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Can I run unity-robotics-hub examples with ROS on windows 10?

Discussion in 'Robotics' started by YYWOOK, Nov 1, 2022.

  1. YYWOOK

    YYWOOK

    Joined:
    Sep 16, 2022
    Posts:
    1
    Hi.

    I want to use unity-robotics-hub examples to customize for my project.
    As I mentioned on title, I am using ROS noetic and foxy for windows 10 on windows 10 O/S.
    And I got the following errors when I run catkin_make. Because I can't find guide to run on windows(it looks like to support Ubuntu only), I have no idea to solve this. So, I can't proceed anymore from option B. ROS setup (manual) in the following link.

    https://github.com/Unity-Technologi.../main/tutorials/pick_and_place/0_ros_setup.md

    Would anyone give me some guide or advice for this?

    ----------------------------------- Error logs -----------------------------------------------------------------------------------

    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS>catkin_make
    Base path: C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS
    Source space: C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src
    Build space: C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\build
    Devel space: C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\devel
    Install space: C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\install
    ####
    #### Running command: "cmake C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCATKIN_DEVEL_PREFIX=C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\devel -DCMAKE_INSTALL_PREFIX=C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\install -G Ninja" in "C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\build"
    ####
    -- The C compiler identification is MSVC 19.29.30146.0
    -- The CXX compiler identification is MSVC 19.29.30146.0
    -- Detecting C compiler ABI info
    -- Detecting C compiler ABI info - done
    -- Check for working C compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped
    -- Detecting C compile features
    -- Detecting C compile features - done
    #NAME?
    #NAME?
    -- Check for working CXX compiler: C:/Program Files (x86)/Microsoft Visual Studio/2019/Community/VC/Tools/MSVC/14.29.30133/bin/Hostx64/x64/cl.exe - skipped
    #NAME?
    #NAME?
    -- Using CATKIN_DEVEL_PREFIX: C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/devel
    -- Using CMAKE_PREFIX_PATH: C:\opt\ros\noetic\x64\tools\vcpkg\installed\x64-windows;c:\opt\ros\noetic\x64
    -- This workspace overlays: c:/opt/ros/noetic/x64
    -- Found PythonInterp: C:/opt/ros/noetic/x64/python.exe (found suitable version "3.8.3", minimum required is "3")
    -- Using PYTHON_EXECUTABLE: C:/opt/ros/noetic/x64/python.exe
    #NAME?
    #NAME?
    -- Using empy: C:/opt/ros/noetic/x64/lib/site-packages/em.py
    #NAME?
    #NAME?
    -- Using CATKIN_TEST_RESULTS_DIR: C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/build/test_results
    #NAME?
    -- Using Python nosetests: C:/opt/ros/noetic/x64/Scripts/nosetests.exe
    -- catkin 0.8.9
    #NAME?
    #NAME?
    -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    -- ~~ traversing 23 packages in topological order:
    -- ~~ - dynamixel_sdk
    -- ~~ - mcp_can_rpi
    -- ~~ - moveit_msgs
    -- ~~ - niryo_one (metapackage)
    -- ~~ - niryo_one_bringup
    -- ~~ - niryo_one_camera
    -- ~~ - niryo_one_description
    -- ~~ - niryo_one_moveit_config
    -- ~~ - niryo_one_msgs
    -- ~~ - niryo_one_camera_jevois
    -- ~~ - niryo_one_commander
    -- ~~ - niryo_one_debug
    -- ~~ - niryo_one_driver
    -- ~~ - niryo_one_modbus
    -- ~~ - niryo_one_pose_converter
    -- ~~ - niryo_one_python_api
    -- ~~ - niryo_one_rpi
    -- ~~ - niryo_one_tcp_server
    -- ~~ - niryo_one_tools
    -- ~~ - niryo_one_urdf
    -- ~~ - niryo_one_user_interface
    -- ~~ - ros_tcp_endpoint
    -- ~~ - niryo_moveit
    -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
    -- +++ processing catkin package: 'dynamixel_sdk'
    -- ==> add_subdirectory(niryo_one_ros/dynamixel_sdk)
    -- Architecture:
    #NAME?
    -- +++ processing catkin package: 'mcp_can_rpi'
    -- ==> add_subdirectory(niryo_one_ros/mcp_can_rpi)
    -- Architecture:
    #NAME?
    -- +++ processing catkin package: 'moveit_msgs'
    -- ==> add_subdirectory(moveit_msgs)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- Generating .msg files for action moveit_msgs/ExecuteTrajectory C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/moveit_msgs/action/ExecuteTrajectory.action
    Generating for action ExecuteTrajectory
    -- Generating .msg files for action moveit_msgs/MoveGroup C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/moveit_msgs/action/MoveGroup.action
    Generating for action MoveGroup
    -- Generating .msg files for action moveit_msgs/MoveGroupSequence C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/moveit_msgs/action/MoveGroupSequence.action
    Generating for action MoveGroupSequence
    -- Generating .msg files for action moveit_msgs/Pickup C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/moveit_msgs/action/Pickup.action
    Generating for action Pickup
    -- Generating .msg files for action moveit_msgs/Place C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/moveit_msgs/action/Place.action
    Generating for action Place
