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moveit_core exports liboctomap.so.1.9.7 as link dependency, but 1.9.8 is installed #318

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alaurenzi opened this issue Dec 23, 2022 · 6 comments · Fixed by #322
Closed

moveit_core exports liboctomap.so.1.9.7 as link dependency, but 1.9.8 is installed #318

alaurenzi opened this issue Dec 23, 2022 · 6 comments · Fixed by #322

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@alaurenzi
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Hi all, let me first thank you for this huge effort!
I am trying to install ROS1 inside a conda environment, on top of which I want to build some custom source code.

I have successfully installed ros-noetic-desktop-full, and ros-noetic-moveit-core.

The problem I am experiencing is the following. The cmake files exported by moveit_core include liboctomap.so.1.9.7 as link dependency:

(ros_env) arturo@arturo-iit-laptop ~/miniconda3/envs/ros_env/share/moveit_core/cmake $ cat moveit_coreConfig.cmake | grep octomap
set(libraries "moveit_exceptions;moveit_background_processing;moveit_kinematics_base;moveit_robot_model;moveit_transforms;moveit_robot_state;moveit_robot_trajectory;moveit_planning_interface;moveit_collision_detection;moveit_collision_detection_fcl;moveit_collision_detection_bullet;moveit_kinematic_constraints;moveit_planning_scene;moveit_constraint_samplers;moveit_planning_request_adapter;moveit_profiler;moveit_python_tools;moveit_trajectory_processing;moveit_distance_field;moveit_collision_distance_field;moveit_kinematics_metrics;moveit_dynamics_solver;moveit_utils;moveit_test_utils;/home/arturo/miniconda3/envs/ros_env/lib/libboost_system.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libboost_filesystem.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libboost_date_time.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libboost_thread.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libboost_iostreams.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libboost_regex.so.1.74.0;/home/arturo/miniconda3/envs/ros_env/lib/libfcl.so.0.6.1;/home/arturo/miniconda3/envs/ros_env/lib/libccd.so.2.0;/home/arturo/miniconda3/envs/ros_env/lib/liboctomap.so.1.9.7;/home/arturo/miniconda3/envs/ros_env/lib/liboctomap.so;/home/arturo/miniconda3/envs/ros_env/lib/liboctomath.so;/home/arturo/miniconda3/envs/ros_env/lib/liburdfdom_sensor.so;/home/arturo/miniconda3/envs/ros_env/lib/liburdfdom_model_state.so;/home/arturo/miniconda3/envs/ros_env/lib/liburdfdom_model.so;/home/arturo/miniconda3/envs/ros_env/lib/liburdfdom_world.so;/home/arturo/miniconda3/envs/ros_env/lib/libconsole_bridge.so.1.0;BulletSoftBody;BulletDynamics;BulletCollision;LinearMath")
set(depends "eigen_stl_containers;geometric_shapes;geometry_msgs;kdl_parser;moveit_msgs;octomap_msgs;random_numbers;sensor_msgs;shape_msgs;srdfdom;std_msgs;tf2_eigen;tf2_geometry_msgs;trajectory_msgs;visualization_msgs")

However, version 1.9.8 seems to be installed:

(ros_env) arturo@arturo-iit-laptop ~/miniconda3/envs/ros_env $ ls lib/liboctoma*
lib/liboctomap.a   lib/liboctomap.so.1.9    lib/liboctomath.a   lib/liboctomath.so.1.9
lib/liboctomap.so  lib/liboctomap.so.1.9.8  lib/liboctomath.so  lib/liboctomath.so.1.9.8

Leading to linking errors when I try to compile my own source code, that is supposed to link against moveit, and therefore against the non-existing liboctomap.so.1.9.7.

Output of conda list:

# packages in environment at /home/arturo/miniconda3/envs/ros_env:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
alsa-lib                  1.2.3.2              h166bdaf_0    conda-forge
aom                       3.3.0                h27087fc_1    conda-forge
apr                       1.7.0                h7f98852_5    conda-forge
argcomplete               2.0.0              pyhd8ed1ab_0    conda-forge
assimp                    5.2.3                h4c92fa2_1    conda-forge
atk-1.0                   2.38.0               hd4edc92_1    conda-forge
attr                      2.5.1                h166bdaf_1    conda-forge
attrs                     22.2.0             pyh71513ae_0    conda-forge
bcrypt                    3.2.2            py39hb9d737c_1    conda-forge
binutils                  2.39                 hdd6e379_1    conda-forge
binutils_impl_linux-64    2.39                 he00db2b_1    conda-forge
binutils_linux-64         2.39                h5fc0e48_11    conda-forge
blosc                     1.21.3               hafa529b_0    conda-forge
boost                     1.74.0           py39h5472131_5    conda-forge
boost-cpp                 1.74.0               h6cacc03_7    conda-forge
brotli                    1.0.9                h166bdaf_8    conda-forge
brotli-bin                1.0.9                h166bdaf_8    conda-forge
bullet                    3.21                 hcca971b_4    conda-forge
bullet-cpp                3.21                 h4661b88_4    conda-forge
bzip2                     1.0.8                h7f98852_4    conda-forge
c-ares                    1.18.1               h7f98852_0    conda-forge
c-compiler                1.5.2                h0b41bf4_0    conda-forge
ca-certificates           2022.12.7            ha878542_0    conda-forge
cairo                     1.16.0            ha12eb4b_1010    conda-forge
catkin_pkg                0.5.2              pyhd8ed1ab_0    conda-forge
