issues in make_catkin.sh

[Ynao3]

Hello, I have resolved the issue with the build Franka interface. I previously installed Protobuf on my computer, which may have caused conflicts. Therefore, I switched to a new system and this issue has been resolved. However, I encountered an error while building catkin again."bash ./bash_scripts/make_catkin.sh". I have successfully built 10 out of 11 packages, but the last one, franka_gazebo, was not successful. I noticed that the error message is a mismatch between the gazebo and protobuf versions. I would like to inquire about the version information of the two you are using and how I can solve this problem.

/usr/include/gazebo-9/gazebo/msgs/joint_animation.pb.h: In member function ‘void gazebo::msgs::JointAnimation::set_allocated_model_name(std::_cxx11::string*)’:
/usr/include/gazebo-9/gazebo/msgs/joint_animation.pb.h:434:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetAllocatedNoArena’; did you mean ‘SetAllocated’?
model_name.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), model_name);
^~~~~~~~~~~~~~~~~~~
SetAllocated
In file included from /usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:30:0,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h: At global scope:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h:182:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type
::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h: In member function ‘const google::protobuf::UnknownFieldSet& gazebo::msgs::PID::unknown_fields() const’:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h:61:47: error: no matching function for call to ‘google::protobuf::internal::InternalMetadata::unknown_fields() const’
return internal_metadata.unknown_fields();
^
In file included from /usr/local/include/google/protobuf/message_lite.h:54:0,
from /usr/local/include/google/protobuf/any.h:38,
from /usr/local/include/google/protobuf/generated_message_util.h:52,
from /usr/include/gazebo-9/gazebo/msgs/altimeter.pb.h:24,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:7,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/local/include/google/protobuf/metadata_lite.h:141:35: note: candidate: template const T& google::protobuf::internal::InternalMetadata::unknown_fields(const T& ()()) const
PROTOBUF_NDEBUG_INLINE const T& unknown_fields(
^~~~~~~~~~~~~~
/usr/local/include/google/protobuf/metadata_lite.h:141:35: note: template argument deduction/substitution failed:
In file included from /usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:30:0,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h:61:47: note: candidate expects 1 argument, 0 provided
return internal_metadata.unknown_fields();
^
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h: In member function ‘google::protobuf::UnknownFieldSet gazebo::msgs::PID::mutable_unknown_fields()’:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h:65:55: error: no matching function for call to ‘google::protobuf::internal::InternalMetadata::mutable_unknown_fields()’
return internal_metadata.mutable_unknown_fields();
^
In file included from /usr/local/include/google/protobuf/message_lite.h:54:0,
from /usr/local/include/google/protobuf/any.h:38,
from /usr/local/include/google/protobuf/generated_message_util.h:52,
from /usr/include/gazebo-9/gazebo/msgs/altimeter.pb.h:24,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:7,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/local/include/google/protobuf/metadata_lite.h:151:29: note: candidate: template T* google::protobuf::internal::InternalMetadata::mutable_unknown_fields()
PROTOBUF_NDEBUG_INLINE T* mutable_unknown_fields() {
^~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/google/protobuf/metadata_lite.h:151:29: note: template argument deduction/substitution failed:
In file included from /usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:30:0,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/pid.pb.h:65:55: note: couldn't deduce template parameter ‘T’
return internal_metadata.mutable_unknown_fields();
^
In file included from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51:0,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h: At global scope:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:183:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type
::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h: In member function ‘const google::protobuf::UnknownFieldSet& gazebo::msgs::JointCmd::unknown_fields() const’:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:62:47: error: no matching function for call to ‘google::protobuf::internal::InternalMetadata::unknown_fields() const’
return internal_metadata.unknown_fields();
^
In file included from /usr/local/include/google/protobuf/message_lite.h:54:0,
from /usr/local/include/google/protobuf/any.h:38,
from /usr/local/include/google/protobuf/generated_message_util.h:52,
from /usr/include/gazebo-9/gazebo/msgs/altimeter.pb.h:24,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:7,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/local/include/google/protobuf/metadata_lite.h:141:35: note: candidate: template const T& google::protobuf::internal::InternalMetadata::unknown_fields(const T& ()()) const
PROTOBUF_NDEBUG_INLINE const T& unknown_fields(
^~~~~~~~~~~~~~
/usr/local/include/google/protobuf/metadata_lite.h:141:35: note: template argument deduction/substitution failed:
In file included from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51:0,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:62:47: note: candidate expects 1 argument, 0 provided
return internal_metadata.unknown_fields();
^
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h: In member function ‘google::protobuf::UnknownFieldSet gazebo::msgs::JointCmd::mutable_unknown_fields()’:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:66:55: error: no matching function for call to ‘google::protobuf::internal::InternalMetadata::mutable_unknown_fields()’
return internal_metadata.mutable_unknown_fields();
^
In file included from /usr/local/include/google/protobuf/message_lite.h:54:0,
from /usr/local/include/google/protobuf/any.h:38,
from /usr/local/include/google/protobuf/generated_message_util.h:52,
from /usr/include/gazebo-9/gazebo/msgs/altimeter.pb.h:24,
from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:7,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/local/include/google/protobuf/metadata_lite.h:151:29: note: candidate: template T* google::protobuf::internal::InternalMetadata::mutable_unknown_fields()
PROTOBUF_NDEBUG_INLINE T* mutable_unknown_fields() {
^~~~~~~~~~~~~~~~~~~~~~
/usr/local/include/google/protobuf/metadata_lite.h:151:29: note: template argument deduction/substitution failed:
In file included from /usr/include/gazebo-9/gazebo/msgs/MessageTypes.hh:51:0,
from /usr/include/gazebo-9/gazebo/physics/Joint.hh:29,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/joint.h:10,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/controller_verifier.h:2,
from /home/hhh/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/controller_verifier.cpp:1:
/usr/include/gazebo-9/gazebo/msgs/joint_cmd.pb.h:66:55: note: couldn't deduce template parameter ‘T’

