-sounds' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-msgs' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-gazebo' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-viz' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-description' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-navigation' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-dashboard' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-apps' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-core-apps' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-calibration' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-create-desktop' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-follower' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-bringup' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-turtlebot-panorama' for regex 'ros-hydro-turtlebot-*'
Note, selecting 'ros-hydro-kobuki-keyop' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-soft' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-random-walker' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-core' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-dock-drive' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-controller-tutorial' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-softnode' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-gazebo-plugins' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-ftdi' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-rviz-launchers' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-auto-docking' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-description' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-dashboard' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-desktop' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-qtestsuite' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-driver' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-softapps' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-arm' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-node' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-msgs' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-gazebo' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-testsuite' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-safety-controller' for regex 'ros-hydro-kobuki-*'
Note, selecting 'ros-hydro-kobuki-bumper2pc' for regex 'ros-hydro-kobuki-*'
ros-hydro-arbotix is already the newest version.
ros-hydro-cmake-modules is already the newest version.
ros-hydro-depthimage-to-laserscan is already the newest version.
ros-hydro-dynamixel-motor is already the newest version.
ros-hydro-executive-smach is already the newest version.
ros-hydro-executive-smach set to manually installed.
ros-hydro-grasping-msgs is already the newest version.
ros-hydro-hokuyo-node is already the newest version.
ros-hydro-kobuki-auto-docking is already the newest version.
ros-hydro-kobuki-auto-docking set to manually installed.
ros-hydro-kobuki-bumper2pc is already the newest version.
ros-hydro-kobuki-bumper2pc set to manually installed.
ros-hydro-kobuki-dashboard is already the newest version.
ros-hydro-kobuki-dashboard set to manually installed.
ros-hydro-kobuki-description is already the newest version.
ros-hydro-kobuki-description set to manually installed.
ros-hydro-kobuki-dock-drive is already the newest version.
ros-hydro-kobuki-dock-drive set to manually installed.
ros-hydro-kobuki-driver is already the newest version.
ros-hydro-kobuki-driver set to manually installed.
ros-hydro-kobuki-ftdi is already the newest version.
ros-hydro-kobuki-keyop is already the newest version.
ros-hydro-kobuki-keyop set to manually installed.
ros-hydro-kobuki-msgs is already the newest version.
ros-hydro-kobuki-msgs set to manually installed.
ros-hydro-kobuki-node is already the newest version.
ros-hydro-kobuki-node set to manually installed.
ros-hydro-kobuki-safety-controller is already the newest version.
ros-hydro-kobuki-safety-controller set to manually installed.
ros-hydro-laser-filters is already the newest version.
ros-hydro-laser-pipeline is already the newest version.
ros-hydro-moveit-python is already the newest version.
ros-hydro-openni-camera is already the newest version.
ros-hydro-rgbd-launch is already the newest version.
ros-hydro-rgbd-launch set to manually installed.
ros-hydro-smach is already the newest version.
ros-hydro-smach set to manually installed.
ros-hydro-smach-ros is already the newest version.
ros-hydro-smach-ros set to manually installed.
ros-hydro-turtlebot is already the newest version.
ros-hydro-turtlebot-actions is already the newest version.
ros-hydro-turtlebot-apps is already the newest version.
ros-hydro-turtlebot-bringup is already the newest version.
ros-hydro-turtlebot-calibration is already the newest version.
ros-hydro-turtlebot-core-apps is already the newest version.
ros-hydro-turtlebot-create is already the newest version.
ros-hydro-turtlebot-create-desktop is already the newest version.
ros-hydro-turtlebot-dashboard is already the newest version.
ros-hydro-turtlebot-description is already the newest version.
ros-hydro-turtlebot-follower is already the newest version.
ros-hydro-turtlebot-gazebo is already the newest version.
ros-hydro-turtlebot-interactive-markers is already the newest version.
ros-hydro-turtlebot-msgs is already the newest version.
ros-hydro-turtlebot-navigation is already the newest version.
ros-hydro-turtlebot-panorama is already the newest version.
ros-hydro-turtlebot-rviz-launchers is already the newest version.
ros-hydro-turtlebot-simulator is already the newest version.
ros-hydro-turtlebot-sounds is already the newest version.
ros-hydro-turtlebot-teleop is already the newest version.
ros-hydro-turtlebot-viz is already the newest version.
ros-hydro-gazebo-ros-control is already the newest version.
ros-hydro-gazebo-ros-pkgs is already the newest version.
ros-hydro-gazebo-ros is already the newest version.
ros-hydro-gazebo-plugins is already the newest version.
ros-hydro-gazebo-msgs is already the newest version.
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:
The following packages have unmet dependencies:
 ros-hydro-kobuki-gazebo-plugins : Depends: gazebo but it is not going to be installed
                                   Depends: sdformat but it is not going to be installed
E: Unable to correct problems, you have held broken packages.

