Docker: Cannot locate rosdep definition for [mujoco ros2 control]

[ivrolan]

Hi,

When trying to build the Docker, it seems the packaged from mujoco_ros2_control cannot be found.

Cannot locate rosdep definition for [mujoco ros2 control]

I tried to add the following lines to install the recommended fork at line 125:

# Clone mujoco_ros2_control to src directory
# https://github.com/tenfoldpaper/mujoco_ros_pkgs.git
RUN cd /home/user/humble_ws/src && git clone https://github.com/tenfoldpaper/mujoco_ros_pkgs.git
# Checkout the specific branch for ROS 2 Humble
RUN cd /home/user/humble_ws/src/mujoco_ros_pkgs && git checkout wip_ros_control_humble

With this change, when building I get errors from mujoco_ros

Docker output

sudo docker build -t "bimanual:franka" ./
[+] Building 135.2s (30/30) FINISHED                                                                                                 docker:default
 => [internal] load build definition from Dockerfile                                                                                           0.0s
 => => transferring dockerfile: 5.03kB                                                                                                         0.0s
 => [internal] load metadata for docker.io/library/ros:humble                                                                                  1.5s
 => [internal] load .dockerignore                                                                                                              0.0s
 => => transferring context: 2B                                                                                                                0.0s
 => [ 1/26] FROM docker.io/library/ros:humble@sha256:d66b8a36f8c6cad03526188c8dcd2cb17096aff73a1af628990ab118794479ba                          0.0s
 => [internal] load build context                                                                                                              0.0s
 => => transferring context: 54.26kB                                                                                                           0.0s
 => CACHED [ 2/26] RUN groupadd --gid 1001 user     && useradd --uid 1001 --gid 1001 -m user     && apt-get update     && apt-get install -y   0.0s
 => CACHED [ 3/26] RUN apt-get update -y && apt-get install -y --allow-unauthenticated     curl                                                0.0s
 => CACHED [ 4/26] RUN mkdir /home/user/Libraries                                                                                              0.0s
 => CACHED [ 5/26] RUN mkdir ~/source_code                                                                                                     0.0s
 => CACHED [ 6/26] RUN cd ~/source_code     && curl https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz --output eigen.tar.g  0.0s
 => CACHED [ 7/26] RUN cd ~/source_code/eigen-3.3.9     && mkdir build     && cd build     && cmake ..     && make     && make install     &&  0.0s
 => CACHED [ 8/26] RUN apt-get update -y && apt-get install -y --allow-unauthenticated     software-properties-common     clang-14     clang-  0.0s
 => CACHED [ 9/26] RUN python3 -m pip install -U     argcomplete     flake8-blind-except     flake8-builtins     flake8-class-newline     fla  0.0s
 => CACHED [10/26] RUN cd ~/source_code && git clone https://github.com/frankaemika/libfranka.git     && mkdir /home/user/Libraries/libfranka  0.0s
 => CACHED [11/26] RUN apt-get update -y && apt-get install -y     libglfw3     libglfw3-dev     libgl1-mesa-dev     libxinerama-dev     libx  0.0s
 => CACHED [12/26] RUN add-apt-repository ppa:dqrobotics-dev/release && apt-get update && apt-get install libdqrobotics                        0.0s
 => CACHED [13/26] RUN cd ~/source_code && git clone https://github.com/google-deepmind/mujoco.git     && mkdir ~/source_code/mujoco/build     0.0s
 => CACHED [14/26] RUN mkdir -p ~/humble_ws/src/bimanual_architecture && cd ~/humble_ws                                                        0.0s
 => [15/26] COPY . /home/user/humble_ws/src/bimanual_architecture/                                                                             0.6s
 => [16/26] RUN cd /home/user/humble_ws/src && git clone https://github.com/tenfoldpaper/mujoco_ros_pkgs.git                                   1.7s
 => [17/26] RUN cd /home/user/humble_ws/src/mujoco_ros_pkgs && git checkout wip_ros_control_humble                                             1.2s 
 => [18/26] RUN echo 'source /opt/ros/humble/setup.bash' >> /home/user/.bashrc                                                                 1.3s 
 => [19/26] RUN echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/user/Libraries/libfranka/lib:/home/user/Libraries/mujoco/lib' >> /home/us  1.3s 
 => [20/26] RUN echo 'export CMAKE_PREFIX_PATH=~/Libraries/libfranka/lib/cmake:~/Libraries/mujoco/lib/cmake' >> /home/user/.bashrc             1.4s
 => [21/26] RUN chown -R user:user /home/user/                                                                                                 2.8s
 => [22/26] WORKDIR ~/                                                                                                                         0.1s
 => [23/26] RUN source ~/.bashrc     && . /opt/ros/humble/setup.sh     && cd ~/humble_ws && rosdep update     && cd ~/humble_ws && rosdep in  27.4s
 => [24/26] RUN mkdir /tmp/${UID}                                                                                                              1.2s 