certifi                   2022.12.7          pyhd8ed1ab_0    conda-forge
cffi                      1.15.1           py39he91dace_3    conda-forge
cfitsio                   4.1.0                hd9d235c_0    conda-forge
cmake                     3.25.1               h816a3e0_0    conda-forge
colcon-argcomplete        0.3.3              pyhd8ed1ab_0    conda-forge
colcon-bash               0.4.2              pyhd8ed1ab_0    conda-forge
colcon-cd                 0.1.1              pyhd8ed1ab_0    conda-forge
colcon-cmake              0.2.27             pyhd8ed1ab_0    conda-forge
colcon-common-extensions  0.3.0            py39hf3d152e_1    conda-forge
colcon-core               0.10.0             pyhd8ed1ab_0    conda-forge
colcon-defaults           0.2.5                      py_0    conda-forge
colcon-devtools           0.2.2                      py_0    conda-forge
colcon-library-path       0.2.1                      py_0    conda-forge
colcon-metadata           0.2.5                      py_0    conda-forge
colcon-output             0.2.12                     py_0    conda-forge
colcon-package-information 0.3.3                      py_0    conda-forge
colcon-package-selection  0.2.10                     py_0    conda-forge
colcon-parallel-executor  0.2.4                      py_0    conda-forge
colcon-pkg-config         0.1.0                      py_0    conda-forge
colcon-powershell         0.3.6                      py_0    conda-forge
colcon-python-setup-py    0.2.7                      py_0    conda-forge
colcon-recursive-crawl    0.2.1                      py_0    conda-forge
colcon-ros                0.3.23             pyhd8ed1ab_0    conda-forge
colcon-test-result        0.3.8                      py_0    conda-forge
colcon-zsh                0.4.0              pyhd8ed1ab_0    conda-forge
colorama                  0.4.6              pyhd8ed1ab_0    conda-forge
coloredlogs               15.0.1             pyhd8ed1ab_3    conda-forge
compilers                 1.5.2                ha770c72_0    conda-forge
console_bridge            1.0.2                h924138e_1    conda-forge
contourpy                 1.0.6            py39hf939315_0    conda-forge
coverage                  7.0.0            py39h72bdee0_0    conda-forge
cppzmq                    4.9.0                he78764c_0    conda-forge
cryptography              38.0.4           py39hd97740a_0    conda-forge
curl                      7.86.0               h7bff187_1    conda-forge
cxx-compiler              1.5.2                hf52228f_0    conda-forge
cycler                    0.11.0             pyhd8ed1ab_0    conda-forge
dartsim                   6.12.1               h9f176f7_3    conda-forge
dbus                      1.13.6               h5008d03_3    conda-forge
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
distlib                   0.3.6              pyhd8ed1ab_0    conda-forge
distro                    1.6.0              pyhd8ed1ab_0    conda-forge
docutils                  0.19             py39hf3d152e_1    conda-forge
double-conversion         3.2.0                h27087fc_1    conda-forge
eigen                     3.4.0                h4bd325d_0    conda-forge
elfutils                  0.187                h989201e_0    conda-forge
empy                      3.3.4              pyh9f0ad1d_1    conda-forge
exceptiongroup            1.0.4              pyhd8ed1ab_0    conda-forge
expat                     2.5.0                h27087fc_0    conda-forge
fcl                       0.7.0                h2cbc392_0    conda-forge
ffmpeg                    4.4.1                hd7ab26d_2    conda-forge
fftw                      3.3.10          nompi_hf0379b8_106    conda-forge
flann                     1.9.1             hfe772e8_1010    conda-forge
font-ttf-dejavu-sans-mono 2.37                 hab24e00_0    conda-forge
font-ttf-inconsolata      3.000                h77eed37_0    conda-forge
font-ttf-source-code-pro  2.038                h77eed37_0    conda-forge
font-ttf-ubuntu           0.83                 hab24e00_0    conda-forge
fontconfig                2.14.1               hc2a2eb6_0    conda-forge
fonts-conda-ecosystem     1                             0    conda-forge
fonts-conda-forge         1                             0    conda-forge
fonttools                 4.38.0           py39hb9d737c_1    conda-forge
fortran-compiler          1.5.2                hdb1a99f_0    conda-forge
freeglut                  3.2.2                h9c3ff4c_1    conda-forge
freeimage                 3.18.0              h530e30e_10    conda-forge
freetype                  2.12.1               hca18f0e_1    conda-forge
freexl                    1.0.6                h166bdaf_1    conda-forge
fribidi                   1.0.10               h36c2ea0_0    conda-forge
gazebo                    11.10.2              h40dda3e_2    conda-forge
gcc                       11.3.0              h02d0930_11    conda-forge
gcc_impl_linux-64         11.3.0              hab1b70f_19    conda-forge
gcc_linux-64              11.3.0              he6f903b_11    conda-forge
gdbm                      1.18                 h0a1914f_2    conda-forge
gdk-pixbuf                2.42.8               hff1cb4f_1    conda-forge
geos                      3.10.2               h9c3ff4c_0    conda-forge
geotiff                   1.7.1                h509b78c_1    conda-forge
gettext                   0.21.1               h27087fc_0    conda-forge
