moveit-ros-planning-interface seems to be missing Python API #374
Comments
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Looks like #371 |
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@Tobias-Fischer thanks for looking into it.
not sure, what else could I try? |
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When did you create the environment? If it was before May 30, could you please try creating it fresh? |
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I just checked and indeed something is wrong with this package. I'm not sure what though. The |
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At least |
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@traversaro it is |
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I don't have much knowledge in this don't know if the following is helpful or not. I had encountered the same problem past week with ros-noetic osx64 . Going through stackoverflow and similar git issues, I stumbled upon this possible soln of soft linking the |
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Ah cool, that's good intel. The segfault is probably because they are linking to PYTHON_LIBRARIES. That should be an easy fix. |
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I'm not sure what the best way is to fix the library name though - @traversaro you are the CMake expert, there is probably a standard way? |
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A quick reminder @traversaro |
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Hi @fedor-chervinskii - I've uploaded new packages that should work. Could you please try? |
Sorry about that, I missed the original notification. I guess this is now fixed? |
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Yes thank you :) |
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Hi, I tried to install $ mamba install -c robostack-staging "ros-noetic-moveit==1.1.13"
Looking for: ['ros-noetic-moveit==1.1.13']
conda-forge/osx-64 Using cache
conda-forge/noarch Using cache
robostack-staging/osx-64 No change
robostack-staging/noarch No change
Pinned packages:
- python 3.9.*
Could not solve for environment specs
The following package could not be installed
└─ ros-noetic-moveit 1.1.13 is installable and it requires
└─ ros-distro-mutex 0.5.* , which can be installed.When trying to force reinstall the |
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Can you try in a fresh environment? The new packages use Python 3.11 . |
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Ah ok, figured this could be a one of the issues. Thanks ! |
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I tried the updated package in a fresh python 3.11 environment, the installation was successful. When trying to import the moveit_commander, this throws the old error related to |
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I reproduced the problem, but for me the error is slightly different (Command Prompt?): |
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On osx-arm64, I get: EDIT: |
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The issue on osx-64 is that the It seems that |
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Copying the .so files from I was able to use the python interface to actuate the ur5 manipulator. 
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The issue is that |
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I temporarily fixed it with RoboStack/vinca@bebaf58 and rebuilt the osx-64 package (same build number, so you would need to clear your cache and force re-downloading the package - sorry for that). |
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FYI - you can now |
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Hi @traversaro - do you want to take a look at the Windows issue, or should I close here? |
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Quick reminder @traversaro :) |
Quick workaroundTL;DR a quick workaround for anyone having this problem is to run once in the environment: or always set the following env variable: Long explanationOk, this was a tricky one. Somehow: was failing in python, but nothing was wrong when opening import os
prefix = "C:/Users/straversaro/AppData/Local/miniforge3/envs/ros-noetic-moveit-ros-planning-interface/Library"
libraries_to_test = []
libraries_to_test.append(prefix+"/lib/site-packages/moveit_ros_planning_interface/_moveit_move_group_interface.pyd")
libraries_to_test.append(prefix+"/lib/site-packages/moveit_ros_planning_interface/_moveit_planning_scene_interface.pyd")
libraries_to_test.append(prefix+"/lib/site-packages/moveit_ros_planning_interface/_moveit_robot_interface.pyd")
libraries_to_test.append(prefix+"/lib/site-packages/moveit_ros_planning_interface/_moveit_roscpp_initializer.pyd")
# Loop through the files in the specified directory
for filename in os.listdir(prefix+"/bin"):
if filename.endswith(".dll"):
libraries_to_test.append(prefix+"/bin/"+filename)
import ctypes
loaded_libraries = []
libraries_not_loaded = []
for library_name in libraries_to_test:
try:
# Load the library
_ = ctypes.cdll.LoadLibrary(library_name)
loaded_libraries.append(library_name)
print(f"Library '{library_name}' loaded successfully.")
except Exception as e:
print(f"Error loading library '{library_name}': {e}")
libraries_not_loaded.append(library_name)
# Print the list of loaded libraries
print("List of Loaded Libraries:", loaded_libraries)
print("List of non-loaded Libraries:", libraries_not_loaded)With this, I noticed that somehow a lot of moveit libraries were listed under the "List of non-loaded Libraries" part. So there was something strange. Iterating a bit between the script and the DependenciesGui, I was able to notice that there were two .dll that were wrongly installed in |
I noticed a few more offending examples of this in a standard installation of |
Solution to issue cannot be found in the documentation.
Issue
Please help me understand what's the actual problem. It looks like the package has been built without Python API
Arch: osx-arm64
Version of the package:
ros-noetic-moveit-ros-planning-interface 1.1.12 py39hae387e0_6 robostack-stagingTrying to call
import moveit_commanderfrom Python and facing this error:ImportError: cannot import name '_moveit_roscpp_initializer' from 'moveit_ros_planning_interface' (/Users/theo/miniconda3/envs/ros_env/lib/python3.9/site-packages/moveit_ros_planning_interface/__init__.py)the
__init__.pyand the folder appears to be emptyInstalled packages
Environment info
__ __ __ __ / \ / \ / \ / \ / \/ \/ \/ \ ███████████████/ /██/ /██/ /██/ /████████████████████████ / / \ / \ / \ / \ \____ / / \_/ \_/ \_/ \ o \__, / _/ \_____/ ` |/ ███╗ ███╗ █████╗ ███╗ ███╗██████╗ █████╗ ████╗ ████║██╔══██╗████╗ ████║██╔══██╗██╔══██╗ ██╔████╔██║███████║██╔████╔██║██████╔╝███████║ ██║╚██╔╝██║██╔══██║██║╚██╔╝██║██╔══██╗██╔══██║ ██║ ╚═╝ ██║██║ ██║██║ ╚═╝ ██║██████╔╝██║ ██║ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝╚═════╝ ╚═╝ ╚═╝ mamba (1.4.2) supported by @QuantStack GitHub: https://github.com/mamba-org/mamba Twitter: https://twitter.com/QuantStack █████████████████████████████████████████████████████████████ active environment : ros_env active env location : /Users/theo/miniconda3/envs/ros_env shell level : 2 user config file : /Users/theo/.condarc populated config files : /Users/theo/.condarc /Users/theo/miniconda3/envs/ros_env/.condarc conda version : 23.3.1 conda-build version : not installed python version : 3.10.11.final.0 virtual packages : __archspec=1=arm64 __osx=13.0=0 __unix=0=0 base environment : /Users/theo/miniconda3 (writable) conda av data dir : /Users/theo/miniconda3/etc/conda conda av metadata url : None channel URLs : https://conda.anaconda.org/robostack-staging/osx-arm64 https://conda.anaconda.org/robostack-staging/noarch https://conda.anaconda.org/conda-forge/osx-arm64 https://conda.anaconda.org/conda-forge/noarch package cache : /Users/theo/miniconda3/pkgs /Users/theo/.conda/pkgs envs directories : /Users/theo/miniconda3/envs /Users/theo/.conda/envs platform : osx-arm64 user-agent : conda/23.3.1 requests/2.28.1 CPython/3.10.11 Darwin/22.1.0 OSX/13.0 UID:GID : 501:20 netrc file : /Users/theo/.netrc offline mode : FalseThe text was updated successfully, but these errors were encountered: