Cannot make it work on Melodic

[barbosafs]

Hello!
I've been trying to get CrazyS to work on my machine for a couple of days now, but with no success. I have an Ubuntu 18 with ROS Melodic and Gazebo 9. I followed all the corresponding installation steps listed here.

After running rosdep check --from-paths src I get the following:

All system dependencies have been satisfied
ERROR[mav_comm]: Cannot locate rosdep definition for [mav_system_msgs]
	rosdep key : mav_system_msgs
	OS name    : ubuntu
	OS version : bionic
	Data:
<no data>

The following is the verbose of catkin build:

--------------------------------------------------------
Profile:                     default
Extending:             [env] /opt/ros/melodic
Workspace:                   /home/fdsb/crazy_ws
--------------------------------------------------------
Build Space:        [exists] /home/fdsb/crazy_ws/build
Devel Space:        [exists] /home/fdsb/crazy_ws/devel
Install Space:      [unused] /home/fdsb/crazy_ws/install
Log Space:         [missing] /home/fdsb/crazy_ws/logs
Source Space:       [exists] /home/fdsb/crazy_ws/src
DESTDIR:            [unused] None
--------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
--------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
--------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
--------------------------------------------------------
Workspace configuration appears valid.

NOTE: Forcing CMake to run for each package.
--------------------------------------------------------
[build] Found '14' packages in 0.0 seconds.                                    
[build] Updating package table.                                                
Starting  >>> catkin_tools_prebuild                                            
Finished  <<< catkin_tools_prebuild                 [ 0.9 seconds ]            
Starting  >>> mav_msgs                                                         
Starting  >>> mav_state_machine_msgs                                           
Starting  >>> mav_system_msgs                                                  
Starting  >>> rotors_comm                                                      
Starting  >>> rotors_description                                               
Starting  >>> rotors_evaluation                                                
Starting  >>> rqt_rotors                                                       
Finished  <<< rotors_description                    [ 1.5 seconds ]            
Finished  <<< rqt_rotors                            [ 2.3 seconds ]            
Finished  <<< rotors_evaluation                     [ 2.3 seconds ]            
Finished  <<< mav_state_machine_msgs                [ 3.9 seconds ]            
Finished  <<< mav_system_msgs                       [ 3.9 seconds ]            
Finished  <<< rotors_comm                           [ 4.7 seconds ]            
Finished  <<< mav_msgs                              [ 5.8 seconds ]            
Starting  >>> mav_planning_msgs                                                
Starting  >>> rotors_control                                                   
Starting  >>> rotors_joy_interface                                             
_______________________________________________________________________________
Warnings   << rotors_control:cmake /home/fdsb/crazy_ws/logs/rotors_control/build.cmake.000.log
CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
  The FindEigen.cmake Module in the cmake_modules package is deprecated.

  Please use the FindEigen3.cmake Module provided with Eigen.  Change
  instances of find_package(Eigen) to find_package(Eigen3).  Check the
  FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
  CMakeLists.txt:15 (find_package)


cd /home/fdsb/crazy_ws/build/rotors_control; catkin build --get-env rotors_control | catkin env -si  /home/fdsb/.local/bin/cmake /home/fdsb/crazy_ws/src/CrazyS/rotors_control --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/fdsb/crazy_ws/devel/.private/rotors_control -DCMAKE_INSTALL_PREFIX=/home/fdsb/crazy_ws/install; cd -

...............................................................................
Finished  <<< rotors_joy_interface                  [ 4.9 seconds ]            
Finished  <<< mav_planning_msgs                     [ 5.0 seconds ]            
Starting  >>> mav_comm                                                         
Finished  <<< mav_comm                              [ 1.6 seconds ]            
Finished  <<< rotors_control                        [ 23.0 seconds ]           
Starting  >>> rotors_gazebo_plugins                                            
_______________________________________________________________________________
Warnings   << rotors_gazebo_plugins:cmake /home/fdsb/crazy_ws/logs/rotors_gazebo_plugins/build.cmake.000.log
CMake Warning (dev) at /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindPackageHandleStandardArgs.cmake:273 (message):
  The package name passed to `find_package_handle_standard_args` (PkgConfig)
  does not match the name of the calling package (gazebo).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindPkgConfig.cmake:59 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:30 (include)
  /opt/ros/melodic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)
  /opt/ros/melodic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)
  CMakeLists.txt:111 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindBoost.cmake:1315 (if):
  Policy CMP0054 is not set: Only interpret if() arguments as variables or
  keywords when unquoted.  Run "cmake --help-policy CMP0054" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.