 => [25/26] RUN chown -R user:user /tmp/${UID}                                                                                                 1.6s 
 => ERROR [26/26] RUN cd ~/humble_ws     && source ~/.bashrc     && . /opt/ros/humble/setup.sh     && colcon build --cmake-args -DCMAKE_BUIL  92.8s 
------                                                                                                                                              
 > [26/26] RUN cd ~/humble_ws     && source ~/.bashrc     && . /opt/ros/humble/setup.sh     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release:
1.539 WARNING: Metapackage "mujoco_ros_pkgs" should not have other dependencies besides a buildtool_depend on catkin and exec_depends.              
1.583 Starting >>> mujoco_ros_msgs                                                                                                                  
1.585 [0.315s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '~/Libraries/libfranka/lib/cmake' in the environment variable CMAKE_PREFIX_PATH doesn't exist                                                                                                                                      
1.585 [0.315s] WARNING:colcon.colcon_ros.prefix_path.catkin:The path '~/Libraries/mujoco/lib/cmake' in the environment variable CMAKE_PREFIX_PATH doesn't exist
1.588 Starting >>> franka_msgs
1.591 Starting >>> franka_description
1.593 Starting >>> garmi_controllers
1.596 Starting >>> panda_motion_generator_msgs
1.599 Starting >>> franka_simple_publishers
1.603 Starting >>> garmi_moveit_config
2.535 Finished <<< franka_simple_publishers [0.94s]
2.631 Finished <<< garmi_moveit_config [1.03s]
2.804 Finished <<< franka_description [1.21s]
2.805 Starting >>> garmi_description
3.649 Finished <<< garmi_description [0.84s]
21.84 --- stderr: garmi_controllers
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp: In member function ‘virtual controller_interface::return_type garmi_controllers::MobileBaseController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp:28:84: warning: unused parameter ‘time’ [-Wunused-parameter]
21.84    28 | controller_interface::return_type MobileBaseController::update(const rclcpp::Time& time,
21.84       |                                                                ~~~~~~~~~~~~~~~~~~~~^~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp:29:88: warning: unused parameter ‘period’ [-Wunused-parameter]
21.84    29 |                                                                const rclcpp::Duration& period){
21.84       |                                                                ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::MobileBaseController::on_configure(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp:52:82: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    52 | CallbackReturn MobileBaseController::on_configure(const rclcpp_lifecycle::State& previous_state){
21.84       |                                                   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::MobileBaseController::on_activate(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp:60:81: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    60 | CallbackReturn MobileBaseController::on_activate(const rclcpp_lifecycle::State& previous_state){
21.84       |                                                  ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::MobileBaseController::on_deactivate(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/mobile_base_controller.cpp:66:83: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    66 | CallbackReturn MobileBaseController::on_deactivate(const rclcpp_lifecycle::State& previous_state){
21.84       |                                                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp: In member function ‘virtual controller_interface::return_type garmi_controllers::HeadController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp:32:78: warning: unused parameter ‘time’ [-Wunused-parameter]
21.84    32 | controller_interface::return_type HeadController::update(const rclcpp::Time& time,
21.84       |                                                          ~~~~~~~~~~~~~~~~~~~~^~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::HeadController::on_configure(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp:78:76: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    78 | CallbackReturn HeadController::on_configure(const rclcpp_lifecycle::State& previous_state){
21.84       |                                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::HeadController::on_activate(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp:86:75: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    86 | CallbackReturn HeadController::on_activate(const rclcpp_lifecycle::State& previous_state){
21.84       |                                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp: In member function ‘virtual CallbackReturn garmi_controllers::HeadController::on_deactivate(const rclcpp_lifecycle::State&)’:
21.84 /home/user/humble_ws/src/bimanual_architecture/garmi_packages/garmi_controllers/src/head_controller.cpp:93:77: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
21.84    93 | CallbackReturn HeadController::on_deactivate(const rclcpp_lifecycle::State& previous_state){
21.84       |                                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
21.84 ---
21.84 Finished <<< garmi_controllers [20.2s]
27.52 Finished <<< panda_motion_generator_msgs [25.9s]
42.46 Finished <<< franka_msgs [40.9s]