[Taiyu-Jin]

did you solve the problem? I meet the same as yours.

[Ynao3]

你直接在makelist文件里面把gazebo编译的那部分删掉就好了，先不管gazebo。

[Taiyu-Jin]

thanks,this problem had been solved,but i meet another problem

(franka_virtual_env) humanoid@humanoid:~/franka-interface/build$ ./franka_interface --robot_ip 172.16.0.2 --with_gripper 0 --log 0 --stop_on_error 0 IAM FrankaInterface Will start run loop. start run loop. start run loop. Did create all shared memory buffers. Did start run loop. Will run.. Will try to acquire lock while setting franka_interface status Failed to get lock to update process info
Can i communicate with you in Wechat

[malmm1]

I am running into this error while running bash ./bash_scripts/make_catkin.sh. Only two packages are installed successfully. Please help us with a possible solution. Thank you.=!!

Profile: default
Extending: [cached] /home/rockt/Documents/frankapy/frankapy/catkin_ws/devel:/opt/ros/noetic
Workspace: /home/rockt/Downloads/franka-interface/catkin_ws

Build Space: [exists] /home/rockt/Downloads/franka-interface/catkin_ws/build
Devel Space: [exists] /home/rockt/Downloads/franka-interface/catkin_ws/devel
Install Space: [unused] /home/rockt/Downloads/franka-interface/catkin_ws/install
Log Space: [exists] /home/rockt/Downloads/franka-interface/catkin_ws/logs
Source Space: [exists] /home/rockt/Downloads/franka-interface/catkin_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Buildlisted Packages: None
Skiplisted Packages: None

Workspace configuration appears valid.

[build] Found 11 packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> franka_description
Starting >>> franka_gripper
Starting >>> franka_interface_msgs
Starting >>> franka_msgs
Finished <<< franka_description [ 0.2 seconds ]
Starting >>> franka_visualization

---

Errors << franka_msgs:make /home/rockt/Downloads/franka-interface/catkin_ws/logs/franka_msgs/build.make.002.log
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 136, in genmain
pkg_map = get_pkg_map()
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 56, in get_pkg_map
pkgs = packages.find_packages(ws)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 94, in find_packages
ignore_markers=ignore_markers)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 156, in find_packages_allowing_duplicates
xml, filename=filename, warnings=warnings)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/package.py", line 786, in parse_package_string
raise InvalidPackage('Error(s):%s' % (''.join(['\n- %s' % e for e in errors])), filename)
catkin_pkg.package.InvalidPackage: Error(s) in package '/home/rockt/Documents/frankapy/frankapy/catkin_ws/devel/protobuf-21.8/php/ext/google/protobuf/package.xml':
Error(s):

• The manifest of package "protobuf" (with format version 1) must not contain the following tags: date, providesextension, time, dependencies, lead, notes, changelog, channel, summary, stability, extsrcrelease, contents
  make[2]: *** [CMakeFiles/franka_msgs_generate_messages_eus.dir/build.make:179: /home/rockt/Downloads/franka-interface/catkin_ws/devel/.private/franka_msgs/share/roseus/ros/franka_msgs/manifest.l] Error 3
  make[1]: *** [CMakeFiles/Makefile2:920: CMakeFiles/franka_msgs_generate_messages_eus.dir/all] Error 2
  make: *** [Makefile:141: all] Error 2
  cd /home/rockt/Downloads/franka-interface/catkin_ws/build/franka_msgs; catkin build --get-env franka_msgs | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