  Quoted variables like "chrono" will no longer be dereferenced when the
  policy is set to NEW.  Since the policy is not set the OLD behavior will be
  used.
Call Stack (most recent call first):
  /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindBoost.cmake:1919 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
  /opt/ros/melodic/share/gazebo_dev/cmake/gazebo_dev-extras.cmake:2 (find_package)
  /opt/ros/melodic/share/gazebo_dev/cmake/gazebo_devConfig.cmake:222 (include)
  CMakeLists.txt:111 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'octomap' but neither 'octomap_INCLUDE_DIRS'
  nor 'octomap_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:223 (catkin_package)


CMake Warning at /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:166 (message):
  catkin_package() DEPENDS on 'opencv' but neither 'opencv_INCLUDE_DIRS' nor
  'opencv_LIBRARIES' is defined.
Call Stack (most recent call first):
  /opt/ros/melodic/share/catkin/cmake/catkin_package.cmake:102 (_catkin_package)
  CMakeLists.txt:223 (catkin_package)


cd /home/fdsb/crazy_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /home/fdsb/.local/bin/cmake /home/fdsb/crazy_ws/src/CrazyS/rotors_gazebo_plugins --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/fdsb/crazy_ws/devel/.private/rotors_gazebo_plugins -DCMAKE_INSTALL_PREFIX=/home/fdsb/crazy_ws/install; cd -

...............................................................................
_______________________________________________________________________________
Warnings   << rotors_gazebo_plugins:make /home/fdsb/crazy_ws/logs/rotors_gazebo_plugins/build.make.000.log
MagneticField.proto: warning: Import quaternion.proto but not used.
cd /home/fdsb/crazy_ws/build/rotors_gazebo_plugins; catkin build --get-env rotors_gazebo_plugins | catkin env -si  /usr/bin/make --jobserver-fds=3,4 -j; cd -

...............................................................................
Finished  <<< rotors_gazebo_plugins                 [ 41.8 seconds ]           
Starting  >>> rotors_gazebo                                                    
_______________________________________________________________________________
Warnings   << rotors_gazebo:cmake /home/fdsb/crazy_ws/logs/rotors_gazebo/build.cmake.000.log
CMake Warning (dev) at /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindPackageHandleStandardArgs.cmake:273 (message):
  The package name passed to `find_package_handle_standard_args` (PkgConfig)
  does not match the name of the calling package (gazebo).  This can lead to
  problems in calling code that expects `find_package` result variables
  (e.g., `_FOUND`) to follow a certain pattern.
Call Stack (most recent call first):
  /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindPkgConfig.cmake:59 (find_package_handle_standard_args)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:30 (include)
  CMakeLists.txt:12 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindBoost.cmake:1315 (if):
  Policy CMP0054 is not set: Only interpret if() arguments as variables or
  keywords when unquoted.  Run "cmake --help-policy CMP0054" for policy
  details.  Use the cmake_policy command to set the policy and suppress this
  warning.

  Quoted variables like "chrono" will no longer be dereferenced when the
  policy is set to NEW.  Since the policy is not set the OLD behavior will be
  used.
Call Stack (most recent call first):
  /home/fdsb/.local/lib/python3.6/site-packages/cmake/data/share/cmake-3.18/Modules/FindBoost.cmake:1919 (_Boost_MISSING_DEPENDENCIES)
  /usr/share/OGRE/cmake/modules/FindOGRE.cmake:318 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/gazebo/gazebo-config.cmake:175 (find_package)
  CMakeLists.txt:12 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning at /opt/ros/melodic/share/cmake_modules/cmake/Modules/FindEigen.cmake:62 (message):
  The FindEigen.cmake Module in the cmake_modules package is deprecated.