gfortran                  11.3.0              ha859ce3_11    conda-forge
gfortran_impl_linux-64    11.3.0              he34c6f7_19    conda-forge
gfortran_linux-64         11.3.0              h3c55166_11    conda-forge
giflib                    5.2.1                h36c2ea0_2    conda-forge
gl2ps                     1.4.2                h0708190_0    conda-forge
glew                      2.1.0                h9c3ff4c_2    conda-forge
glib                      2.74.1               h6239696_1    conda-forge
glib-tools                2.74.1               h6239696_1    conda-forge
gmock                     1.11.0               h924138e_0    conda-forge
gmp                       6.2.1                h58526e2_0    conda-forge
gnutls                    3.6.13               h85f3911_1    conda-forge
gpgme                     1.16.0               h9c3ff4c_0    conda-forge
graphite2                 1.3.13            h58526e2_1001    conda-forge
graphviz                  2.50.0               h8e749b2_2    conda-forge
gst-plugins-base          1.20.2               hcf0ee16_0    conda-forge
gstreamer                 1.20.3               hd4edc92_2    conda-forge
gtest                     1.11.0               h924138e_0    conda-forge
gtk2                      2.24.33              h90689f9_2    conda-forge
gts                       0.7.6                h64030ff_2    conda-forge
gxx                       11.3.0              h02d0930_11    conda-forge
gxx_impl_linux-64         11.3.0              hab1b70f_19    conda-forge
gxx_linux-64              11.3.0              hc203a17_11    conda-forge
harfbuzz                  4.2.0                h40b6f09_0    conda-forge
hdf4                      4.2.15               h9772cbc_5    conda-forge
hdf5                      1.12.1          nompi_h2386368_104    conda-forge
hhcm-forest               1.1.5                    pypi_0    pypi
humanfriendly             10.0             py39hf3d152e_4    conda-forge
icu                       69.1                 h9c3ff4c_0    conda-forge
imath                     3.1.6                h6239696_1    conda-forge
importlib-metadata        4.11.4           py39hf3d152e_0    conda-forge
importlib_metadata        4.11.4               hd8ed1ab_0    conda-forge
iniconfig                 1.1.1              pyh9f0ad1d_0    conda-forge
jack                      1.9.18            hfd4fe87_1001    conda-forge
jasper                    2.0.33               ha77e612_0    conda-forge
jpeg                      9e                   h166bdaf_2    conda-forge
json-c                    0.16                 hc379101_0    conda-forge
jsoncpp                   1.9.5                h4bd325d_1    conda-forge
jxrlib                    1.1                  h7f98852_2    conda-forge
kealib                    1.4.15               hfe1a663_0    conda-forge
kernel-headers_linux-64   2.6.32              he073ed8_15    conda-forge
keyutils                  1.6.1                h166bdaf_0    conda-forge
kiwisolver                1.4.4            py39hf939315_1    conda-forge
krb5                      1.19.3               h3790be6_0    conda-forge
lame                      3.100             h166bdaf_1003    conda-forge
lcms2                     2.14                 h6ed2654_0    conda-forge
ld_impl_linux-64          2.39                 hcc3a1bd_1    conda-forge
lerc                      4.0.0                h27087fc_0    conda-forge
libapr                    1.7.0                h7f98852_5    conda-forge
libapriconv               1.2.2                h7f98852_5    conda-forge
libaprutil                1.6.1                h975c496_5    conda-forge
libarchive                3.5.2                hccf745f_1    conda-forge
libassuan                 2.5.5                h9c3ff4c_0    conda-forge
libblas                   3.9.0           16_linux64_openblas    conda-forge
libbrotlicommon           1.0.9                h166bdaf_8    conda-forge
libbrotlidec              1.0.9                h166bdaf_8    conda-forge
libbrotlienc              1.0.9                h166bdaf_8    conda-forge
libcap                    2.64                 ha37c62d_0    conda-forge
libcblas                  3.9.0           16_linux64_openblas    conda-forge
libccd                    2.1                  h9c3ff4c_1    conda-forge
libclang                  13.0.1          default_hc23dcda_0    conda-forge
libcurl                   7.86.0               h7bff187_1    conda-forge
libdap4                   3.20.6               hd7c4107_2    conda-forge
libdb                     6.2.32               h9c3ff4c_0    conda-forge
libdeflate                1.14                 h166bdaf_0    conda-forge
libdrm                    2.4.114              h166bdaf_0    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libev                     4.33                 h516909a_1    conda-forge
libevent                  2.1.10               h9b69904_4    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libflac                   1.3.4                h27087fc_0    conda-forge
libgcc-devel_linux-64     11.3.0              h210ce93_19    conda-forge
libgcc-ng                 12.2.0              h65d4601_19    conda-forge
libgd                     2.3.3                h283352f_2    conda-forge
libgdal                   3.4.3                h56144a5_0    conda-forge
libgfortran-ng            12.2.0              h69a702a_19    conda-forge