42.46 Starting >>> multi_mode_control_msgs
42.46 Starting >>> franka_gripper
42.46 Starting >>> franka_control2
49.34 --- stderr: franka_control2
49.34 In file included from /home/user/humble_ws/src/bimanual_architecture/franka_control2/src/franka_control2_node.cpp:24:
49.34 /opt/ros/humble/include/realtime_tools/realtime_tools/thread_priority.hpp:39:2: warning: #warning "This header include is deprecated. Please update your code to use 'realtime_helpers.hpp' header and link against 'realtime_tools' library." [-Wcpp]
49.34    39 | #warning \
49.34       |  ^~~~~~~
49.34 ---
49.34 Finished <<< franka_control2 [6.88s]
60.78 Finished <<< franka_gripper [18.3s]
70.35 Finished <<< mujoco_ros_msgs [1min 9s]
70.35 Starting >>> mujoco_ros
81.45 Finished <<< multi_mode_control_msgs [39.0s]
86.62 --- stderr: mujoco_ros
86.62 CMake Warning at cmake/CompilerCache.cmake:33 (message):
86.62   ccache is enabled but was not found.  Not using it
86.62 Call Stack (most recent call first):
86.62   cmake/CompilerCache.cmake:44 (_configure_ccache)
86.62   cmake/CompilerCache.cmake:44 (cmake_language)
86.62   cmake/ProjectOption.cmake:61 (configure_compiler_cache)
86.62   CMakeLists.txt:70 (configure_project_option)
86.62 
86.62 
86.62 CMake Warning at /opt/ros/humble/share/ament_cmake_export_include_directories/cmake/ament_export_include_directories.cmake:44 (message):
86.62   ament_export_include_directories() package 'mujoco_ros' exports the include
86.62   directory '/home/user/humble_ws/build/mujoco_ros/include' which doesn't
86.62   exist
86.62 Call Stack (most recent call first):
86.62   CMakeLists.txt:267 (ament_export_include_directories)
86.62 
86.62 
86.62 In file included from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/mujoco_env.hpp:87,
86.62                  from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/src/mujoco_env.cpp:47:
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/viewer.hpp:183:9: error: ‘mjvSceneState’ does not name a type; did you mean ‘mjvScene_’?
86.62   183 |         mjvSceneState scnstate_;
86.62       |         ^~~~~~~~~~~~~
86.62       |         mjvScene_
86.62 In file included from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/mujoco_env.hpp:87,
86.62                  from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/src/ros_two/ros_api.cpp:40:
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/viewer.hpp:183:9: error: ‘mjvSceneState’ does not name a type; did you mean ‘mjvScene_’?
86.62   183 |         mjvSceneState scnstate_;
86.62       |         ^~~~~~~~~~~~~
86.62       |         mjvScene_
86.62 In file included from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/src/mujoco_env.cpp:48:
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/offscreen_camera.hpp:133:9: error: ‘mjvSceneState’ does not name a type; did you mean ‘mjvScene_’?
86.62   133 |         mjvSceneState scn_state_;
86.62       |         ^~~~~~~~~~~~~
86.62       |         mjvScene_
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/offscreen_camera.hpp: In destructor ‘mujoco_ros::rendering::OffscreenCamera::~OffscreenCamera()’:
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/offscreen_camera.hpp:98:37: error: ‘scn_state_’ was not declared in this scope
86.62    98 |                 mjv_freeSceneState(&scn_state_);
86.62       |                                     ^~~~~~~~~~
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/offscreen_camera.hpp:98:17: error: ‘mjv_freeSceneState’ was not declared in this scope; did you mean ‘mjv_freeScene’?
86.62    98 |                 mjv_freeSceneState(&scn_state_);
86.62       |                 ^~~~~~~~~~~~~~~~~~
86.62       |                 mjv_freeScene
86.62 In file included from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/mujoco_env.hpp:87,
86.62                  from /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/src/main.cpp:44:
86.62 /home/user/humble_ws/src/mujoco_ros_pkgs/mujoco_ros/include/mujoco_ros/viewer.hpp:183:9: error: ‘mjvSceneState’ does not name a type; did you mean ‘mjvScene_’?
86.62   183 |         mjvSceneState scnstate_;
86.62       |         ^~~~~~~~~~~~~
86.62       |         mjvScene_
86.62 gmake[2]: *** [src/CMakeFiles/mujoco_ros.dir/build.make:90: src/CMakeFiles/mujoco_ros.dir/mujoco_env.cpp.o] Error 1
86.62 gmake[2]: *** Waiting for unfinished jobs....
86.62 gmake[2]: *** [src/CMakeFiles/mujoco_ros.dir/build.make:76: src/CMakeFiles/mujoco_ros.dir/main.cpp.o] Error 1
86.62 gmake[2]: *** [src/CMakeFiles/mujoco_ros.dir/build.make:104: src/CMakeFiles/mujoco_ros.dir/ros_two/ros_api.cpp.o] Error 1
86.62 gmake[1]: *** [CMakeFiles/Makefile2:267: src/CMakeFiles/mujoco_ros.dir/all] Error 2
86.62 gmake: *** [Makefile:146: all] Error 2
86.62 ---
86.62 Failed   <<< mujoco_ros [16.3s, exited with code 2]
86.64 
86.64 Summary: 11 packages finished [1min 25s]
86.64   1 package failed: mujoco_ros
86.64   3 packages had stderr output: franka_control2 garmi_controllers mujoco_ros
86.64   15 packages not processed
------
Dockerfile:151
--------------------
 150 |     ENV CMAKE_PREFIX_PATH=~/Libraries/libfranka/lib/cmake:~/Libraries/mujoco/lib/cmake
 151 | >>> RUN cd ~/humble_ws \
 152 | >>>     && source ~/.bashrc \
 153 | >>>     && . /opt/ros/humble/setup.sh \
 154 | >>>     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
--------------------
ERROR: failed to solve: process "/bin/bash -c cd ~/humble_ws     && source ~/.bashrc     && . /opt/ros/humble/setup.sh     && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release" did not complete successfully: exit code: 2