  Please use the FindEigen3.cmake Module provided with Eigen.  Change
  instances of find_package(Eigen) to find_package(Eigen3).  Check the
  FindEigen3.cmake Module for the resulting CMake variable names.

Call Stack (most recent call first):
  CMakeLists.txt:57 (find_package)


cd /home/fdsb/crazy_ws/build/rotors_gazebo; catkin build --get-env rotors_gazebo | catkin env -si  /home/fdsb/.local/bin/cmake /home/fdsb/crazy_ws/src/CrazyS/rotors_gazebo --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/fdsb/crazy_ws/devel/.private/rotors_gazebo -DCMAKE_INSTALL_PREFIX=/home/fdsb/crazy_ws/install; cd -

...............................................................................
Finished  <<< rotors_gazebo                         [ 15.3 seconds ]           
Starting  >>> rotors_simulator                                                 
Finished  <<< rotors_simulator                      [ 1.0 seconds ]            
[build] Summary: All 15 packages succeeded!                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  3 packages succeeded with warnings.                       
[build]   Abandoned: None.                                                     
[build]   Failed:    None.                                                     
[build] Runtime: 1 minute and 28.0 seconds total.                              
[build] Note: Workspace packages have changed, please re-source setup files to use them.

And this is the verbose of launching roslaunch rotors_gazebo crazyflie2_hovering_example.launch