..........................................................................................................................................................................................................
Failed << franka_msgs:make [ Exited with code 2 ]
Failed <<< franka_msgs [ 1.4 seconds ]
Abandoned <<< franka_hw [ Unrelated job failed ]
Abandoned <<< franka_control [ Unrelated job failed ]
Abandoned <<< franka_example_controllers [ Unrelated job failed ]
Abandoned <<< franka_gazebo [ Unrelated job failed ]
Abandoned <<< franka_ros [ Unrelated job failed ]
Abandoned <<< franka_ros_interface [ Unrelated job failed ]

---

Errors << franka_interface_msgs:make /home/rockt/Downloads/franka-interface/catkin_ws/logs/franka_interface_msgs/build.make.002.log
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 136, in genmain
pkg_map = get_pkg_map()
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 56, in get_pkg_map
pkgs = packages.find_packages(ws)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 94, in find_packages
ignore_markers=ignore_markers)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 156, in find_packages_allowing_duplicates
xml, filename=filename, warnings=warnings)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/package.py", line 786, in parse_package_string
raise InvalidPackage('Error(s):%s' % (''.join(['\n- %s' % e for e in errors])), filename)
catkin_pkg.package.InvalidPackage: Error(s) in package '/home/rockt/Documents/frankapy/frankapy/catkin_ws/devel/protobuf-21.8/php/ext/google/protobuf/package.xml':
Error(s):

• The manifest of package "protobuf" (with format version 1) must not contain the following tags: stability, notes, channel, lead, contents, changelog, providesextension, date, dependencies, time, extsrcrelease, summary
  make[2]: *** [CMakeFiles/franka_interface_msgs_generate_messages_eus.dir/build.make:183: /home/rockt/Downloads/franka-interface/catkin_ws/devel/.private/franka_interface_msgs/share/roseus/ros/franka_interface_msgs/manifest.l] Error 3
  make[1]: *** [CMakeFiles/Makefile2:1439: CMakeFiles/franka_interface_msgs_generate_messages_eus.dir/all] Error 2
  make: *** [Makefile:141: all] Error 2
  cd /home/rockt/Downloads/franka-interface/catkin_ws/build/franka_interface_msgs; catkin build --get-env franka_interface_msgs | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

..........................................................................................................................................................................................................
Failed << franka_interface_msgs:make [ Exited with code 2 ]
Failed <<< franka_interface_msgs [ 1.2 seconds ]

---

Errors << franka_gripper:make /home/rockt/Downloads/franka-interface/catkin_ws/logs/franka_gripper/build.make.002.log
Traceback (most recent call last):
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 136, in genmain
pkg_map = get_pkg_map()
File "/opt/ros/noetic/lib/python3/dist-packages/geneus/geneus_main.py", line 56, in get_pkg_map
pkgs = packages.find_packages(ws)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 94, in find_packages
ignore_markers=ignore_markers)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/packages.py", line 156, in find_packages_allowing_duplicates
xml, filename=filename, warnings=warnings)
File "/home/rockt/miniconda3/envs/franka_cmu/lib/python3.6/site-packages/catkin_pkg/package.py", line 786, in parse_package_string
raise InvalidPackage('Error(s):%s' % (''.join(['\n- %s' % e for e in errors])), filename)
catkin_pkg.package.InvalidPackage: Error(s) in package '/home/rockt/Documents/frankapy/frankapy/catkin_ws/devel/protobuf-21.8/php/ext/google/protobuf/package.xml':
Error(s):

• The manifest of package "protobuf" (with format version 1) must not contain the following tags: extsrcrelease, stability, notes, time, changelog, contents, providesextension, channel, dependencies, date, summary, lead
  make[2]: *** [CMakeFiles/franka_gripper_generate_messages_eus.dir/build.make:318: /home/rockt/Downloads/franka-interface/catkin_ws/devel/.private/franka_gripper/share/roseus/ros/franka_gripper/manifest.l] Error 3
  make[1]: *** [CMakeFiles/Makefile2:1014: CMakeFiles/franka_gripper_generate_messages_eus.dir/all] Error 2
  make: *** [Makefile:141: all] Error 2
  cd /home/rockt/Downloads/franka-interface/catkin_ws/build/franka_gripper; catkin build --get-env franka_gripper | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

..........................................................................................................................................................................................................
Failed << franka_gripper:make [ Exited with code 2 ]
Failed <<< franka_gripper [ 1.7 seconds ]
Finished <<< franka_visualization [ 0.3 seconds ]
[build] Summary: 2 of 11 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 6 packages were abandoned.
[build] Failed: 3 packages failed.
[build] Runtime: 1.9 seconds total.