Is there something that I am missing?

[David0tt]

Hi,

I had a similar issue. Apparently the commands in the Dockerfile are not up to date anymore.

• In the Dockerfile the mujoco_ros_pkgs (https://github.com/tenfoldpaper/mujoco_ros_pkgs) is not installed, as would be required in step 5. of the Installation Guide in the README.
• Also, the mujoco version is not pinned to 3.2.0 which is required by mujoco_ros_pkgs

I have attached an updated Dockerfile that works for me. Note, that two modified launch files are also attached, which should be in the same directory as the dockerfile for the build to properly work. In these, i changed the definitions of some paths for the franka_controllers' .yaml files, which also appeared to be not correct anymore. Also, the single_multimode.yaml is modified to launch the panda_cartesian_impedance_controller as a default

(note, that this dockerfile works stand alone by git cloning multipanda_ros2, and not by copying it into the container as the original dockerfile. Also, the nice user management from the original Dockerfile has been removed, and everything simply runs as root. Further, drivers for a spacemouse are installed, since i need them, but you can simply remove these lines if this is not required by you)

To test, if everything works you can run:

xhost +local:docker # for xhost support to enable showing RViz
docker build -t multipanda_ros2 ./
docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --net=host --privileged multipanda_ros2

in the container:

ros2 launch franka_bringup multimode_franka.launch.py robot_ip_1:=172.16.0.2 # you might need to change this IP address

rviz should start

ros2 topic list # should show the /panda/panda_cartesian_impedance_controller/desired_pose topic

To move the arm you can publish to this topic, e.g. manually:

ros2 topic pub /panda/panda_cartesian_impedance_controller/desired_pose multi_mode_control_msgs/msg/CartesianImpedanceGoal "{
  pose: {
    position: {
      x: 0.682,
      y: -0.015,
      z: 0.390
    },
    orientation: {
      x: 0.999,
      y: -0.014,
      z: 0.041, 
      w: -0.001
    }
  },
  q_n: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
}" -1

• note,
  • that the target pose may only have a maximum distance of 0.1m from the current pose
  • the target frame is panda_hand_tcp
  • current pose can be found with
    • ros2 run tf2_ros tf2_echo panda_link0 panda_hand_tcp
  • the q_n is used as the desired joint_configuration to solve null-space redundancies and should be modified to more sensible values for actual deployment, but just for testing this works fine.

multipanda_ros2_Dockerfile.zip