MSF build failed

[rodhakate]

Hello,

So I am trying to get the linearMPC with msf running in CrazyS, however when i try to build the ethzasl_msf, catkin build is failing.

I had followed the following steps in order to setup CrazyS with mav_control_rw (for linearMPC) and ethzasl_msf (for sensor fusion):

git clone -b dev/ros-noetic https://github.com/gsilano/CrazyS.git

git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ethz-asl/mav_control_rw.git

With this the CrazyS simulation works perfectly with linearMPC from mav_control_rw.

---

In the mav_control_rw, they mentioned if we need to run msf along with linearMPC then get,

git clone https://github.com/ethz-asl/ethzasl_msf.git

which I did, however when I build the workspace after cloning ethzasl_msf, thats when I am getting the build error.

I am using Ubuntu 20 with Noetic

Any idea what might be going wrong?

Any help or suggestion is greatly appreciated.

Thank You.

---

`Profile: default
Extending: [cached] /opt/ros/noetic
Workspace: /home/lab-rai05/catkin_ws

Build Space: [exists] /home/lab-rai05/catkin_ws/build
Devel Space: [exists] /home/lab-rai05/catkin_ws/devel
Install Space: [unused] /home/lab-rai05/catkin_ws/install
Log Space: [exists] /home/lab-rai05/catkin_ws/logs
Source Space: [exists] /home/lab-rai05/catkin_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Buildlisted Packages: None
Skiplisted Packages: None

Workspace configuration appears valid.

[build] Found 28 packages in 0.0 seconds.
[build] Updating package table.
Starting >>> catkin_simple
Starting >>> mav_msgs
Starting >>> mav_state_machine_msgs
Starting >>> mav_system_msgs
Starting >>> msf_timing
Starting >>> rotors_comm
Starting >>> rotors_description
Starting >>> rotors_evaluation
Starting >>> rqt_rotors
Starting >>> sensor_fusion_comm
Finished <<< catkin_simple [ 0.1 seconds ]
Starting >>> eigen_catkin
Starting >>> glog_catkin
Finished <<< mav_msgs [ 0.2 seconds ]
Starting >>> mav_control_interface
Starting >>> mav_disturbance_observer
Starting >>> mav_lowlevel_attitude_controller
Starting >>> mav_planning_msgs
Starting >>> rotors_control
Finished <<< mav_state_machine_msgs [ 0.2 seconds ]
Starting >>> rotors_joy_interface
Finished <<< mav_system_msgs [ 0.2 seconds ]
Finished <<< rotors_description [ 0.1 seconds ]
Finished <<< rotors_evaluation [ 0.1 seconds ]
Finished <<< rotors_comm [ 0.2 seconds ]
Finished <<< rqt_rotors [ 0.1 seconds ]
Finished <<< eigen_catkin [ 0.1 seconds ]

---

Errors << msf_timing:cmake /home/lab-rai05/catkin_ws/logs/msf_timing/build.cmake.017.log
CMake Error at /opt/ros/noetic/share/catkin/cmake/test/tests.cmake:18 (message):
() is not available when tests are not enabled. The CMake code should only
use it inside a conditional block which checks that testing is enabled:

if(CATKIN_ENABLE_TESTING)

(...)

endif()

Call Stack (most recent call first):
CMakeLists.txt:34 (catkin_add_gtest)

cd /home/lab-rai05/catkin_ws/build/msf_timing; catkin build --get-env msf_timing | catkin env -si /usr/bin/cmake /home/lab-rai05/catkin_ws/src/ethzasl_msf/msf_timing --no-warn-unused-cli -DCATKIN_DEVEL_PREFIX=/home/lab-rai05/catkin_ws/devel/.private/msf_timing -DCMAKE_INSTALL_PREFIX=/home/lab-rai05/catkin_ws/install -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False; cd -

..................................................................................................................................................................................................................
Failed << msf_timing:cmake [ Exited with code 1 ]
Failed <<< msf_timing [ 0.5 seconds ]
Abandoned <<< ethzasl_msf [ Unrelated job failed ]
Abandoned <<< mav_comm [ Unrelated job failed ]
Abandoned <<< mav_linear_mpc [ Unrelated job failed ]
Abandoned <<< mav_nonlinear_mpc [ Unrelated job failed ]
Abandoned <<< msf_core [ Unrelated job failed ]
Abandoned <<< msf_distort [ Unrelated job failed ]
Abandoned <<< rotors_gazebo_plugins [ Unrelated job failed ]
Abandoned <<< rotors_gazebo [ Unrelated job failed ]
Abandoned <<< rotors_simulator [ Unrelated job failed ]
Abandoned <<< msf_updates [ Unrelated job failed ]
Finished <<< glog_catkin [ 0.1 seconds ]
Finished <<< mav_control_interface [ 0.3 seconds ]
Finished <<< mav_disturbance_observer [ 0.3 seconds ]
Finished <<< mav_lowlevel_attitude_controller [ 0.4 seconds ]
Finished <<< mav_planning_msgs [ 0.3 seconds ]
Finished <<< rotors_control [ 0.3 seconds ]
Finished <<< rotors_joy_interface [ 0.2 seconds ]
Finished <<< sensor_fusion_comm [ 1.4 seconds ]
[build] Summary: 17 of 28 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: 10 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 2.0 seconds total. ``

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[gsilano]

Hi! I'm glad you got the "linearMPC" ROS package from ETH working with your project. If that's correct, the entire community using the package and I would greatly appreciate a pull request integrating the control functionality.

Regarding your error, based on the build error, it seems the issue arises during the build process due to the if(CATKIN_ENABLE_TESTING) option. Specifically, the output suggests that testing should be enabled, as mentioned in this comment.

Please try running the following command:

catkin build --cmake-args -DCATKIN_ENABLE_TESTING=ON

If that doesn’t work, use:

catkin config --cmake-args -DCATKIN_ENABLE_TESTING=ON  
catkin build

Let me know if you encounter any further issues!