    -- moveit_msgs: 81 messages, 24 services
    -- +++ processing catkin metapackage: 'niryo_one'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one)
    -- +++ processing catkin package: 'niryo_one_bringup'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_bringup)
    -- +++ processing catkin package: 'niryo_one_camera'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_camera)
    -- +++ processing catkin package: 'niryo_one_description'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_description)
    -- +++ processing catkin package: 'niryo_one_moveit_config'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_moveit_config)
    -- +++ processing catkin package: 'niryo_one_msgs'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_msgs)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- Generating .msg files for action niryo_one_msgs/JoystickJoints C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_one_ros/niryo_one_msgs/action/JoystickJoints.action
    Generating for action JoystickJoints
    -- Generating .msg files for action niryo_one_msgs/RobotMove C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_one_ros/niryo_one_msgs/action/RobotMove.action
    Generating for action RobotMove
    -- Generating .msg files for action niryo_one_msgs/Tool C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_one_ros/niryo_one_msgs/action/Tool.action
    Generating for action Tool
    -- Generating .msg files for action niryo_one_msgs/Sequence C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_one_ros/niryo_one_msgs/action/Sequence.action
    Generating for action Sequence
    -- niryo_one_msgs: 46 messages, 38 services
    -- +++ processing catkin package: 'niryo_one_camera_jevois'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_camera_jevois)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_commander'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_commander)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_debug'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_debug)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- Found Boost: C:/opt/ros/noetic/x64/include (found version "1.73.0") found components: system program_options
    -- Architecture:
    #NAME?
    -- +++ processing catkin package: 'niryo_one_driver'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_driver)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- Found Boost: C:/opt/ros/noetic/x64/include (found version "1.73.0") found components: system
    -- Architecture:
    #NAME?
    -- +++ processing catkin package: 'niryo_one_modbus'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_modbus)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_pose_converter'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_pose_converter)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_python_api'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_python_api)
    -- +++ processing catkin package: 'niryo_one_rpi'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_rpi)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_tcp_server'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_tcp_server)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'niryo_one_tools'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_tools)
    -- +++ processing catkin package: 'niryo_one_urdf'
    -- ==> add_subdirectory(niryo_one_urdf)
    -- +++ processing catkin package: 'niryo_one_user_interface'
    -- ==> add_subdirectory(niryo_one_ros/niryo_one_user_interface)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- +++ processing catkin package: 'ros_tcp_endpoint'
    -- ==> add_subdirectory(ros_tcp_endpoint)
    -- +++ processing catkin package: 'niryo_moveit'
    -- ==> add_subdirectory(niryo_moveit)
    -- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
    -- niryo_moveit: 2 messages, 1 services
    -- Installing devel-space wrapper C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/mover.py to C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/devel/lib/niryo_moveit
    -- Installing devel-space wrapper C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/trajectory_subscriber.py to C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/devel/lib/niryo_moveit
    -- Installing devel-space wrapper C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/src/niryo_moveit/scripts/sim_real_pnp.py to C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/devel/lib/niryo_moveit
    #NAME?
    #NAME?
    -- Build files have been written to: C:/Unity-Robotics-Hub/tutorials/pick_and_place/ROS/build
    ####
    #### Running command: "ninja -j16 -l16" in "C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\build"
    ####
    [1/1205] Building CXX object niryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\src\mcp_can_rpi.cpp.obj
    FAILED: niryo_one_ros/mcp_can_rpi/CMakeFiles/mcp_can_rpi.dir/src/mcp_can_rpi.cpp.obj
    C:\PROGRA~2\MICROS~2\2019\COMMUN~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe /nologo /TP -DNOMINMAX -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"mcp_can_rpi\" -DWIN32_LEAN_AND_MEAN -D_USE_MATH_DEFINES -Dmcp_can_rpi_EXPORTS -IC:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\include -IC:\opt\ros\noetic\x64\include -IC:\opt\ros\noetic\x64\share\xmlrpcpp\cmake\..\..\..\include\xmlrpcpp /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /Zi /O2 /Ob1 /DNDEBUG /D _VARIADIC_MAX=10 /Zc:__cplusplus -std=c++11 /showIncludes /Foniryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\src\mcp_can_rpi.cpp.obj /Fdniryo_one_ros\mcp_can_rpi\CMakeFiles\mcp_can_rpi.dir\ /FS -c C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp
    cl : Command line warning D9002 : Ignores unknown '-std=c++11' option.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (123): error C4576: The format enclosed in parentheses before the initializer list is a non-standard syntax.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp.cpp (123): error C3861: 'nanoseep': identifier not found.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (150): error C2131: Expression was not calculated as a constant.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (150): note: Error reading variable out of life.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (150): see note: 'buf_size' usage
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (151): error C3863: Array format 'unsigned char [buf_size]' cannot be assigned.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (152): error C3863: Array format 'unsigned char [buf_size]' cannot be assigned.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (181): error C2131: Expression was not calculated as a constant.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (181): note: Error reading variable out of life.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (181): see note: 'buf_size' usage
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (182): error C3863: Array format 'unsigned char [buf_size]' cannot be assigned.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp (183): error C3863: Array format 'unsigned char [buf_size]' cannot be assigned.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\mcp_can_rpi\src\mcp_can_rpi.cpp(185): error C3863: Cannot assign array format 'unsigned char [buf_size]'
    [2/1205] Building CXX object niryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\port_handler_linux.cpp.obj
    FAILED: niryo_one_ros/dynamixel_sdk/CMakeFiles/dynamixel_sdk.dir/src/port_handler_linux.cpp.obj
    C:\PROGRA~2\MICROS~2\2019\COMMUN~1\VC\Tools\MSVC\1429~1.301\bin\Hostx64\x64\cl.exe /nologo /TP -DNOMINMAX -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"dynamixel_sdk\" -DWIN32_LEAN_AND_MEAN -D_USE_MATH_DEFINES -Ddynamixel_sdk_EXPORTS -IC:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include -IC:\opt\ros\noetic\x64\include -IC:\opt\ros\noetic\x64\share\xmlrpcpp\cmake\..\..\..\include\xmlrpcpp /DWIN32 /D_WINDOWS /W3 /GR /EHsc /MD /Zi /O2 /Ob1 /DNDEBUG /D _VARIADIC_MAX=10 /Zc:__cplusplus /showIncludes /Foniryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\port_handler_linux.cpp.obj /Fdniryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\ /FS -c C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\src\port_handler_linux.cpp
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\src\port_handler_linux.cpp(45): fatal error C1083: 'unistd.h': No such file or directory
    [4/1205] Building CXX object niryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\group_sync_read.cpp.obj
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include\dynamixel_sdk/group_sync_read.h(51): warning C4251: 'dynamixel::GroupSyncRead::id_list_': 'class 'std::vector<uint8_t,std::allocator<uint8_t>>' must specify that clients in class 'dynamixel::GroupSyncRead' use the DLL interface.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include\dynamixel_sdk/packet_handler.h(104): note: see declaration 'std::vector<uint8_t,std::allocator<uint8_t>'
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include\dynamixel_sdk/group_sync_read.h(52): warning C4251: 'dynamixel::GroupSyncRead::data_list_': class 'std::map<uint8_t,uint8_t *,std::less<uint8_t>,'std::allocator<std::pair<constuint8_t,uint8_t *>>' must specify that clients in class 'dynamixel::GroupSyncRead' use the DLL interface.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include\dynamixel_sdk/group_sync_read.h(52): note: 'std::map<uint8_t,uint8_t *,std::less<uint8_t>,std::allocator<std::pair<constant8_t,uint8_t *>>'Declaration.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\src\group_sync_read.cpp(132): warning C4267: 'Initializing': Data may be lost while converting from 'size_t' to 'int'.
    [6/1205] Building CXX object niryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\protocol1_packet_handler.cpp.obj
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\src\protocol1_packet_handler.cpp(690): warning C4244: '=': Conversion from 'uint16_t' to 'uint8_t' may result in data loss.
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\src\protocol1_packet_handler.cpp(691): warning C4244: '=': Conversion from 'uint16_t' to 'uint8_t' may result in data loss.
    [8/1205] Building CXX object niryo_one_ros\dynamixel_sdk\CMakeFiles\dynamixel_sdk.dir\src\group_bulk_read.cpp.obj
    C:\Unity-Robotics-Hub\tutorials\pick_and_place\ROS\src\niryo_one_ros\dynamixel_sdk\include\dynamixel_sdk/group_bulk_read.h(51): warning C4251: 'dynamixel::GroupBulkRead::id_list_': 'class 'std::vector<uint8_t,std::allocator<uint8_t>>' must specify that clients in class 'dynamixel::GroupBulkRead' use the DLL interface. ........
     
  2. kartoonist435

    kartoonist435

    Joined:
    Feb 14, 2015
    Posts:
    73
    Did you ever get a answer for this?