I already have gazebo installed and I can open it without problems.

As suggested by you I repeated the steps by removing rbx2 package and reinstalling, but I am still getting the same error. 

Can you suggest something to me.

Thank you

Regards

AA Rav

[Patrick Goebel]

Hi AA,

OK, I see.  It appears that the script terminated prematurely because of a failed dependency regarding sdformat.  Can you try this:

$ sudo apt-get install sdformat

and then run the rbx2-prereq.sh script again?

--patrick

[aarav...@gmail.com]

Dear Patrick, 

Thanks a lot. That solved the problem. I can build now using catkin_make.

I am getting however warning message like this:

WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).

Also when trying to run the patrolbot script  on page 15 Vol 2 
$ rosrun rbx2_tasks patrol_script.py 

I get the follwing error and it returns to the prompt. I cannot see the purple markers on the rviz, only the robot is being seen:

Traceback (most recent call last):
  File "/home/rd/catkin_ws/src/rbx2/rbx2_tasks/nodes/patrol_script.py", line 27, in <module>
    from rbx2_msgs.srv import *
ImportError: No module named rbx2_msgs.srv

Can you help me with this. 

Thank you 

AA Rav

[Patrick Goebel]

Hi AA Rav,

Thanks for the report back.  I have added the sdformat package to the rbx2-prereq.sh script. 

I am getting however warning message like this:

WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).

According to this answer on answers.ros.org, the "ompl" warning is coming from some CMakeLists.txt file in the catkin_make chain.  However, as far as I can tell, it is not being caused by the CMakeLists.txt files in the rbx2 packages and it seems it can be safely ignored for now.

Also when trying to run the patrolbot script  on page 15 Vol 2 
$ rosrun rbx2_tasks patrol_script.py 

I get the follwing error and it returns to the prompt. I cannot see the purple markers on the rviz, only the robot is being seen:

Traceback (most recent call last):
  File "/home/rd/catkin_ws/src/rbx2/rbx2_tasks/nodes/patrol_script.py", line 27, in <module>
    from rbx2_msgs.srv import *
ImportError: No module named rbx2_msgs.srv

This looks like either the rbx2_msgs package did not get built, or you need to source your ~/catkin_ws/devel/setup.bash file.  To check the first possibility, go back to your catkin_make window and look for lines like this:

Scanning dependencies of target rbx2_msgs_generate_messages_py
Scanning dependencies of target rbx2_msgs_generate_messages_cpp
[  6%] [ 12%] Generating Lisp code from rbx2_msgs/SetBatteryLevel.srv
[ 18%] Generating dynamic reconfigure files from cfg/BatterySimulator.cfg: /home/patrick/catkin_ws/devel/include/rbx2_utils/BatterySimulatorConfig.h /home/patrick/catkin_ws/devel/lib/python2.7/dist-packages/rbx2_utils/cfg/BatterySimulatorConfig.py
[ 25%] Generating Python code from SRV rbx2_msgs/SetBatteryLevel
Generating C++ code from rbx2_msgs/SetBatteryLevel.srv
[ 31%] [ 31%] Built target rbx2_msgs_generate_messages_lisp

The final line related to rbx2_msgs should be:

Built target rbx2_msgs_generate_messages

If everything looks fine there, then run the following command:

$ source ~/catkin_ws/devel/setup.bash

Then try running the patrol_script.py command again.

