Custom Action Message does not compile

I am trying to create a custom action message and have made all the necessary changes in CMakeLists.txt file. I don’t believe I need to change anything in the package.xml file.
When I try to compile the messages using catkin_make it does not generate any messages. This problem had happened once when creating a custom service message and it fixed when I removed the package and started again, unfortunately it didn’t fix this when I did the same.

Below is the CustomActionMsg.action and CMakeLists.txt file as well.

image

I really am not sure why this occurs. Please help. I redid the package about two times and still hasn’t fixed it.

Hi @mamojiz97 ,

Could you also post your package.xml file contents?
Because this will help cross verify if the dependencies match with the packages specified in CMakeLists.txt file.

– Girish

Yes. Here you go:
image

Hi @mamojiz97 ,

Thanks for sharing the details.

Make these changes and let me know if it works:

  1. Replace rospy in generate_messages() with std_msgs in CMakeLists.txt.
  2. Add std_msgs under build_depend, build_export_depend and exec_depend in package.xml.

Everything else looks fine to me.

Regards,
Girish

Hi @girishkumar.kannan

I did as suggested and it did not solve the problem.
Thanks

Hi @girishkumar.kannan

I saw a post where it was suggested to type rm -rf build/ devel/ and then run catkin_make. It worked but could you please explain what it did?
Thank You

Hi @mamojiz97 ,

So deleting the build and devel folders will just get rid of (or clear up) any previously built packages using catkin_make.
Why it worked for you after deleting those folders, is that, the pre-built packages had cached the package configuration from earlier builds that was not conflicting with newer builds. Therefore, when you build packages again, they do not get replaced in the devel and build folders efficiently. Thus, deleting those folders resets the workspace for fresh clean package builds - which in turn makes newly built packages run correctly.

I hope I explained it clear enough. Let me know if you cannot understand my explanation.

Regards,
Girish

1 Like

estou com o mesmo problema que o mamojiz97.
Já havia enfrentado esse problema no quiz “services_quiz”, resolvi usando o comando : catkin_make --only-pkg-with-deps services_quiz, porém não consegui compilar as mensagens de Action do “action_quiz”.

Hi @mds1990 ,

English:

  1. Are you sure that your package name is correct? It is action_quiz or actions_quiz?
  2. DId you check if the contents of CMakeLists.txt and package.xml files are correct?
  3. Did you try to build from scratch, by removing the build and devel folders?

Spanish [Traducido con Google]:

  1. ¿Está seguro de que el nombre de su paquete es correcto? ¿Es action_quiz o actions_quiz?
  2. ¿Verificó si el contenido de los archivos CMakeLists.txt y package.xml es correcto?
  3. ¿Intentaste compilar desde cero eliminando las carpetas build y devel?

Regards,
Girish

Olá @girishkumar.kannan, estes são os diretórios do quiz:
image

A action message:
image

A launch:

O arquivo CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(actions_quiz)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
   actionlib_msgs
   rospy
   actionlib
   std_msgs   
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
add_action_files(
   FILES
   CustomActionMsg.action

)

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   std_msgs
   actionlib_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
   CATKIN_DEPENDS actionlib_msgs actionlib rospy std_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
   ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/actions_quiz.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/actions_quiz_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_actions_quiz.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

O arquivo package.xml:

<?xml version="1.0"?>
<package format="2">
  <name>actions_quiz</name>
  <version>0.0.0</version>
  <description>The actions_quiz package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="user@todo.todo">user</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>

  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/actions_quiz</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>actionlib</build_depend>
  <build_depend>actionlib_msgs</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <build_export_depend>actionlib</build_export_depend>
  <build_export_depend>actionlib_msgs</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <exec_depend>actionlib</exec_depend>
  <exec_depend>actionlib_msgs</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->
  </export>
</package>

Já apaguei os diretórios “devel” e “build” e recompilei usando os comandos catkin_make --only-pkg-with-deps actions_quiz e depois source devel/setup.bash. Maesmo assim não funcionou.

Este é o erro:

Hi @mds1990 ,

Your package setup is correct. Your CMakeLists.txt file and package.xml file contents are correct.
La configuración de su paquete es correcta. El contenido de su archivo CMakeLists.txt y package.xml es correcto.

You have a problem in your python code in the import line.
Tienes un problema en tu código Python en la línea import.

You have specified:
Has especificado:

form actions_quiz import CustomActionMsgFeedback, CustomActionMsgAction

This line is incorrect as CustomActionMsgFeedback cannot be used directly.
Esta línea es incorrecta porque CustomActionMsgFeedback no se puede utilizar directamente.

So replace the above line with the below line and your problem will be solved.
Así que reemplace la línea de arriba con la de abajo y su problema se resolverá.

from actions_quiz.msg import (CustomActionMsgAction,
                              CustomActionMsgActionFeedback,
                              CustomActionMsgActionResult)

Let me know if that fixed your issue. I believe it should.
Déjame saber si eso solucionó tu problema. Creo que debería.

Regards / Saludos,
Girish

[Traducido con Google]

Consegui, o erro estava no script python.
A importação da mensagem estava incorreta: “from actions_quiz import…”
corrigi para “from actions_quiz.msg import…”
Obrigado.

Hi @mds1990 ,

Glad to know your issue is resolved.
Me alegra saber que su problema está resuelto.

Regards / Saludos,
Girish

[Traducido con Google]

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