Build kuka_experimental package on Windows 10 ROS1 noetic

asked 2020-10-17 02:39:38 -0600

matthias88
11 ●3 ●5 ●4

updated 2020-10-17 04:56:19 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

I'm new to ROS and i am trying to build kuka_experimental package on Windows 10 ROS Noetic. I managed to install the dependencies with https://github.com/simonschmeisser/in... branch, but catkin_make throws following error, if i try to build kuka_experimental package:

C:\catkin_ws>rosdep install --from-paths src --ignore-src

# All required rosdeps installed successfully

C:\catkin_ws>catkin_make
Base path: C:\catkin_ws
Source space: C:\catkin_ws\src
Build space: C:\catkin_ws\build
Devel space: C:\catkin_ws\devel
Install space: C:\catkin_ws\install
####
#### Running command: "nmake cmake_check_build_system" in "C:\catkin_ws\build"
####

Microsoft (R) Program Maintenance Utility, Version 14.27.29112.0
Copyright (C) Microsoft Corporation. Alle Rechte vorbehalten.

####
#### Running command: "nmake" in "C:\catkin_ws\build"
####

Microsoft (R) Program Maintenance Utility, Version 14.27.29112.0
Copyright (C) Microsoft Corporation. Alle Rechte vorbehalten.

[  0%] Built target Project__setup_util.py_exec_install_python
[  0%] Built target _industrial_msgs_generate_messages_check_deps_RobotMode
[  0%] Built target _industrial_msgs_generate_messages_check_deps_TriState
[  0%] Built target trajectory_msgs_generate_messages_eus
[  0%] Built target std_msgs_generate_messages_eus
[  0%] Built target _industrial_msgs_generate_messages_check_deps_SetRemoteLoggerLevel
[  0%] Built target _industrial_msgs_generate_messages_check_deps_DeviceInfo
[  0%] Built target _industrial_msgs_generate_messages_check_deps_SetDrivePower
[  0%] Built target _industrial_msgs_generate_messages_check_deps_StartMotion
[  0%] Built target _industrial_msgs_generate_messages_check_deps_RobotStatus
[  0%] Built target _industrial_msgs_generate_messages_check_deps_CmdJointTrajectory
[  0%] Built target _industrial_msgs_generate_messages_check_deps_DebugLevel
[  0%] Built target _industrial_msgs_generate_messages_check_deps_GetRobotInfo
[  0%] Built target _industrial_msgs_generate_messages_check_deps_StopMotion
[  0%] Built target _industrial_msgs_generate_messages_check_deps_ServiceReturnCode
[  6%] Built target industrial_msgs_generate_messages_eus
[  6%] Built target std_msgs_generate_messages_lisp
[  6%] Built target trajectory_msgs_generate_messages_lisp
[ 11%] Built target industrial_msgs_generate_messages_lisp
[ 11%] Built target std_msgs_generate_messages_nodejs
[ 11%] Built target trajectory_msgs_generate_messages_nodejs
[ 18%] Built target industrial_msgs_generate_messages_nodejs
[ 18%] Built target trajectory_msgs_generate_messages_cpp
[ 18%] Built target std_msgs_generate_messages_cpp
[ 25%] Built target industrial_msgs_generate_messages_cpp
[ 25%] Built target std_msgs_generate_messages_py
[ 25%] Built target trajectory_msgs_generate_messages_py
[ 31%] Built target industrial_msgs_generate_messages_py
[ 31%] Built target industrial_msgs_generate_messages
[ 32%] Built target industrial_robot_simulator_industrial_robot_simulator_exec_install_python
[ 33%] Built target industrial_robot_simulator_industrial_robot_simulator_exec_cip_devel_python
[ 35%] Built target industrial_trajectory_filters
[ 36%] Built target industrial_utils
[ 36%] Building CXX object kuka_experimental/kuka_eki_hw_interface/CMakeFiles/kuka_eki_hw_interface.dir/src/kuka_eki_hw_interface.cpp.obj
cl : Befehlszeile warning D9002 : Unbekannte Option "-std=c++11" wird ignoriert.
kuka_eki_hw_interface.cpp
C:\opt\ros\noetic\x64\include\boost/bind.hpp(41): note: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.
Please define _WIN32_WINNT or _WIN32_WINDOWS appropriately. For example:
- add -D_WIN32_WINNT=0x0601 to the compiler command line; or
- add _WIN32_WINNT=0x0601 to your project's Preprocessor Definitions.
Assuming _WIN32_WINNT=0x0601 (i.e. Windows 7 target).
C:\opt\ros\noetic\x64\include\controller_manager/controller_spec.h(33): warning C4068: Unbekanntes Pragma "GCC".
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(142): error C2143: Syntaxfehler: Es fehlt "}" vor "Konstante"
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(142): error C2059: Syntaxfehler: "Konstante"
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(143): error C2143: Syntaxfehler: Es fehlt ";" vor "}"
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(143): error C2238: Unerwartete(s) Token vor ";"
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(146): error C2433: "SwitchState": "virtual" bei der Deklaration von Daten nicht zulässig
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(146): error C4430: Fehlender Typspezifizierer - int wird angenommen. Hinweis: "default-int" wird von C++ nicht unterstützt.
C:\opt\ros\noetic\x64\include\hardware_interface/robot_hw.h(146): error ...

