I encountered CMake error that cannot locate header file. I think this could be somehow solved by setting right directory to the header file, but there were many CMake functions like 'TARGET_INCLUDE_DIRECTORIES()', 'SET()', 'add_library()', target_link_libraries() and I'm confused which one to use how. Can I pls get some help? Thank you
↓↓ Error message
_____________________________________________________________________________________________________________________________________________________________________
Errors << moveit_planners_ompl:make /home/ubuntuvb/ws_moveit/logs/moveit_planners_ompl/build.make.007.log
In file included from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:39:0,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:39,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:39,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40:10: fatal error: moveit/robot_model/robot_model.h: No such file or directory
#include <moveit/robot_model/robot_model.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/ompl_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:39:0,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:39,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:37:
/home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40:10: fatal error: moveit/robot_model/robot_model.h: No such file or directory
#include <moveit/robot_model/robot_model.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/planning_context_manager.cpp.o] Error 1
In file included from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:39:0,
from /home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:40:
/home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40:10: fatal error: moveit/robot_model/robot_model.h: No such file or directory
#include <moveit/robot_model/robot_model.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/model_based_planning_context.cpp.o] Error 1
make[1]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2
make: *** [all] Error 2
cd /home/ubuntuvb/ws_moveit/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...........................................................................................................................................................
↓↓ Header file location
/home/ubuntuvb/ws_moveit/src/moveit/moveit_core/robot_model/include/moveit/robot_model/robot_model.h
↓↓ CmakeLists.txt location
/home/ubuntuvb/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/CMakeLists.txt
↓↓ CMakeLists.txt
set(MOVEIT_LIB_NAME moveit_ompl_interface)
add_library(${MOVEIT_LIB_NAME}
src/ompl_interface.cpp
src/planning_context_manager.cpp
src/model_based_planning_context.cpp
src/parameterization/model_based_state_space.cpp
src/parameterization/model_based_state_space_factory.cpp
src/parameterization/joint_space/joint_model_state_space.cpp
src/parameterization/joint_space/joint_model_state_space_factory.cpp
src/parameterization/work_space/pose_model_state_space.cpp
src/parameterization/work_space/pose_model_state_space_factory.cpp
src/detail/threadsafe_state_storage.cpp
src/detail/state_validity_checker.cpp
src/detail/projection_evaluators.cpp
src/detail/goal_union.cpp
src/detail/constraints_library.cpp
src/detail/constrained_sampler.cpp
src/detail/constrained_valid_state_sampler.cpp
src/detail/constrained_goal_sampler.cpp
)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
find_package(OpenMP REQUIRED)
target_link_libraries(${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES COMPILE_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
add_executable(moveit_generate_state_database scripts/generate_state_database.cpp)
target_link_libraries(moveit_generate_state_database ${MOVEIT_LIB_NAME})
set_target_properties(moveit_generate_state_database PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
set_target_properties(moveit_generate_state_database PROPERTIES OUTPUT_NAME "generate_state_database")
add_library(moveit_ompl_planner_plugin src/ompl_planner_manager.cpp)
set_target_properties(moveit_ompl_planner_plugin PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
target_link_libraries(moveit_ompl_planner_plugin ${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(moveit_ompl_planner_plugin ${${PROJECT_NAME}_EXPORTED_TARGETS}) # don't build until necessary msgs are available
install(TARGETS ${MOVEIT_LIB_NAME} moveit_ompl_planner_plugin
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(TARGETS moveit_generate_state_database
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(test_state_space test/test_state_space.cpp)
target_link_libraries(test_state_space ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES})
set_target_properties(test_state_space PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
find_package(rostest REQUIRED)
find_package(tf2_eigen REQUIRED)
add_rostest_gtest(test_planning_context_manager
test/test_planning_context_manager.test
test/test_planning_context_manager.cpp)
target_link_libraries(test_planning_context_manager ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES} ${tf2_eigen_LIBRARIES})
catkin_add_gtest(test_state_validity_checker test/test_state_validity_checker.cpp)
target_link_libraries(test_state_validity_checker ${MOVEIT_LIB_NAME} ${OMPL_LIBRARIES} ${catkin_LIBRARIES})
set_target_properties(test_state_validity_checker PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
endif()