libgfortran5              12.2.0              h337968e_19    conda-forge
libglib                   2.74.1               h606061b_1    conda-forge
libglu                    9.0.0             he1b5a44_1001    conda-forge
libgomp                   12.2.0              h65d4601_19    conda-forge
libgpg-error              1.45                 hc0c96e0_0    conda-forge
libiconv                  1.17                 h166bdaf_0    conda-forge
libignition-cmake2        2.16.0               hcb278e6_1    conda-forge
libignition-common3       3.13.2               h8419eb0_2    conda-forge
libignition-fuel-tools4   4.4.0                h144f089_7    conda-forge
libignition-math6         6.13.0           py39h99b9876_1    conda-forge
libignition-msgs5         5.9.0                hf44ef70_0    conda-forge
libignition-tools1        1.5.0                h06cd983_1    conda-forge
libignition-transport8    8.1.0               h91c2184_11    conda-forge
libkml                    1.3.0             h238a007_1014    conda-forge
liblapack                 3.9.0           16_linux64_openblas    conda-forge
liblapacke                3.9.0           16_linux64_openblas    conda-forge
libllvm13                 13.0.1               hf817b99_2    conda-forge
libmicrohttpd             0.9.75               h7f98852_0    conda-forge
libnetcdf                 4.8.1           nompi_h329d8a1_102    conda-forge
libnghttp2                1.47.0               hdcd2b5c_1    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libode                    0.16.2              h5a03fae_11    conda-forge
libogg                    1.3.4                h7f98852_1    conda-forge
libopenblas               0.3.21          pthreads_h78a6416_3    conda-forge
libopencv                 4.5.5           py39h1acfb62_10    conda-forge
libopus                   1.3.1                h7f98852_1    conda-forge
libpciaccess              0.17                 h166bdaf_0    conda-forge
libpng                    1.6.39               h753d276_0    conda-forge
libpq                     14.2                 hd57d9b9_0    conda-forge
libprotobuf               3.20.2               h6239696_0    conda-forge
libraw                    0.20.2               h9772cbc_2    conda-forge
librsvg                   2.52.5               h0a9e6e8_3    conda-forge
librttopo                 1.1.0                hf69c175_9    conda-forge
libsanitizer              11.3.0              h239ccf8_19    conda-forge
libsdformat               9.3.0                h21f569a_5    conda-forge
libsndfile                1.0.31               h9c3ff4c_1    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libspatialite             5.0.1               ha867d66_15    conda-forge
libsqlite                 3.40.0               h753d276_0    conda-forge
libssh2                   1.10.0               haa6b8db_3    conda-forge
libstdcxx-devel_linux-64  11.3.0              h210ce93_19    conda-forge
libstdcxx-ng              12.2.0              h46fd767_19    conda-forge
libtar                    1.2.20            h7f98852_1004    conda-forge
libtheora                 1.1.1             h7f98852_1005    conda-forge
libtiff                   4.4.0                h82bc61c_5    conda-forge
libtool                   2.4.6             h9c3ff4c_1008    conda-forge
libudev1                  252                  h166bdaf_0    conda-forge
libusb                    1.0.26             h0b4f0b6_100    conda-forge
libuuid                   2.32.1            h7f98852_1000    conda-forge
libuv                     1.44.2               h166bdaf_0    conda-forge
libva                     2.16.0               h166bdaf_0    conda-forge
libvorbis                 1.3.7                h9c3ff4c_0    conda-forge
libvpx                    1.11.0               h9c3ff4c_3    conda-forge
libwebp                   1.2.4                h522a892_0    conda-forge
libwebp-base              1.2.4                h166bdaf_0    conda-forge
libxcb                    1.13              h7f98852_1004    conda-forge
libxkbcommon              1.0.3                he3ba5ed_0    conda-forge
libxml2                   2.9.12               h885dcf4_1    conda-forge
libzip                    1.9.2                hc869a4a_1    conda-forge
libzlib                   1.2.13               h166bdaf_4    conda-forge
log4cxx                   0.11.0               h291d653_3    conda-forge
loguru                    0.6.0            py39hf3d152e_2    conda-forge
lz4                       4.0.2            py39h029007f_0    conda-forge
lz4-c                     1.9.3                h9c3ff4c_1    conda-forge
lzo                       2.10              h516909a_1000    conda-forge
make                      4.3                  hd18ef5c_1    conda-forge
matplotlib-base           3.6.2            py39hf9fd14e_0    conda-forge
munkres                   1.1.4              pyh9f0ad1d_0    conda-forge
mysql-common              8.0.31               haf5c9bc_0    conda-forge
mysql-libs                8.0.31               h28c427c_0    conda-forge
ncurses                   6.3                  h27087fc_1    conda-forge
netifaces                 0.11.0           py39hb9d737c_1    conda-forge
nettle                    3.6                  he412f7d_0    conda-forge
ninja                     1.11.0               h924138e_0    conda-forge
nose                      1.3.7                   py_1006    conda-forge
nspr                      4.35                 h27087fc_0    conda-forge
