catkin build moveit_ros_visualization fails

edit

Hello there,

I am following the tutorial Programming Hiro / NEXTAGE OPEN (GUI) and, I am having issues specifically in the 1.1 section, where I run in terminal:

catkin build moveit_ros_visualization

Errors     moveit_ros_planning:make /home/choyos/catkin_ws/logs/moveit_ros_planning/build.make.001.log
/home/choyos/catkin_ws/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp: In member function ‘void planning_scene_monitor::PlanningSceneMonitor::octomapUpdateCallback()’:
/home/choyos/catkin_ws/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:1089:94: error: no matching function for call to ‘planning_scene::PlanningScene::processOctomapPtr(const OccMapTreePtr&, const Eigen::Transform<double, 3,="" 2="">)’
       scene_->processOctomapPtr(octomap_monitor_->getOcTreePtr(), Eigen::Affine3d::Identity());
                                                                                              ^
/home/choyos/catkin_ws/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:1089:94: note: candidate is:
In file included from /home/choyos/catkin_ws/src/moveit_ros/planning/planning_scene_monitor/include/moveit/planning_scene_monitor/planning_scene_monitor.h:44:0,
                 from /home/choyos/catkin_ws/src/moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp:37:
/opt/ros/indigo/include/moveit/planning_scene/planning_scene.h:716:8: note: void planning_scene::PlanningScene::processOctomapPtr(const boost::shared_ptr<const octomap::octree="">&, const Affine3d&)
   void processOctomapPtr(const boost::shared_ptr<const octomap::octree="">& octree, const Eigen::Affine3d& t);
        ^
/opt/ros/indigo/include/moveit/planning_scene/planning_scene.h:716:8: note:   no known conversion for argument 1 from ‘const OccMapTreePtr {aka const std::shared_ptr<occupancy_map_monitor::occmaptree>}’ to ‘const boost::shared_ptr<const octomap::octree="">&’
make[2]: *** [planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/src/planning_scene_monitor.cpp.o] Error 1
make[1]: *** [planning_scene_monitor/CMakeFiles/moveit_planning_scene_monitor.dir/all] Error 2
make[1]: *** Se espera a que terminen otras tareas....
make: *** [all] Error 2
cd /home/choyos/catkin_ws/build/moveit_ros_planning; catkin build --get-env moveit_ros_planning | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed     moveit_ros_planning:make                     [ Exited with code 2 ]
Failed     moveit_ros_planning                          [ 56.2 seconds ]    
Abandoned  moveit_ros_move_group                        [ Unrelated job failed ]
Abandoned  moveit_ros_manipulation                      [ Unrelated job failed ]
Abandoned  moveit_ros_robot_interaction                 [ Unrelated job failed ]
Abandoned  moveit_ros_warehouse                         [ Unrelated job failed ]
Abandoned  moveit_ros_planning_interface                [ Unrelated job failed ]
Abandoned  moveit_ros_visualization                     [ Unrelated job failed ]
[build] Summary: 1 of 8 packages succeeded.                                    
[build]   Ignored:   3 packages were skipped or are blacklisted.               
[build]   Warnings:  None.                                                     
[build]   Abandoned: 6 packages were abandoned.                                
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1 minute and 2.8 seconds total.                

As you can see, the main issue (or the present issue) is related to the called of processOctomapPtr, and more specifically:

no known conversion for argument 1 from ‘const OccMapTreePtr {aka const std::shared_ptr<occupancy_map_monitor::occmaptree>}’ to ‘const boost::shared_ptr<const octomap::octree="">&’

Is there anyway to go on and solve this problem, maybe fixing code?

Thanks for your attention!