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I'm not really surprised this doesn't build on Windows. These packages were not developed with Windows in mind, so you'll likely run into Linux-isms (or GCC-isms).

Two comments:

it would be good to post build output in English
if you could clarify what exactly you are intending to do after you've built the packages (ie: which packages do you intend to use), perhaps we can provide a work-around

Fixing Windows build-errors is not on the roadmap right now, so unless there are community contributors who are willing to do that, these errors will most likely not be resolved.

gvdhoorn ( 2020-10-17 04:58:55 -0600 )edit

I managed to install the dependencies with https://github.com/simonschmeisser/in... branch

This does not seem to be needed: all that's used from industrial_core is an RViz configuration file (here fi in the KR16 .launch file).

gvdhoorn ( 2020-10-17 05:00:50 -0600 )edit

Thanks for your prompt answer and hints. I would like to use the kuka_eki_hw_interface to send a planned path (MoveIt) to KUKA controllers (KRC 4 and KRC5). Up to now we didn't use ROS and wrote our own C# application for these purposes, but ROS has developed great over the last years, so that I would like to give it at try with the intention to contribute to the kuka_experimental package in future. Unfortunately our requirement is to run it under Windows due to 3rd party dependencies / developed interfaces to PLC and so on. We have the hardware to test, but I am (currently) not that experienced in ROS to port the packages to Windows.

matthias88 ( 2020-10-17 08:28:39 -0600 )edit

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answered 2020-10-17 08:34:57 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

The EKI hw interface depends on ros_control. I'm not sure whether that already supports Windows. It might be as simple as compiler flags not being correctly set for Windows use (in kuka_experimental packages), but I don't know.

Perhaps @OoeyGUI can say something about ros_control on Windows in general.

If he doesn't see this notification, perhaps an issue on their issue tracker could help.

General comment: we typically use this driver on systems with either real-time kernels or with suitably high priorities. That's on Linux systems. You'll have to make sure not to treat this as "just another node", as otherwise I would expect things to not work smoothly.

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Unfortunately our requirement is to run it under Windows due to 3rd party dependencies / developed interfaces to PLC and so on

ROS is distributed by nature. Why not run the driver on a small Linux system, and keep the rest of your application on Windows?

Perhaps WSL might already be good enough. EKI isn't too demanding (but no guarantees).

gvdhoorn ( 2020-10-17 08:35:41 -0600 )edit

It could be you only need to fix this line: -std=c++11 is for GCC.

gvdhoorn ( 2020-10-17 08:37:10 -0600 )edit

@gvdhoorn Thanks for looping me into this thread. I created a task for this on github: https://github.com/ms-iot/ROSOnWindow.... I'll follow up with ROSi a Gijs offline.

OoeyGUI ( 2020-10-17 13:58:37 -0600 )edit

Thanks for creating a task for this and the hint for WSL(2) - I am going to test it. Unfortunately to fix the line of code wasn't sufficient enough to resolve the errors

matthias88 ( 2020-10-17 15:25:51 -0600 )edit

Just a short update: with WSL2 it works like a charm :-)

matthias88 ( 2020-10-30 15:16:15 -0600 )edit

Good to hear.

I also understand @OoeyGUI is close to having a working setup under Windows natively, so that would be interesting to test as well.

gvdhoorn ( 2020-10-31 09:38:34 -0600 )edit

As soon as it is available, we will test it under Windows. What do you think about the effort to port the kuka_eki_hw_interface directly to ROS2? Our intention is to use ROS2 directly from the beginning, so that we are future proof. As I mentioned before we have to consider various 3rd party dependencies and at the moment we are verifying possible interfaces (.NET rosbridge client, cls etc.)

matthias88 ( 2020-10-31 10:27:55 -0600 )edit

ros_control works on Windows, as does MoveIt. I've created a staging fork: https://github.com/ms-iot/kuka_experi.... There are also some dependencies which need to be updated, including realtime_tools.

I'm happy to hear that WSL2 works. Have you had any problems with extended usage?

OoeyGUI ( 2020-11-01 19:10:09 -0600 )edit

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