--patrick

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[aarav...@gmail.com]

Dear Patrick,

I rebuild the catkin_ws again and got no errors. As you described the rbx2_msgs_gernerate_messages build successfully.

I did source the setup.bash file from devel  every time I open the terminal. 

But I am still getting the same error when running the patrolbot script. 

Traceback (most recent call last):
  File "/home/rd/catkin_ws/src/rbx2/rbx2_tasks/nodes/patrol_script.py", line 27, in <module>
    from rbx2_msgs.srv import *
ImportError: No module named rbx2_msgs.srv

Attached is the build summary from my terminal window for your reference. (catkin_build.txt)

Thank you

AA Rav

[Patrick Goebel]

Hi AA Rav,

I'm starting to run out of ideas.  I tried a fresh install of ROS Hydro and the rbx2 packages in a new virtual machine and could not reproduce your error.  It seems that the generated rbx2_msgs Python files are not getting into your Python path.  Could you please try posting your problem on http://answers.ros.org?  At this point I'm as mystified as you are...

--patrick

[aarav...@gmail.com]

Dear Patrick,

Thank you for trying. I tried as well on a new virtual machine and it worked. I guess I missed something while installing 

or have broken packages. 

Thanks for your help. I also want to ask you, do you use Hokuyo sensor with the pi-robot or the turtlebot?

I cannot find a suitable tutorial to install hokuyo laser sensor on kobuki turtlebot particularly on ROS- Hydro. There are no turtlebot_body.xacro file

in the hydro package that points towards using laser sensor. It was easy to do so when using Fuerte. With the new catkin system I am facing problems when

trying to copy the turtlebot_description folder to the catkin_ws/src and then doing catkin_make. This does not build well (or I need to copy the whole turtlebot package??)  Can you point towards which files I need to change for visualizing the hokuyo sensor and correctly remapping the  laser and tf for turtlebot. 

Sorry for taking your time. 

Thanks 

AA Rav (Alex)

[Patrick Goebel]

Hi Alex,

Great to hear you got things working--yeah, something must have been amiss with some package or two or possibly a path variable.  Anyway, glad to know you are back on track.

I use a Hokuyo sensor on Pi Robot and I have used it on the original TurtleBot.   Chapter/section 4.6 in Volume 2 or ROS By Example covers how to add a laser scanner to your model as well as the launch file you will need to connect to the laser itself.  The URDF package the describes the Kobuki base is kobuki_description and the URDF file itself is kobuki.urdf.xacro under the urdf subdirectory.  So copy the entire kobuki_description package into your ~/catkin_ws/src directory and make your changes to that URDF file.

--patrick

On 11/18/2014 06:50 AM, aarav...@gmail.com wrote:

Dear Patrick,

[aarav...@gmail.com]

Dear Patrick,

Thanks a lot. I was able to configure the hokuyo to my turtlebot2 and can make fairly good maps. 

However, I had to tweak the files inside the /opt/ros/hydro/share/turtlebot_description to make this work. Just copying the kobuki_description package to catkin_ws/src gave many errors.

Will this affect my packages when I update from the update manager in future?

One more question. I changed the 3dkinectsensor topic from /scan to kinect_scan. Will this affect the working of kinect . I do not want to use the kinect's fake laser for mapping.

Right now the 3dsensor.launch file is giving many errors and crashing constantly. I cannot understand how to deal with it.

Your instructions were extremely helpful. Awesome tutorials on the urdf. I am getting the grip now. Thanks a lot.

-

Alex

[Patrick Goebel]

Hi Alex,

Did you try copying the turtlebot_description package into your catkin
workspace and tweaking your your copies of the files? Any changes you
make to the system files will be potentially overwritten during an update.

Changing the fake laser scan topic to /kinect_scan will not affect the
Kinect. Can you copy and paste the errors you are getting when
launching 3dsensor.launch?

