Confusion about the installation step and make error

[Leon-Redfield]

Hi! I'm trying to manually install the planner and I successfully passed from step 1 to step 4, during which I installed acodos with anaconda. At step 5, I'm confused that you said "Source the ROS workspace source/devel/setup.sh", since there is no devel or build files while only a src file exists. Should I run catkin_make before step 5?

I tried to runcatkin_make but didn't pass because of the error "This workspace contains non-catkin packages in it, and catkin cannot build" like the picture below:

It seems that the problem occurs because of the asr_rapidxml and decomp_util?
How should I proceed?

[oscardegroot]

Hi Leon! You are right, I guess it should state to source your ROS distribution, e.g., source /opt/ros/noetic/setup.bash.

For the problem you have, is it possible for you to build with catkin build instead of catkin_make? And if so, does that solve the problem after sourcing your ros distribution?

[Leon-Redfield]

Hi Leon! You are right, I guess it should state to source your ROS distribution, e.g., source /opt/ros/noetic/setup.bash.

For the problem you have, is it possible for you to build with catkin build instead of catkin_make? And if so, does that solve the problem after sourcing your ros distribution?

Hi Dr.Groot! Thank you for responding in time. I tried some ways but there still exists some problems. I'll show you what I have done below:
After step 4 and before step 5, I'm located at TMPC_ws which is the workspace, and there is only the src file. As you suggested, I ran source /opt/ros/noetic/setup.bash, and then I ran catkin build, it seems that things goes right, partially. The build``devel and logs files come out. While in the terminal, the output is like this:

As you can see, it seems that 20 of 26 packages succeeded and 6 packages were abandoned. I didn't consider too much about it, and now I started step 5, I ran the source devel/setup.bash and catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release. Then I tried the last command in step 5: catkin build mpc_planner_jackalsimulator. Still, it seems that part of the package did't pass like this:

I didn't consider it too much again, and now I launched the planner roslaunch mpc_planner_jackalsimulator ros1_jackalsimulator.launch, but as expected, there's something wrong like this:

I didn't give up then, since I was in the anaconda environment(the conda environment "mpc_planner" before in step 4), so I
tried to deactivate it by conda deactivate. Then I ran the launch command again. This time something else happens, looks like the launch file has been launched, rviz and rqt come out, but there still some errors in the terminal like this:

So I just stop here, I feel that the problem is from when I build the project, several packages didn't pass and were abandoned as the output said. I'm not sure if I made some mistakes during this process or some kind of problem I didn't solve. Looking forward to your reply and solution, thank you!

[oscardegroot]

Ah okay, looking at your errors, I now see what the problem is. The package asr_rapidxml is using the ROS2 version while you are trying to build it in a ROS1 environment.

Could you try to cd to src/asr_rapidxml and do git checkout ros1 and then try to build again? I will update the readme to clarify.

[Leon-Redfield]

Ah okay, looking at your errors, I now see what the problem is. The package asr_rapidxml is using the ROS2 version while you are trying to build it in a ROS1 environment.

Could you try to cd to src/asr_rapidxml and do git checkout ros1 and then try to build again? I will update the readme to clarify.

Hi! Thanks a lot! It seems to be working! After doing git checkout ros1, build process passed and I successfully launched the roslaunch mpc_planner_jackalsimulator ros1_jackalsimulator.launch and I can see a robot navigating through the crowd in RVIZ. I tried to build other systems such as dingo, where the build process passed but fails to execute, well I guess there's some kind of tiny problem in it and I'll try more.

A little problem should be noted, as I mentioned before, I can launch the planner only when I do conda deactivate. I understand the conda environment is used to generate the solver that the planner needs, and after the solver is generated, it is not necessary to stay in the conda environment any more.

Thanks again! Wish you all the best!