nss                       3.82                 he02c5a1_0    conda-forge
numpy                     1.24.0           py39h223a676_0    conda-forge
octomap                   1.9.8                h924138e_0    conda-forge
ogre                      1.10.12             h7cc4a1d_10    conda-forge
openal-soft               1.21.1               h4bd325d_0    conda-forge
openexr                   3.1.5                he0ac6c6_1    conda-forge
openh264                  2.1.1                h780b84a_0    conda-forge
openjpeg                  2.5.0                h7d73246_1    conda-forge
openssl                   1.1.1s               h0b41bf4_1    conda-forge
orocos-kdl                1.5.1                h27087fc_4    conda-forge
packaging                 22.0               pyhd8ed1ab_0    conda-forge
pango                     1.50.7               hbd2fdc8_0    conda-forge
paramiko                  2.12.0             pyhd8ed1ab_0    conda-forge
parse                     1.19.0                   pypi_0    pypi
pcl                       1.12.0               h0d390f6_2    conda-forge
pcre                      8.45                 h9c3ff4c_0    conda-forge
pcre2                     10.40                hc3806b6_0    conda-forge
pillow                    9.2.0            py39hf3a2cdf_3    conda-forge
pip                       22.3.1             pyhd8ed1ab_0    conda-forge
pixman                    0.40.0               h36c2ea0_0    conda-forge
pkg-config                0.29.2            h36c2ea0_1008    conda-forge
pluggy                    1.0.0              pyhd8ed1ab_5    conda-forge
poco                      1.11.1               h9c89518_0    conda-forge
poppler                   22.04.0              h8b295ee_2    conda-forge
poppler-data              0.4.11               hd8ed1ab_0    conda-forge
postgresql                14.2                 h2510834_0    conda-forge
proj                      9.0.0                h93bde94_1    conda-forge
psutil                    5.9.4            py39hb9d737c_0    conda-forge
pthread-stubs             0.4               h36c2ea0_1001    conda-forge
pugixml                   1.11.4               h9c3ff4c_0    conda-forge
pulseaudio                14.0                 hbc9ff1d_7    conda-forge
py-opencv                 4.5.5           py39hef51801_10    conda-forge
pybind11                  2.10.2           py39h4b4f3f3_0    conda-forge
pybind11-abi              4                    hd8ed1ab_3    conda-forge
pybind11-global           2.10.2           py39h4b4f3f3_0    conda-forge
pybullet                  3.21             py39h4661b88_4    conda-forge
pycairo                   1.23.0           py39h23c5bb2_0    conda-forge
pycparser                 2.21               pyhd8ed1ab_0    conda-forge
pycryptodome              3.16.0           py39h709f0c5_0    conda-forge
pycryptodomex             3.16.0           py39hb9d737c_0    conda-forge
pydot                     1.4.2            py39hf3d152e_3    conda-forge
pynacl                    1.5.0            py39hb9d737c_2    conda-forge
pyopengl                  3.1.6              pyhd8ed1ab_1    conda-forge
pyparsing                 3.0.9              pyhd8ed1ab_0    conda-forge
pyqt                      5.12.3           py39hf3d152e_8    conda-forge
pyqt-impl                 5.12.3           py39hde8b62d_8    conda-forge
pyqt5-sip                 4.19.18          py39he80948d_8    conda-forge
pyqtchart                 5.12             py39h0fcd23e_8    conda-forge
pyqtwebengine             5.12.1           py39h0fcd23e_8    conda-forge
pytest                    7.2.0              pyhd8ed1ab_2    conda-forge
pytest-cov                4.0.0              pyhd8ed1ab_0    conda-forge
pytest-repeat             0.9.1              pyhd8ed1ab_0    conda-forge
pytest-rerunfailures      10.3               pyhd8ed1ab_0    conda-forge
python                    3.9.15          h47a2c10_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python-gnupg              0.5.0              pyhd8ed1ab_0    conda-forge
python-orocos-kdl         1.5.1            py39h5a03fae_4    conda-forge
python_abi                3.9                      3_cp39    conda-forge
pyyaml                    6.0              py39hb9d737c_5    conda-forge
qhull                     2020.2               h4bd325d_2    conda-forge
qt                        5.12.9               h1304e3e_6    conda-forge
qwt                       6.2.0                hb19a904_2    conda-forge
readline                  8.1.2                h0f457ee_0    conda-forge
rhash                     1.4.3                h166bdaf_0    conda-forge
ros-distro-mutex          0.3.0                    noetic    robostack
ros-noetic-actionlib      1.13.2          py39h57e59dc_13    robostack
ros-noetic-actionlib-msgs 1.13.1          py39h6fdeb60_13    robostack
ros-noetic-actionlib-tutorials 0.2.0           py39h6fdeb60_13    robostack
ros-noetic-angles         1.9.13          py39h6fdeb60_13    robostack
ros-noetic-bond           1.8.6           py39h6fdeb60_13    robostack
ros-noetic-bond-core      1.8.6           py39h6fdeb60_13    robostack
ros-noetic-bondcpp        1.8.6           py39h6444e82_13    robostack
ros-noetic-bondpy         1.8.6           py39h6fdeb60_13    robostack
ros-noetic-camera-calibration 1.16.0          py39h6fdeb60_13    robostack
ros-noetic-camera-calibration-parsers 1.12.0          py39h9defba6_13    robostack