--patrick

On 11/19/2014 02:50 AM, aarav...@gmail.com wrote:
> Dear Patrick,
>

[aarav...@gmail.com]

Dear Patrick,

I did copied the turtlebot_description folder to the

~/catkin_ws/src

and then at ~/catkin_ws ran 

$ catkin_make

I got following errors-

$ ~/catkin_ws$ catkin_make
Base path: /home/rd/catkin_ws
Source space: /home/rd/catkin_ws/src
Build space: /home/rd/catkin_ws/build
Devel space: /home/rd/catkin_ws/devel
Install space: /home/rd/catkin_ws/install
####
#### Running command: "cmake /home/rd/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/rd/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/rd/catkin_ws/install" in "/home/rd/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/rd/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/rd/catkin_ws/devel;/opt/ros/hydro
-- This workspace overlays: /home/rd/catkin_ws/devel;/opt/ros/hydro
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/rd/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.89
-- BUILD_SHARED_LIBS is on
WARNING: Package "ompl" does not follow the version conventions. It should not contain leading zeros (unless the number is 0).
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~  traversing 27 packages in topological order:
-- ~~  - rbx1 (metapackage)
-- ~~  - rbx2 (metapackage)
-- ~~  - rbx1_bringup
-- ~~  - rbx1_speech
-- ~~  - rbx1_vision
-- ~~  - rbx2_diagnostics
-- ~~  - rbx2_gazebo
-- ~~  - rbx2_msgs
-- ~~  - rbx2_vision
-- ~~  - rbx1_dynamixels
-- ~~  - rbx2_bringup
-- ~~  - rbx2_dynamixels
-- ~~  - rbx2_tasks
-- ~~  - rbx2_utils
-- ~~  - rbx2_gui
-- ~~  - rbx1_apps
-- ~~  - rbx1_nav
-- ~~  - rbx2_ar_tags
-- ~~  - rbx2_arm_nav
-- ~~  - rbx2_nav
-- ~~  - rbx1_description
-- ~~  - rbx2_description
-- ~~  - grasping_pi_robot_moveit_config
-- ~~  - pedestal_pi_no_gripper_moveit_config
-- ~~  - pedestal_pi_with_gripper_moveit_config
-- ~~  - pi_robot_moveit_config
-- ~~  - turtlebot_description
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin metapackage: 'rbx1'
-- ==> add_subdirectory(rbx1/rbx1)
-- +++ processing catkin metapackage: 'rbx2'
-- ==> add_subdirectory(rbx2/rbx2)
-- +++ processing catkin package: 'rbx1_bringup'
-- ==> add_subdirectory(rbx1/rbx1_bringup)
-- +++ processing catkin package: 'rbx1_speech'
-- ==> add_subdirectory(rbx1/rbx1_speech)
-- +++ processing catkin package: 'rbx1_vision'
-- ==> add_subdirectory(rbx1/rbx1_vision)
-- +++ processing catkin package: 'rbx2_diagnostics'
-- ==> add_subdirectory(rbx2/rbx2_diagnostics)
-- +++ processing catkin package: 'rbx2_gazebo'
-- ==> add_subdirectory(rbx2/rbx2_gazebo)
-- +++ processing catkin package: 'rbx2_msgs'
-- ==> add_subdirectory(rbx2/rbx2_msgs)
-- Using these message generators: gencpp;genlisp;genpy
-- rbx2_msgs: 0 messages, 1 services
-- +++ processing catkin package: 'rbx2_vision'
-- ==> add_subdirectory(rbx2/rbx2_vision)
-- +++ processing catkin package: 'rbx1_dynamixels'
-- ==> add_subdirectory(rbx1/rbx1_dynamixels)
-- +++ processing catkin package: 'rbx2_bringup'
-- ==> add_subdirectory(rbx2/rbx2_bringup)
-- +++ processing catkin package: 'rbx2_dynamixels'
-- ==> add_subdirectory(rbx2/rbx2_dynamixels)
-- +++ processing catkin package: 'rbx2_tasks'
-- ==> add_subdirectory(rbx2/rbx2_tasks)
-- +++ processing catkin package: 'rbx2_utils'
-- ==> add_subdirectory(rbx2/rbx2_utils)
-- Using these message generators: gencpp;genlisp;genpy
-- rbx2_utils: 0 messages, 2 services
-- +++ processing catkin package: 'rbx2_gui'
-- ==> add_subdirectory(rbx2/rbx2_gui)
-- +++ processing catkin package: 'rbx1_apps'
-- ==> add_subdirectory(rbx1/rbx1_apps)
-- +++ processing catkin package: 'rbx1_nav'
-- ==> add_subdirectory(rbx1/rbx1_nav)
-- +++ processing catkin package: 'rbx2_ar_tags'
-- ==> add_subdirectory(rbx2/rbx2_ar_tags)
-- +++ processing catkin package: 'rbx2_arm_nav'
-- ==> add_subdirectory(rbx2/rbx2_arm_nav)
-- Using these message generators: gencpp;genlisp;genpy
-- +++ processing catkin package: 'rbx2_nav'
-- ==> add_subdirectory(rbx2/rbx2_nav)
-- +++ processing catkin package: 'rbx1_description'
-- ==> add_subdirectory(rbx1/rbx1_description)
-- +++ processing catkin package: 'rbx2_description'
-- ==> add_subdirectory(rbx2/rbx2_description)
-- +++ processing catkin package: 'grasping_pi_robot_moveit_config'
-- ==> add_subdirectory(rbx2/grasping_pi_robot_moveit_config)
-- +++ processing catkin package: 'pedestal_pi_no_gripper_moveit_config'
-- ==> add_subdirectory(rbx2/pedestal_pi_no_gripper_moveit_config)
-- +++ processing catkin package: 'pedestal_pi_with_gripper_moveit_config'
-- ==> add_subdirectory(rbx2/pedestal_pi_with_gripper_moveit_config)
-- +++ processing catkin package: 'pi_robot_moveit_config'
-- ==> add_subdirectory(rbx2/pi_robot_moveit_config)
-- +++ processing catkin package: 'turtlebot_description'
-- ==> add_subdirectory(turtlebot_description)
CMake Error at /opt/ros/hydro/share/catkin/cmake/catkin_workspace.cmake:110 (add_subdirectory):
  The source directory


