noetic で ロボットモデルが作成されない時の解決方法

[k-okada]

[spoteus:cmake] -- BUILD_SHARED_LIBS is on
[spoteus:cmake] CMake Error at /opt/ros/noetic/share/collada_urdf/cmake/collada_urdfConfig.cmake:113 (message):
[spoteus:cmake]   Project 'collada_urdf' specifies '/usr/../include/include' as an include
[spoteus:cmake]   dir, which is not found.  It does neither exist as an absolute directory
[spoteus:cmake]   nor in '${{prefix}}//usr/../include/include'.  Check the issue tracker
[spoteus:cmake]   'https://github.com/ros/collada_urdf/issues' and consider creating a ticket
[spoteus:cmake]   if the problem has not been reported yet.
[spoteus:cmake] Call Stack (most recent call first):
[spoteus:cmake]   /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package)
[spoteus:cmake]   CMakeLists.txt:7 (find_package)
[spoteus:cmake]
[spoteus:cmake]
[spoteus:cmake] -- Configuring incomplete, errors occurred!

みたいなエラーが出てロボットモデルが作成できない，ということが起こると思いますが，これらは回避可能なはずです．

1)　そもそもの原因　 (collada_urdf にバグが入ったままリリースされている．これをなんとかリリースしてもらうのが正しい解決策）
-> ros/collada_urdf#43

２）とりあえずの解決策
sudo emacs -nw /opt/ros/noetic/share/collada_urdf/cmake/collada_urdfConfig.cmake
として，100行目ぐらいで，

if(NOT "include;/usr/../include/include;/usr/include/collada-dom2.4/1.5;/usr/include/collada-dom2.4;/usr/include " STREQUAL " ")
  set(collada_urdf_INCLUDE_DIRS "")
  #  set(_include_dirs "include;/usr/../include/include;/usr/include/collada-dom2.4/1.5;/usr/include/collada-dom2.4;/usr/include")
    set(_include_dirs "include;/usr/include;/usr/include/collada-dom2.4/1.5;/usr/include/collada-dom2.4;/usr/include")
  if(NOT "https://github.com/ros/collada_urdf/issues " STREQUAL " ")

と編集すると回避可能です．ただし，ros-noetic-collada-urdfを再インストールすると上書きされます．一般的にはおすすめしませんが，とりあえず，という意味では有効です．

２）パッケージ側での変更．
find_package(collada_urdf) としたときにエラーが出るので，これをなくせばよいです．

ケース１： 実は何もしていない
https://github.com/k-okada/jsk_robot/blob/1664a10c1ecb20c7ea9bef4c16e76855c00e0863/jsk_spot_robot/spoteus/CMakeLists.txt#L7-L32
みたいにfind_package しているけど，find_pakcage(collada_urdf) で変数collada_urdf_PREFIX を取ってきて表示しているだけで何もしていない場合があります．その場合はシンプルにコードから外すのがよいです．
b3682c1

ケース２：rosrun を使う
find_package(collada_urdf) をしなくてもpackage.xml に <build_depend>collada_urdf があれば，rosrun がききます（多分．．．）

jsk_robot/jsk_fetch_robot/fetcheus/CMakeLists.txt

Lines 31 to 39 in d7cba75

	message(STATUS "Found fetch.urdf at ${fetch_urdf}")
	add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/fetch.l
	COMMAND rosrun euscollada collada2eus fetch.dae fetch.yaml fetch.l
	WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
	DEPENDS fetch.dae fetch.yaml)
	add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/fetch.dae
	COMMAND rosrun collada_urdf urdf_to_collada ${fetch_urdf} fetch.dae
	WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}
	DEPENDS ${fetch_urdf})