colon build failed moveit_task_constructor_capabilities

[haoyuliao]

I have reinstalled more than three times by following the instruction:
https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

Every time I reinstall, I am stopped by the message "colon build failed moveit_task_constructor_capabilities ". The errors appear below:

--- stderr: moveit_task_constructor_capabilities                          
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In member function ‘bool move_group::ExecuteTaskSolutionCapability::constructMotionPlan(const Solution&, plan_execution::ExecutableMotionPlan&)’:
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:145:14: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  145 |         plan.plan_components.reserve(solution.sub_trajectory.size());
      |              ^~~~~~~~~~~~~~~
      |              plan_components_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:149:22: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  149 |                 plan.plan_components.emplace_back();
      |                      ^~~~~~~~~~~~~~~
      |                      plan_components_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:150:72: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  150 |      plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
      |                                                             ^~~~~~~~~~~~~~~
      |                                                             plan_components_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:154:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description_’?
  154 |                 exec_traj.description = description;
      |                           ^~~~~~~~~~~
      |                           description_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:171:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  171 |                 exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
      |                           ^~~~~~~~~~
      |                           trajectory_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:172:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  172 |                 exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
      |                           ^~~~~~~~~~
      |                           trajectory_
/home/haoyuliao/ws_moveit2_test2/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:175:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘effect_on_success’; did you mean ‘effect_on_success_’?
  175 |                 exec_traj.effect_on_success = [this, sub_traj,
      |                           ^~~~~~~~~~~~~~~~~
      |                           effect_on_success_
gmake[2]: *** [CMakeFiles/moveit_task_constructor_capabilities.dir/build.make:76: CMakeFiles/moveit_task_constructor_capabilities.dir/src/execute_task_solution_capability.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/moveit_task_constructor_capabilities.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< moveit_task_constructor_capabilities [56.3s, exited with code 2]
                                       
Summary: 45 packages finished [8min 30s]
  1 package failed: moveit_task_constructor_capabilities
  1 package had stderr output: moveit_task_constructor_capabilities
  12 packages not processed

My work environment: ROS2-humble, Ubuntu 22.04
I am not sure if this is a bug for humble since the newest version is Iron. Need some help... thanks

[bmaxdk]

I believe your structure in ExecutableMotionPlan and ExecutableTrajectory are incorrect.
one of ex:
plan_components -> plan_components_
read error and change the name correctly

[rotematari]

I'm having the same issue what can I do ?

[rotematari]

moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp

changes should be made to this file

[henningkayser]

This is fixed by installing the humble branch of MTC. The tutorials just pointed to the wrong dependency, temporarily. I'm closing this discussion. If something like this occurs, please file an issue directly at the repository.