ros-noetic-camera-info-manager 1.12.0          py39h9defba6_13    robostack
ros-noetic-catkin         0.8.10          py39h6fdeb60_14    robostack
ros-noetic-class-loader   0.5.0           py39h0e905ef_13    robostack
ros-noetic-cmake-modules  0.5.0           py39h6fdeb60_13    robostack
ros-noetic-common-msgs    1.13.1          py39h6fdeb60_13    robostack
ros-noetic-common-tutorials 0.2.0           py39h6fdeb60_13    robostack
ros-noetic-compressed-depth-image-transport 1.14.0          py39h6fdeb60_13    robostack
ros-noetic-compressed-image-transport 1.14.0          py39h6fdeb60_13    robostack
ros-noetic-control-msgs   1.5.2           py39h6fdeb60_13    robostack
ros-noetic-control-toolbox 1.19.0          py39h6fdeb60_14    robostack
ros-noetic-controller-interface 0.19.5          py39h6fdeb60_13    robostack
ros-noetic-controller-manager 0.19.5          py39h6fdeb60_13    robostack
ros-noetic-controller-manager-msgs 0.19.5          py39hdbfddf3_13    robostack
ros-noetic-cpp-common     0.7.2           py39h3b1ae0c_13    robostack
ros-noetic-cv-bridge      1.16.1          py39hf89c3c6_14    robostack
ros-noetic-depth-image-proc 1.16.0          py39h9defba6_13    robostack
ros-noetic-desktop        1.5.0           py39h6fdeb60_13    robostack
ros-noetic-desktop-full   1.5.0           py39h6fdeb60_13    robostack
ros-noetic-diagnostic-aggregator 1.11.0          py39h6fdeb60_13    robostack
ros-noetic-diagnostic-analysis 1.11.0          py39h6fdeb60_13    robostack
ros-noetic-diagnostic-common-diagnostics 1.11.0          py39h6fdeb60_13    robostack
ros-noetic-diagnostic-msgs 1.13.1          py39h6fdeb60_13    robostack
ros-noetic-diagnostic-updater 1.11.0          py39h6fdeb60_13    robostack
ros-noetic-diagnostics    1.11.0          py39h6fdeb60_13    robostack
ros-noetic-diff-drive-controller 0.20.0          py39h9defba6_14    robostack
ros-noetic-dynamic-reconfigure 1.7.3           py39h57e59dc_14    robostack
ros-noetic-eigen-conversions 1.13.2          py39h6fdeb60_13    robostack
ros-noetic-eigen-stl-containers 0.1.8           py39h6fdeb60_13    robostack
ros-noetic-executive-smach 2.5.0           py39h6fdeb60_13    robostack
ros-noetic-fcl            0.6.1           py39h6fdeb60_13    robostack
ros-noetic-filters        1.9.1           py39h57e59dc_13    robostack
ros-noetic-forward-command-controller 0.20.0          py39h6fdeb60_14    robostack
ros-noetic-gazebo-dev     2.9.2           py39h182351a_13    robostack
ros-noetic-gazebo-msgs    2.9.2           py39h6fdeb60_13    robostack
ros-noetic-gazebo-plugins 2.9.2           py39h72dd1bb_13    robostack
ros-noetic-gazebo-ros     2.9.2           py39h50bd402_13    robostack
ros-noetic-gazebo-ros-control 2.9.2           py39h50bd402_13    robostack
ros-noetic-gazebo-ros-pkgs 2.9.2           py39h6fdeb60_13    robostack
ros-noetic-gencpp         0.6.5           py39h6fdeb60_13    robostack
ros-noetic-geneus         3.0.0           py39h6fdeb60_13    robostack
ros-noetic-genlisp        0.4.18          py39h6fdeb60_13    robostack
ros-noetic-genmsg         0.5.16          py39h6fdeb60_13    robostack
ros-noetic-gennodejs      2.0.2           py39h6fdeb60_13    robostack
ros-noetic-genpy          0.6.15          py39hd78aa24_13    robostack
ros-noetic-geometric-shapes 0.7.3           py39hf6e576d_13    robostack
ros-noetic-geometry       1.13.2          py39h6fdeb60_13    robostack
ros-noetic-geometry-msgs  1.13.1          py39h6fdeb60_13    robostack
ros-noetic-geometry-tutorials 0.2.3           py39h6fdeb60_13    robostack
ros-noetic-gl-dependency  1.1.2           py39h6fdeb60_13    robostack
ros-noetic-hardware-interface 0.19.5          py39h6fdeb60_13    robostack
ros-noetic-image-common   1.12.0          py39h6fdeb60_13    robostack
ros-noetic-image-geometry 1.16.1          py39hfd2b220_14    robostack
ros-noetic-image-pipeline 1.16.0          py39h6fdeb60_13    robostack
ros-noetic-image-proc     1.16.0          py39h9defba6_13    robostack
ros-noetic-image-publisher 1.16.0          py39h6fdeb60_13    robostack
ros-noetic-image-rotate   1.16.0          py39h6fdeb60_13    robostack
ros-noetic-image-transport 1.12.0          py39h6fdeb60_13    robostack
ros-noetic-image-transport-plugins 1.14.0          py39h6fdeb60_13    robostack
ros-noetic-image-view     1.16.0          py39h6fdeb60_13    robostack
ros-noetic-interactive-marker-tutorials 0.11.0          py39h6fdeb60_13    robostack
ros-noetic-interactive-markers 1.12.0          py39h6fdeb60_13    robostack
ros-noetic-joint-limits-interface 0.19.5          py39h6fdeb60_13    robostack
ros-noetic-joint-state-controller 0.20.0          py39h6fdeb60_14    robostack
ros-noetic-joint-state-publisher 1.15.0          py39h6fdeb60_13    robostack
ros-noetic-joint-state-publisher-gui 1.15.0          py39h6fdeb60_13    robostack
ros-noetic-kdl-conversions 1.13.2          py39h6fdeb60_13    robostack
ros-noetic-kdl-parser     1.14.2          py39h66cc091_14    robostack
ros-noetic-laser-assembler 1.7.8           py39h6fdeb60_13    robostack
ros-noetic-laser-filters  1.9.0           py39h6fdeb60_13    robostack
ros-noetic-laser-geometry 1.6.7           py39h9defba6_13    robostack
ros-noetic-laser-pipeline 1.6.4           py39h6fdeb60_13    robostack
ros-noetic-librviz-tutorial 0.11.0          py39h27aa46a_13    robostack
ros-noetic-map-msgs       1.14.1          py39h6fdeb60_13    robostack
