hsr-project/hsrb_kinematics

hsrb_kinematics's Issues

Colcon build error in tmc_robot_kinematics_model

When I run colcon build by following the instruction https://github.com/hsr-project/hsr_ros2_doc, I faced the following stderr in the package tmc_robot_kinematics_model. Sorry for pasting the long output.

--- stderr: tmc_robot_kinematics_model 
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:107,
                 from /opt/openrobots/include/pinocchio/fwd.hpp:31,
                 from /opt/openrobots/include/pinocchio/spatial/fwd.hpp:9,
                 from /opt/openrobots/include/pinocchio/multibody/model.hpp:9,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/include/tmc_robot_kinematics_model/pinocchio_wrapper.hpp:40,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:33:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h: In instantiation of 'struct Eigen::TensorEvaluator<const Eigen::Tensor<double, 3, 0, long int>, Eigen::DefaultDevice>':
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h:232:8:   required from 'struct Eigen::TensorEvaluator<const Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> >, Eigen::DefaultDevice>'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h:96:70:   required from 'struct Eigen::TensorEvaluator<const Eigen::TensorAssignOp<Eigen::Tensor<double, 3, 0, long int>, const Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> > >, Eigen::DefaultDevice>'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:416:14:   required from 'Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::operator=(const OtherDerived&) [with OtherDerived = Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> >; Scalar_ = double; int NumIndices_ = 3; int Options_ = 0; IndexType_ = long int]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:847:24:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setConstant(const Scalar&) [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1; Eigen::TensorBase<Derived, AccessLevel>::Scalar = double]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:843:14:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setZero() [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1]'
/opt/openrobots/include/pinocchio/multibody/data.hxx:143:5:   required from 'pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::DataTpl(const Model&) [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::Model = pinocchio::ModelTpl<double>]'
/root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:133:30:   required from here
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h:162:71: warning: ignoring attributes on template argument 'Eigen::PacketType<double, Eigen::DefaultDevice>::type' {aka '__vector(2) double'} [-Wignored-attributes]
  162 |     PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:107,
                 from /opt/openrobots/include/pinocchio/fwd.hpp:31,
                 from /opt/openrobots/include/pinocchio/spatial/fwd.hpp:9,
                 from /opt/openrobots/include/pinocchio/multibody/model.hpp:9,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/include/tmc_robot_kinematics_model/pinocchio_wrapper.hpp:40,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:33:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h: In instantiation of 'struct Eigen::TensorEvaluator<Eigen::Tensor<double, 3, 0, long int>, Eigen::DefaultDevice>':
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorAssign.h:100:65:   required from 'struct Eigen::TensorEvaluator<const Eigen::TensorAssignOp<Eigen::Tensor<double, 3, 0, long int>, const Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> > >, Eigen::DefaultDevice>'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:416:14:   required from 'Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::operator=(const OtherDerived&) [with OtherDerived = Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> >; Scalar_ = double; int NumIndices_ = 3; int Options_ = 0; IndexType_ = long int]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:847:24:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setConstant(const Scalar&) [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1; Eigen::TensorBase<Derived, AccessLevel>::Scalar = double]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:843:14:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setZero() [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1]'
/opt/openrobots/include/pinocchio/multibody/data.hxx:143:5:   required from 'pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::DataTpl(const Model&) [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::Model = pinocchio::ModelTpl<double>]'
/root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:133:30:   required from here
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorEvaluator.h:42:71: warning: ignoring attributes on template argument 'Eigen::PacketType<double, Eigen::DefaultDevice>::type' {aka '__vector(2) double'} [-Wignored-attributes]
   42 |     PacketAccess = (internal::unpacket_traits<PacketReturnType>::size > 1),
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
In file included from /usr/include/eigen3/unsupported/Eigen/CXX11/Tensor:141,
                 from /opt/openrobots/include/pinocchio/fwd.hpp:31,
                 from /opt/openrobots/include/pinocchio/spatial/fwd.hpp:9,
                 from /opt/openrobots/include/pinocchio/multibody/model.hpp:9,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/include/tmc_robot_kinematics_model/pinocchio_wrapper.hpp:40,
                 from /root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:33:
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h: In instantiation of 'static void Eigen::internal::TensorExecutor<Expression, Eigen::DefaultDevice, true>::run(const Expression&, const Eigen::DefaultDevice&) [with Expression = const Eigen::TensorAssignOp<Eigen::Tensor<double, 3, 0, long int>, const Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> > >]':
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/Tensor.h:417:65:   required from 'Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>& Eigen::Tensor<Scalar_, NumIndices_, Options_, IndexType>::operator=(const OtherDerived&) [with OtherDerived = Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> >; Scalar_ = double; int NumIndices_ = 3; int Options_ = 0; IndexType_ = long int]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:847:24:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setConstant(const Scalar&) [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1; Eigen::TensorBase<Derived, AccessLevel>::Scalar = double]'
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorBase.h:843:14:   required from 'Derived& Eigen::TensorBase<Derived, AccessLevel>::setZero() [with Derived = Eigen::Tensor<double, 3, 0, long int>; int AccessLevel = 1]'
/opt/openrobots/include/pinocchio/multibody/data.hxx:143:5:   required from 'pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::DataTpl(const Model&) [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::DataTpl<Scalar, Options, JointCollectionTpl>::Model = pinocchio::ModelTpl<double>]'
/root/ros2/hsr_ros2_ws/hsrb_kinematics/tmc_robot_kinematics_model/src/pinocchio_wrapper.cpp:133:30:   required from here
/usr/include/eigen3/unsupported/Eigen/CXX11/src/Tensor/TensorExecutor.h:61:17: warning: ignoring attributes on template argument 'Eigen::TensorEvaluator<const Eigen::TensorAssignOp<Eigen::Tensor<double, 3, 0, long int>, const Eigen::TensorCwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Tensor<double, 3, 0, long int> > >, Eigen::DefaultDevice>::PacketReturnType' {aka '__vector(2) double'} [-Wignored-attributes]
   61 |       const int PacketSize = unpacket_traits<typename TensorEvaluator<Expression, DefaultDevice>::PacketReturnType>::size;
      |                 ^~~~~~~~~~
---