SUMMARY
========

PARAMETERS
 * /crazyflie2/position_controller_node/attitude_gain_ki/phi: 0.0349
 * /crazyflie2/position_controller_node/attitude_gain_ki/theta: 0.0349
 * /crazyflie2/position_controller_node/attitude_gain_kp/phi: 0.0611
 * /crazyflie2/position_controller_node/attitude_gain_kp/theta: 0.0611
 * /crazyflie2/position_controller_node/csvFilesStoring: False
 * /crazyflie2/position_controller_node/csvFilesStoringTime: 15.0
 * /crazyflie2/position_controller_node/enable_state_estimator: False
 * /crazyflie2/position_controller_node/hovering_gain_kd/z: 373
 * /crazyflie2/position_controller_node/hovering_gain_ki/z: 3.15
 * /crazyflie2/position_controller_node/hovering_gain_kp/z: 70
 * /crazyflie2/position_controller_node/inertia/xx: 1.657171e-05
 * /crazyflie2/position_controller_node/inertia/xy: 0.0
 * /crazyflie2/position_controller_node/inertia/xz: 0.0
 * /crazyflie2/position_controller_node/inertia/yy: 1.657171e-05
 * /crazyflie2/position_controller_node/inertia/yz: 0.0
 * /crazyflie2/position_controller_node/inertia/zz: 2.9261652e-05
 * /crazyflie2/position_controller_node/mass: 0.027
 * /crazyflie2/position_controller_node/rate_gain_ki/p: 0
 * /crazyflie2/position_controller_node/rate_gain_ki/q: 0
 * /crazyflie2/position_controller_node/rate_gain_ki/r: 95.6839
 * /crazyflie2/position_controller_node/rate_gain_kp/p: 1000
 * /crazyflie2/position_controller_node/rate_gain_kp/q: 1000
 * /crazyflie2/position_controller_node/rate_gain_kp/r: 1000
 * /crazyflie2/position_controller_node/rotor_configuration/0/angle: -3.14159265359
 * /crazyflie2/position_controller_node/rotor_configuration/0/arm_length: 0.046
 * /crazyflie2/position_controller_node/rotor_configuration/0/direction: -1.0
 * /crazyflie2/position_controller_node/rotor_configuration/0/rotor_force_constant: 1.28192e-08
 * /crazyflie2/position_controller_node/rotor_configuration/0/rotor_moment_constant: 0.005964552
 * /crazyflie2/position_controller_node/rotor_configuration/1/angle: 1.57079632679
 * /crazyflie2/position_controller_node/rotor_configuration/1/arm_length: 0.046
 * /crazyflie2/position_controller_node/rotor_configuration/1/direction: 1.0
 * /crazyflie2/position_controller_node/rotor_configuration/1/rotor_force_constant: 1.28192e-08
 * /crazyflie2/position_controller_node/rotor_configuration/1/rotor_moment_constant: 0.005964552
 * /crazyflie2/position_controller_node/rotor_configuration/2/angle: 3.14159265359
 * /crazyflie2/position_controller_node/rotor_configuration/2/arm_length: 0.046
 * /crazyflie2/position_controller_node/rotor_configuration/2/direction: -1.0
 * /crazyflie2/position_controller_node/rotor_configuration/2/rotor_force_constant: 1.28192e-08
 * /crazyflie2/position_controller_node/rotor_configuration/2/rotor_moment_constant: 0.005964552
 * /crazyflie2/position_controller_node/rotor_configuration/3/angle: -1.57079632679
 * /crazyflie2/position_controller_node/rotor_configuration/3/arm_length: 0.046
 * /crazyflie2/position_controller_node/rotor_configuration/3/direction: 1.0
 * /crazyflie2/position_controller_node/rotor_configuration/3/rotor_force_constant: 1.28192e-08
 * /crazyflie2/position_controller_node/rotor_configuration/3/rotor_moment_constant: 0.005964552
 * /crazyflie2/position_controller_node/user_account: giuseppe
 * /crazyflie2/position_controller_node/xy_gain_ki/x: 5.72958
 * /crazyflie2/position_controller_node/xy_gain_ki/y: -5.72958
 * /crazyflie2/position_controller_node/xy_gain_kp/x: 3.594
 * /crazyflie2/position_controller_node/xy_gain_kp/y: -3.594
 * /crazyflie2/position_controller_node/yaw_gain_ki/yaw: 0
 * /crazyflie2/position_controller_node/yaw_gain_kp/yaw: 0.0914
 * /crazyflie2/robot_description: <?xml version="1....
 * /crazyflie2/tf_prefix: 
 * /gazebo/enable_ros_network: True
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
  /crazyflie2/
    hovering_example (rotors_gazebo/hovering_example)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    position_controller_node (rotors_control/position_controller_node)
    quaternion_to_rpy (rotors_gazebo/quaternion_to_rpy)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_crazyflie2 (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [25648]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cda2315c-0000-11ec-a4e3-9cb6d01a82c1
process[rosout-1]: started with pid [25666]
started core service [/rosout]
process[gazebo-2]: started with pid [25673]
process[gazebo_gui-3]: started with pid [25676]
process[crazyflie2/spawn_crazyflie2-4]: started with pid [25682]
process[crazyflie2/position_controller_node-5]: started with pid [25684]
process[crazyflie2/hovering_example-6]: started with pid [25686]
[ INFO] [1629276400.214726611]: Started position controller
process[crazyflie2/robot_state_publisher-7]: started with pid [25692]
[ INFO] [1629276400.228760641]: [Position Controller] Set controller gains and vehicle parameters
[ INFO] [1629276400.229403103]: Got param 'user_account': giuseppe
[ INFO] [1629276400.229846480]: Got param 'csvFilesStoring': 0
[ INFO] [1629276400.230361309]: Got param 'csvFilesStoringTime': 15.000000
[ INFO] [1629276400.230537536]: Started hovering example.
[ INFO] [1629276400.232486652]: Wait for 1 second before trying to unpause Gazebo again.
process[crazyflie2/joint_state_publisher-8]: started with pid [25697]
[ INFO] [1629276400.236381770]: Got param 'enable_state_estimator': 0
process[crazyflie2/quaternion_to_rpy-9]: started with pid [25704]
[ INFO] [1629276400.679492228]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629276400.680906136]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1629276400.739038060]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1629276400.741746815]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1629276401.099407, 0.000000]: Loading model XML from ros parameter robot_description
[INFO] [1629276401.107013, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[ INFO] [1629276401.233339678]: Wait for 1 second before trying to unpause Gazebo again.
[ INFO] [1629276401.828865126]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1629276401.897418615]: Physics dynamic reconfigure ready.
[INFO] [1629276402.013537, 0.000000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1629276402.364748662]: Unpaused the Gazebo simulation.
[INFO] [1629276402.364747, 0.000000]: Spawn status: SpawnModel: Successfully spawned entity
gzserver: symbol lookup error: /opt/ros/melodic/share/gazebo_plugins/../../lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev
[gazebo-2] process has died [pid 25673, exit code 127, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -u -e ode /home/fdsb/crazy_ws/src/CrazyS/rotors_gazebo/worlds/basic_crazyflie.world __name:=gazebo __log:=/home/fdsb/.ros/log/cda2315c-0000-11ec-a4e3-9cb6d01a82c1/gazebo-2.log].
log file: /home/fdsb/.ros/log/cda2315c-0000-11ec-a4e3-9cb6d01a82c1/gazebo-2*.log
[crazyflie2/spawn_crazyflie2-4] process has finished cleanly
log file: /home/fdsb/.ros/log/cda2315c-0000-11ec-a4e3-9cb6d01a82c1/crazyflie2-spawn_crazyflie2-4*.log
^C[crazyflie2/quaternion_to_rpy-9] killing on exit
[crazyflie2/joint_state_publisher-8] killing on exit
[crazyflie2/robot_state_publisher-7] killing on exit
[crazyflie2/hovering_example-6] killing on exit
[crazyflie2/position_controller_node-5] killing on exit
[gazebo_gui-3] killing on exit
[gazebo_gui-3] escalating to SIGTERM
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Any suggestions on how to fix this?