    /home/rd/catkin_ws/src/turtlebot_description


  does not contain a CMakeLists.txt file.

Call Stack (most recent call first):

  CMakeLists.txt:63 (catkin_workspace)




-- Configuring incomplete, errors occurred!
Invoking "cmake" failed

That is the reason I tweaked files inside /opt/ros/hydro/share folder.

For the kinect, when running 

$ roslaunch turtlebot_bringup 3dsensor.launch

I get following errors -

$ roslaunch turtlebot_bringup 3dsensor.launch
... logging to /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/roslaunch-robotics-5303.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.


started roslaunch server http://robotics.local:57523/


SUMMARY
========


PARAMETERS
 * /camera/camera_nodelet_manager/num_worker_threads
 * /camera/depth_rectify_depth/interpolation
 * /camera/depth_registered_rectify_depth/interpolation
 * /camera/disparity_depth/max_range
 * /camera/disparity_depth/min_range
 * /camera/disparity_registered_hw/max_range
 * /camera/disparity_registered_hw/min_range
 * /camera/disparity_registered_sw/max_range
 * /camera/disparity_registered_sw/min_range
 * /camera/driver/depth_camera_info_url
 * /camera/driver/depth_frame_id
 * /camera/driver/depth_registration
 * /camera/driver/device_id
 * /camera/driver/rgb_camera_info_url
 * /camera/driver/rgb_frame_id
 * /depthimage_to_laserscan/output_frame_id
 * /depthimage_to_laserscan/range_min
 * /depthimage_to_laserscan/scan_height
 * /rosdistro
 * /rosversion