ros-noetic-media-export   0.3.0           py39h6fdeb60_13    robostack
ros-noetic-message-filters 1.15.14         py39h57e59dc_13    robostack
ros-noetic-message-generation 0.4.1           py39h6fdeb60_13    robostack
ros-noetic-message-runtime 0.4.13          py39h6fdeb60_13    robostack
ros-noetic-mk             1.15.8          py39h6fdeb60_13    robostack
ros-noetic-moveit-core    1.1.8           py39hf6e576d_13    robostack
ros-noetic-moveit-msgs    0.11.2          py39h6fdeb60_13    robostack
ros-noetic-nav-msgs       1.13.1          py39h6fdeb60_13    robostack
ros-noetic-nodelet        1.10.2          py39h5224f17_13    robostack
ros-noetic-nodelet-core   1.10.2          py39h6fdeb60_13    robostack
ros-noetic-nodelet-topic-tools 1.10.2          py39h9defba6_13    robostack
ros-noetic-nodelet-tutorial-math 0.2.0           py39h6fdeb60_13    robostack
ros-noetic-object-recognition-msgs 0.4.2           py39h6fdeb60_13    robostack
ros-noetic-octomap        1.9.8           py39h6fdeb60_14    robostack
ros-noetic-octomap-msgs   0.3.5           py39h6fdeb60_13    robostack
ros-noetic-pcl-conversions 1.7.4           py39h8f8ee9e_14    robostack
ros-noetic-pcl-msgs       0.3.0           py39h6fdeb60_13    robostack
ros-noetic-pcl-ros        1.7.4           py39h8f8ee9e_14    robostack
ros-noetic-perception     1.5.0           py39h6fdeb60_13    robostack
ros-noetic-perception-pcl 1.7.3           py39h6fdeb60_13    robostack
ros-noetic-plotjuggler    3.6.0           py39h864de9f_14    robostack
ros-noetic-plotjuggler-msgs 0.2.1           py39h6fdeb60_14    robostack
ros-noetic-plotjuggler-ros 1.7.0           py39h3280fdf_14    robostack
ros-noetic-pluginlib      1.13.0          py39h82b6e97_13    robostack
ros-noetic-pluginlib-tutorials 0.2.0           py39h6fdeb60_13    robostack
ros-noetic-polled-camera  1.12.0          py39h6fdeb60_13    robostack
ros-noetic-position-controllers 0.20.0          py39h6fdeb60_14    robostack
ros-noetic-pybind11-catkin 2.5.0           py39hd78aa24_13    robostack
ros-noetic-python-qt-binding 0.4.4           py39h27aa46a_13    robostack
ros-noetic-qt-dotgraph    0.4.2           py39h6fdeb60_13    robostack
ros-noetic-qt-gui         0.4.2           py39h27aa46a_13    robostack
ros-noetic-qt-gui-cpp     0.4.2           py39h27aa46a_13    robostack
ros-noetic-qt-gui-py-common 0.4.2           py39h6fdeb60_13    robostack
ros-noetic-qwt-dependency 1.1.1           py39h6fdeb60_13    robostack
ros-noetic-random-numbers 0.3.2           py39h9defba6_13    robostack
ros-noetic-realtime-tools 1.16.1          py39h6fdeb60_13    robostack
ros-noetic-resource-retriever 1.12.7          py39h9defba6_13    robostack
ros-noetic-robot          1.5.0           py39h6fdeb60_13    robostack
ros-noetic-robot-state-publisher 1.15.2          py39h6fdeb60_13    robostack
ros-noetic-ros            1.15.8          py39h6fdeb60_13    robostack
ros-noetic-ros-base       1.5.0           py39h6fdeb60_13    robostack
ros-noetic-ros-comm       1.15.14         py39h6fdeb60_13    robostack
ros-noetic-ros-core       1.5.0           py39h6fdeb60_13    robostack
ros-noetic-ros-environment 1.3.2           py39h6fdeb60_13    robostack
ros-noetic-ros-tutorials  0.10.2          py39h6fdeb60_13    robostack
ros-noetic-rosbag         1.15.14         py39h57e59dc_13    robostack
ros-noetic-rosbag-migration-rule 1.0.1           py39h6fdeb60_13    robostack
ros-noetic-rosbag-storage 1.15.14         py39h32f9d06_13    robostack
ros-noetic-rosbash        1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosboost-cfg   1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosbuild       1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosclean       1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosconsole     1.14.3          py39h75381f8_13    robostack
ros-noetic-rosconsole-bridge 0.5.4           py39h1c0ecbd_13    robostack
ros-noetic-roscpp         1.15.14         py39h57e59dc_13    robostack
ros-noetic-roscpp-core    0.7.2           py39h6fdeb60_13    robostack
ros-noetic-roscpp-serialization 0.7.2           py39h6fdeb60_13    robostack
ros-noetic-roscpp-traits  0.7.2           py39h6fdeb60_13    robostack
ros-noetic-roscpp-tutorials 0.10.2          py39h57e59dc_13    robostack
ros-noetic-roscreate      1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosgraph       1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosgraph-msgs  1.11.3          py39h6fdeb60_13    robostack
ros-noetic-roslang        1.15.8          py39h6fdeb60_13    robostack
ros-noetic-roslaunch      1.15.14         py39h6fdeb60_13    robostack
ros-noetic-roslib         1.15.8          py39h57e59dc_13    robostack
ros-noetic-roslint        0.12.0          py39h6fdeb60_13    robostack
ros-noetic-roslisp        1.9.24          py39h6fdeb60_13    robostack
ros-noetic-roslz4         1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosmake        1.15.8          py39h6fdeb60_13    robostack
ros-noetic-rosmaster      1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosmsg         1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosnode        1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosout         1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rospack        2.6.2           py39h82b6e97_13    robostack
ros-noetic-rosparam       1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rospy          1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rospy-tutorials 0.10.2          py39h6fdeb60_13    robostack
