moveit2: Humble: MoveIt2 Getting Started Tutorial - colcon build failed (moveit_ros_planning)

Description

Not able to build (MoveIt tutorials source) colcon workspace correctly. Seems like there is a problem with moveit_ros_planning package.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Binary build (Debian)
• Desktop install

Steps to reproduce

Follow Moveit2 “Getting Started” Tutorial.

Expected behaviour

Build colcon workspace without error.

Actual behaviour

Failed   <<< moveit_ros_planning [51.2s, exited with code 2]

Summary: 32 packages finished [2min 29s]
  1 package failed: moveit_ros_planning
  1 package had stderr output: moveit_ros_planning
  30 packages not processed

Console output

tht@tht-stationary02:~/ws_moveit2$ colcon build --mixin release
[0.186s] WARNING:colcon.colcon_core.package_selection:Some selected packages are already built in one or more underlay workspaces:
	'hardware_interface' is in: /opt/ros/humble
	'controller_manager' is in: /opt/ros/humble
	'ros2_control_test_assets' is in: /opt/ros/humble
	'moveit_simple_controller_manager' is in: /opt/ros/humble
	'moveit_planners_ompl' is in: /opt/ros/humble
	'moveit_kinematics' is in: /opt/ros/humble
	'controller_manager_msgs' is in: /opt/ros/humble
	'moveit_ros_move_group' is in: /opt/ros/humble
	'moveit_ros_visualization' is in: /opt/ros/humble
	'moveit_servo' is in: /opt/ros/humble
	'controller_interface' is in: /opt/ros/humble
If a package in a merged underlay workspace is overridden and it installs headers, then all packages in the overlay must sort their include directories by workspace order. Failure to do so may result in build failures or undefined behavior at run time.
If the overridden package is used by another package in any underlay, then the overriding package in the overlay must be API and ABI compatible or undefined behavior at run time may occur.

If you understand the risks and want to override a package anyways, add the following to the command line:
	--allow-overriding controller_interface controller_manager controller_manager_msgs hardware_interface moveit_kinematics moveit_planners_ompl moveit_ros_move_group moveit_ros_visualization moveit_servo moveit_simple_controller_manager ros2_control_test_assets

This may be promoted to an error in a future release of colcon-override-check.
Starting >>> moveit_common
Starting >>> moveit_resources_panda_description
Starting >>> moveit_configs_utils
Starting >>> moveit_resources_fanuc_description
Starting >>> controller_manager_msgs
Starting >>> ros2_control_test_assets
Starting >>> moveit_task_constructor_msgs
Starting >>> rviz_marker_tools
Starting >>> moveit_resources_pr2_description
Starting >>> moveit_resources_prbt_support
Starting >>> joint_limits
Starting >>> rviz_visual_tools
Starting >>> rosparam_shortcuts
Finished <<< moveit_common [0.32s]                                    
Finished <<< moveit_resources_panda_description [0.44s]
Starting >>> moveit_resources_panda_moveit_config
Finished <<< moveit_configs_utils [0.51s]                            
Finished <<< moveit_resources_fanuc_description [0.54s]
Starting >>> moveit_resources_fanuc_moveit_config
Finished <<< ros2_control_test_assets [0.58s]
Starting >>> hardware_interface
Finished <<< moveit_resources_pr2_description [0.60s]                         
Finished <<< moveit_resources_prbt_support [0.61s]
Finished <<< moveit_resources_panda_moveit_config [0.37s]                    
Starting >>> moveit_core
Finished <<< moveit_resources_fanuc_moveit_config [0.40s]                    
Starting >>> moveit_resources
Finished <<< moveit_resources [0.43s]                                        
Finished <<< rviz_marker_tools [7.40s] 
Finished <<< controller_manager_msgs [9.49s]
Finished <<< moveit_task_constructor_msgs [12.7s]
Finished <<< joint_limits [14.5s]                                         
Finished <<< rosparam_shortcuts [15.8s]                                       
Finished <<< hardware_interface [18.7s]                                       
Starting >>> controller_interface
Starting >>> transmission_interface
Finished <<< controller_interface [10.7s]                                     
Starting >>> controller_manager
Finished <<< rviz_visual_tools [30.6s]                                         
Finished <<< transmission_interface [12.1s]                             
Finished <<< controller_manager [27.5s]                                 
Starting >>> ros2controlcli
Finished <<< ros2controlcli [0.44s]                                     
Starting >>> ros2_control
Finished <<< ros2_control [0.36s]                                       
Finished <<< moveit_core [1min 21s]                                
Starting >>> moveit_ros_occupancy_map_monitor
Starting >>> moveit_simple_controller_manager
Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
Starting >>> chomp_motion_planner
Starting >>> pilz_industrial_motion_planner_testutils
Finished <<< moveit_simple_controller_manager [7.33s]
Starting >>> moveit_plugins
Starting >>> moveit_ros_control_interface
Finished <<< moveit_plugins [0.43s]          
Finished <<< pilz_industrial_motion_planner_testutils [9.97s]
Finished <<< chomp_motion_planner [13.9s]    
Starting >>> moveit_chomp_optimizer_adapter
Starting >>> moveit_planners_chomp
Finished <<< moveit_resources_prbt_ikfast_manipulator_plugin [15.0s]
Finished <<< moveit_ros_control_interface [8.41s]
Finished <<< moveit_ros_occupancy_map_monitor [16.1s]
Starting >>> moveit_ros_planning
Finished <<< moveit_chomp_optimizer_adapter [8.56s]
Finished <<< moveit_planners_chomp [12.6s]   
[Processing: moveit_ros_planning]                                    
--- stderr: moveit_ros_planning                                      
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/build.make:318: planning_components_tools/moveit_print_planning_scene_info] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:930: planning_components_tools/CMakeFiles/moveit_print_planning_scene_info.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/build.make:320: planning_scene_monitor/trajectory_monitor_tests] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:820: planning_scene_monitor/CMakeFiles/trajectory_monitor_tests.dir/all] Error 2
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
/usr/bin/ld: libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/build.make:320: planning_scene_monitor/current_state_monitor_tests] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:788: planning_scene_monitor/CMakeFiles/current_state_monitor_tests.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/build.make:318: planning_components_tools/moveit_evaluate_collision_checking_speed] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1020: planning_components_tools/CMakeFiles/moveit_evaluate_collision_checking_speed.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_display_random_state.dir/build.make:318: planning_components_tools/moveit_display_random_state] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:960: planning_components_tools/CMakeFiles/moveit_display_random_state.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/build.make:318: planning_components_tools/moveit_publish_scene_from_text] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:1050: planning_components_tools/CMakeFiles/moveit_publish_scene_from_text.dir/all] Error 2
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setAttachedBodyUpdateCallback(boost::function<void (moveit::core::AttachedBody*, bool)> const&)'
/usr/bin/ld: ../planning_scene_monitor/libmoveit_planning_scene_monitor.so.2.5.3: undefined reference to `planning_scene::PlanningScene::setCollisionObjectUpdateCallback(boost::function<void (std::shared_ptr<collision_detection::World::Object const> const&, collision_detection::World::Action)> const&)'
collect2: error: ld returned 1 exit status
gmake[2]: *** [planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/build.make:319: planning_components_tools/moveit_visualize_robot_collision_volume] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:990: planning_components_tools/CMakeFiles/moveit_visualize_robot_collision_volume.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< moveit_ros_planning [51.2s, exited with code 2]

Summary: 32 packages finished [2min 29s]
  1 package failed: moveit_ros_planning
  1 package had stderr output: moveit_ros_planning
  30 packages not processed

Thanks for considering this.