Universal_Robots_ROS_Driver: I cannot install UR ROS driver on ROS Noetic 20.04

Summary

The problem arises when I try to install the module from source. I get an issue with the package ‘ur_kinematics’, it’s specifically a cmake error saying the following:

CMake Error: The following variables are used in this project, but they are set to NOTFOUND.
Please set them or make sure they are set and tested correctly in the CMake files:

Boost_INCLUDE_DIR
   used as include directory in directory /home/martin/Documents/repositories/catkin_ws/src/fmauch_universal_robot/ur_kinematics
   used as include directory in directory /home/martin/Documents/repositories/catkin_ws/src/fmauch_universal_robot/ur_kinematics
   used as include directory in directory /home/martin/Documents/repositories/catkin_ws/src/fmauch_universal_robot/ur_kinematics

The error has many more lines that this but it’s simply repeating the same thing. I looked the package 'ur_kinematics and it only seems to be supported by ROS kinetic. I’m wondering if anyone has had the same problems and if you have managed to resolve them.

Thanks in advance!

Martin

About this issue

Original URL
State: closed
Created 3 years ago
Reactions: 1
Comments: 18 (6 by maintainers)

Most upvoted comments

Thanks @FinnLinxxx for trying the suggestions and your detailed output. It’s probably two issues. The first one being the obscure /include whose origin we need to clarify and the second being the unset Boost_INCLUDE_DIR that cmake is complaining about.

Concerning the second issue, from your build output, I get that Boost is found via

/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake

which only defines Boost_INCLUDE_DIRS via get_target_property(Boost_INCLUDE_DIRS Boost::headers INTERFACE_INCLUDE_DIRECTORIES) but not Boost_INCLUDE_DIR. Note the additional S.

I’m not sure right now, but I could imagine that this line dates back to older Boost versions. Inside your fmauch_universal_robot/ur_kinematics/CMakeLists.txt, try replacing the include (line 26) with this:

include_directories(SYSTEM ${Boost_INCLUDE_DIRS})

to see if this fixes the build issue.

stefanscherzinger on Aug 9, 2021

Hey Martin,

Felix Exner is the maintainer of the https://github.com/fmauch/universal_robot repository aka. @fmauch

(FZI Forschungszentrum Informatik)

I hope he has time to look over the issue

FinnLinxxx on Aug 9, 2021