NODES
  /camera/
    camera_nodelet_manager (nodelet/nodelet)
    debayer (nodelet/nodelet)
    depth_metric (nodelet/nodelet)
    depth_metric_rect (nodelet/nodelet)
    depth_points (nodelet/nodelet)
    depth_rectify_depth (nodelet/nodelet)
    depth_registered_rectify_depth (nodelet/nodelet)
    disparity_depth (nodelet/nodelet)
    disparity_registered_hw (nodelet/nodelet)
    disparity_registered_sw (nodelet/nodelet)
    driver (nodelet/nodelet)
    points_xyzrgb_hw_registered (nodelet/nodelet)
    points_xyzrgb_sw_registered (nodelet/nodelet)
    rectify_color (nodelet/nodelet)
    rectify_ir (nodelet/nodelet)
    rectify_mono (nodelet/nodelet)
    register_depth_rgb (nodelet/nodelet)
  /
    depthimage_to_laserscan (nodelet/nodelet)


ROS_MASTER_URI=http://localhost:11311


core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [5321]
[ INFO] [1416569829.766931129]: Initializing nodelet with 4 worker threads.
process[camera/driver-2]: started with pid [5343]
process[camera/debayer-3]: started with pid [5360]
process[camera/rectify_mono-4]: started with pid [5375]
process[camera/rectify_color-5]: started with pid [5390]
process[camera/rectify_ir-6]: started with pid [5405]
process[camera/depth_rectify_depth-7]: started with pid [5424]
process[camera/depth_metric_rect-8]: started with pid [5439]
process[camera/depth_metric-9]: started with pid [5454]
process[camera/depth_points-10]: started with pid [5469]
process[camera/register_depth_rgb-11]: started with pid [5484]
process[camera/points_xyzrgb_sw_registered-12]: started with pid [5499]
process[camera/depth_registered_rectify_depth-13]: started with pid [5514]
process[camera/points_xyzrgb_hw_registered-14]: started with pid [5529]
process[camera/disparity_depth-15]: started with pid [5544]
process[camera/disparity_registered_sw-16]: started with pid [5559]
process[camera/disparity_registered_hw-17]: started with pid [5574]
process[depthimage_to_laserscan-18]: started with pid [5589]
terminate called after throwing an instance of 'openni_wrapper::OpenNIException'
  what():  unsigned int openni_wrapper::OpenNIDriver::updateDeviceList() @ /tmp/buildd/ros-hydro-openni-camera-1.9.2-0precise-20141030-2144/src/openni_driver.cpp @ 125 : enumerating image nodes failed. Reason: One or more of the following nodes could not be enumerated:


Image: PrimeSense/SensorV2/5.1.0.41: Got a timeout while waiting for a network command to complete!


[FATAL] [1416569834.431867484]: Service call failed!
[FATAL] [1416569834.431992422]: Service call failed!
[FATAL] [1416569834.432059923]: Service call failed!
[FATAL] [1416569834.432177642]: Service call failed!
[FATAL] [1416569834.432491040]: Service call failed!
[FATAL] [1416569834.432566979]: Service call failed!
[FATAL] [1416569834.432787290]: Service call failed!
[FATAL] [1416569834.433121524]: Service call failed!
[FATAL] [1416569834.433550666]: Service call failed!
[FATAL] [1416569834.434770723]: Service call failed!
[FATAL] [1416569834.434939260]: Service call failed!
[FATAL] [1416569834.435048452]: Service call failed!
[FATAL] [1416569834.435181174]: Service call failed!
[camera/camera_nodelet_manager-1] process has died [pid 5321, exit code -6, cmd /opt/ros/hydro/lib/nodelet/nodelet manager __name:=camera_nodelet_manager __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-camera_nodelet_manager-1.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-camera_nodelet_manager-1*.log
[camera/points_xyzrgb_hw_registered-14] process has died [pid 5529, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/hw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_hw_registered __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-points_xyzrgb_hw_registered-14.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-points_xyzrgb_hw_registered-14*.log
[depthimage_to_laserscan-18] process has died [pid 5589, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depthimage_to_laserscan/DepthImageToLaserScanNodelet camera/camera_nodelet_manager image:=camera/depth_registered/image_raw scan:=kinect_scan camera/image:=camera/depth_registered/image_raw camera/scan:=kinect_scan __name:=depthimage_to_laserscan __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/depthimage_to_laserscan-18.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/depthimage_to_laserscan-18*.log
[camera/rectify_ir-6] process has died [pid 5405, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=ir/image_raw image_rect:=ir/image_rect_ir __name:=rectify_ir __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-rectify_ir-6.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-rectify_ir-6*.log
[camera/depth_metric_rect-8] process has died [pid 5439, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_rect_raw image:=depth/image_rect __name:=depth_metric_rect __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_metric_rect-8.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_metric_rect-8*.log
[camera/depth_metric-9] process has died [pid 5454, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/convert_metric camera_nodelet_manager --no-bond image_raw:=depth/image_raw image:=depth/image __name:=depth_metric __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_metric-9.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_metric-9*.log
[camera/register_depth_rgb-11] process has died [pid 5484, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/register camera_nodelet_manager --no-bond rgb/camera_info:=rgb/camera_info depth/camera_info:=depth/camera_info depth/image_rect:=depth/image_rect_raw depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw __name:=register_depth_rgb __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-register_depth_rgb-11.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-register_depth_rgb-11*.log
[camera/points_xyzrgb_sw_registered-12] process has died [pid 5499, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyzrgb camera_nodelet_manager --no-bond rgb/image_rect_color:=rgb/image_rect_color rgb/camera_info:=rgb/camera_info depth_registered/image_rect:=depth_registered/sw_registered/image_rect_raw depth_registered/points:=depth_registered/points __name:=points_xyzrgb_sw_registered __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-points_xyzrgb_sw_registered-12.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-points_xyzrgb_sw_registered-12*.log
[camera/depth_registered_rectify_depth-13] process has died [pid 5514, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth_registered/image_raw image_rect:=depth_registered/hw_registered/image_rect_raw __name:=depth_registered_rectify_depth __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_registered_rectify_depth-13.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_registered_rectify_depth-13*.log
[camera/disparity_registered_sw-16] process has died [pid 5559, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/sw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_sw __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_registered_sw-16.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_registered_sw-16*.log
[camera/disparity_depth-15] process has died [pid 5544, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth/image_rect_raw right:=projector left/disparity:=depth/disparity __name:=disparity_depth __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_depth-15.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_depth-15*.log
[camera/disparity_registered_hw-17] process has died [pid 5574, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/disparity camera_nodelet_manager --no-bond left/image_rect:=depth_registered/hw_registered/image_rect_raw right:=projector left/disparity:=depth_registered/disparity __name:=disparity_registered_hw __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_registered_hw-17.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-disparity_registered_hw-17*.log
[camera/depth_rectify_depth-7] process has died [pid 5424, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load image_proc/rectify camera_nodelet_manager --no-bond image_mono:=depth/image_raw image_rect:=depth/image_rect_raw __name:=depth_rectify_depth __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_rectify_depth-7.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_rectify_depth-7*.log
[camera/depth_points-10] process has died [pid 5469, exit code 255, cmd /opt/ros/hydro/lib/nodelet/nodelet load depth_image_proc/point_cloud_xyz camera_nodelet_manager --no-bond image_rect:=depth/image_rect_raw points:=depth/points __name:=depth_points __log:=/home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_points-10.log].
log file: /home/rd/.ros/log/aad2e99c-7172-11e4-82a6-e89d876f0221/camera-depth_points-10*.log
^C[camera/rectify_color-5] killing on exit
[camera/rectify_mono-4] killing on exit
[camera/debayer-3] killing on exit
[camera/driver-2] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Please see if you can help with this.

Thanks

Alex

[Patrick Goebel]

Hi Alex,

I didn't realize until this morning that there is actually a ROS Wiki page on how to add a laser to the TurtleBot description.  You can find the details at:

http://wiki.ros.org/turtlebot/Tutorials/hydro/Adding%20a%20Hokuyo%20laser%20to%20your%20Turtlebot

Looks like the trick is to download the entire TurtleBot source from Github before make changes and compiling.  The instructions on the Wiki suggest that you create a new catkin workspace to overlay on your existing workspace, but you should be able to just download the TurtleBot source files into your existing ~/catkin_ws/src folder.

--patrick