[gsilano]

Hello! Sorry, I didn't get it from the issue. Were you able to build the code?

The error appears in this line:

gzserver: symbol lookup error: /opt/ros/melodic/share/gazebo_plugins/../../lib/librotors_gazebo_multirotor_base_plugin.so: undefined symbol: _ZN14gz_sensor_msgs9ActuatorsC1Ev

I think you have not installed the package correctly. Please do the following lines again

## Environments instructions
sudo apt-get update -qq
sudo apt-get install dpkg
sudo rm /var/lib/dpkg/lock
sudo dpkg --configure -a
sudo apt install -y python-catkin-tools python-catkin-pkg python-rosdep python-wstool ros-melodic-desktop-full 
sudo apt-get install -y ros-melodic-joy  python-rosinstall python-rosinstall-generator python-wstool build-essential
sudo apt install -y ros-melodic-octomap-ros ros-melodic-mavlink python-rosinstall build-essential protobuf-compiler
sudo apt install -y libgoogle-glog-dev python-rosinstall-generator ros-melodic-pointcloud-to-laserscan
sudo apt install -y python-rosdep ros-melodic-octomap ros-melodic-octomap-mapping
sudo apt-get install -y ros-melodic-joy ros-melodic-control-toolbox
source /opt/ros/melodic/setup.bash
sudo rosdep init
rosdep update --include-eol-distros
rosdep install octomap_mapping
rosmake octomap_mapping

## CrazyS instructions
source /opt/ros/melodic/setup.bash
mkdir -p ~/catkin_ws/src
catkin_init_workspace
catkin init
cd ~/catkin_ws/src
git clone -b dev/ros-melodic https://github.com/gsilano/CrazyS.git
git clone -b med18_gazebo9 https://github.com/gsilano/mav_comm.git
rosdep update
cd ~/catkin_ws
rosdep install --from-paths src -i
rosdep update
catkin build
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

I hope this helps.

[barbosafs]

Worked like a charm! Thank you so much mate.
Something in these lines did the job:

sudo apt-get update -qq
sudo apt-get install dpkg
sudo rm /var/lib/dpkg/lock
sudo dpkg --configure -a
sudo apt install -y python-catkin-tools python-catkin-pkg python-rosdep python-wstool ros-melodic-desktop-full