ros-noetic-rosservice     1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rostest        1.15.14         py39h57e59dc_13    robostack
ros-noetic-rostime        0.7.2           py39h57e59dc_13    robostack
ros-noetic-rostopic       1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rosunit        1.15.8          py39h6fdeb60_13    robostack
ros-noetic-roswtf         1.15.14         py39h6fdeb60_13    robostack
ros-noetic-rqt-action     0.4.9           py39h6fdeb60_13    robostack
ros-noetic-rqt-bag        0.5.1           py39h6fdeb60_13    robostack
ros-noetic-rqt-bag-plugins 0.5.1           py39h6fdeb60_13    robostack
ros-noetic-rqt-common-plugins 0.4.9           py39h6fdeb60_13    robostack
ros-noetic-rqt-console    0.4.11          py39h6fdeb60_13    robostack
ros-noetic-rqt-dep        0.4.12          py39h6fdeb60_13    robostack
ros-noetic-rqt-graph      0.4.14          py39h6fdeb60_13    robostack
ros-noetic-rqt-gui        0.5.3           py39h6fdeb60_14    robostack
ros-noetic-rqt-gui-cpp    0.5.3           py39h27aa46a_14    robostack
ros-noetic-rqt-gui-py     0.5.3           py39h6fdeb60_14    robostack
ros-noetic-rqt-image-view 0.4.16          py39h27aa46a_13    robostack
ros-noetic-rqt-launch     0.4.9           py39h6fdeb60_13    robostack
ros-noetic-rqt-logger-level 0.4.11          py39h6fdeb60_13    robostack
ros-noetic-rqt-moveit     0.5.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-msg        0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-nav-view   0.5.7           py39h6fdeb60_13    robostack
ros-noetic-rqt-plot       0.4.13          py39h6fdeb60_13    robostack
ros-noetic-rqt-pose-view  0.5.11          py39h6fdeb60_13    robostack
ros-noetic-rqt-publisher  0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-py-common  0.5.2           py39h6fdeb60_13    robostack
ros-noetic-rqt-py-console 0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-reconfigure 0.5.4           py39h6fdeb60_13    robostack
ros-noetic-rqt-robot-dashboard 0.5.8           py39h6fdeb60_13    robostack
ros-noetic-rqt-robot-monitor 0.5.13          py39h6fdeb60_13    robostack
ros-noetic-rqt-robot-plugins 0.5.8           py39h6fdeb60_13    robostack
ros-noetic-rqt-robot-steering 0.5.12          py39h6fdeb60_13    robostack
ros-noetic-rqt-runtime-monitor 0.5.9           py39h6fdeb60_13    robostack
ros-noetic-rqt-rviz       0.7.0           py39h3280fdf_13    robostack
ros-noetic-rqt-service-caller 0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-shell      0.4.11          py39h6fdeb60_13    robostack
ros-noetic-rqt-srv        0.4.9           py39h6fdeb60_13    robostack
ros-noetic-rqt-tf-tree    0.6.2           py39h6fdeb60_13    robostack
ros-noetic-rqt-top        0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rqt-topic      0.4.13          py39h6fdeb60_13    robostack
ros-noetic-rqt-web        0.4.10          py39h6fdeb60_13    robostack
ros-noetic-rviz           1.14.14         py39h4e988fb_14    robostack
ros-noetic-rviz-plugin-tutorials 0.11.0          py39h27aa46a_13    robostack
ros-noetic-rviz-python-tutorial 0.11.0          py39h6fdeb60_13    robostack
ros-noetic-self-test      1.11.0          py39h6fdeb60_13    robostack
ros-noetic-sensor-msgs    1.13.1          py39h6fdeb60_13    robostack
ros-noetic-shape-msgs     1.13.1          py39h6fdeb60_13    robostack
ros-noetic-simulators     1.5.0           py39h6fdeb60_13    robostack
ros-noetic-smach          2.5.0           py39h6fdeb60_13    robostack
ros-noetic-smach-msgs     2.5.0           py39h6fdeb60_13    robostack
ros-noetic-smach-ros      2.5.0           py39h6fdeb60_13    robostack
ros-noetic-smclib         1.8.6           py39h6fdeb60_13    robostack
ros-noetic-srdfdom        0.6.3           py39hb7dc4f2_13    robostack
ros-noetic-std-msgs       0.5.13          py39h6fdeb60_13    robostack
ros-noetic-std-srvs       1.11.3          py39h6fdeb60_13    robostack
ros-noetic-stereo-image-proc 1.16.0          py39h6fdeb60_13    robostack
ros-noetic-stereo-msgs    1.13.1          py39h6fdeb60_13    robostack
ros-noetic-tf             1.13.2          py39hab05589_13    robostack
ros-noetic-tf-conversions 1.13.2          py39h6fdeb60_13    robostack
ros-noetic-tf2            0.7.5           py39h1c0ecbd_14    robostack
ros-noetic-tf2-eigen      0.7.5           py39h6fdeb60_14    robostack
ros-noetic-tf2-geometry-msgs 0.7.5           py39h6fdeb60_14    robostack
ros-noetic-tf2-kdl        0.7.5           py39h6fdeb60_14    robostack
ros-noetic-tf2-msgs       0.7.5           py39h6fdeb60_14    robostack
ros-noetic-tf2-py         0.7.5           py39h6fdeb60_14    robostack
ros-noetic-tf2-ros        0.7.5           py39h6fdeb60_14    robostack
ros-noetic-theora-image-transport 1.14.0          py39h6fdeb60_13    robostack
ros-noetic-topic-tools    1.15.14         py39h6fdeb60_13    robostack
ros-noetic-trajectory-msgs 1.13.1          py39h6fdeb60_13    robostack
ros-noetic-transmission-interface 0.19.5          py39h6fdeb60_13    robostack
ros-noetic-turtle-actionlib 0.2.0           py39h6fdeb60_13    robostack
ros-noetic-turtle-tf      0.2.3           py39h6fdeb60_13    robostack
ros-noetic-turtle-tf2     0.2.3           py39h6fdeb60_13    robostack
ros-noetic-turtlesim      0.10.2          py39hf4c06a8_13    robostack
ros-noetic-urdf           1.13.2          py39h66cc091_13    robostack
ros-noetic-urdf-parser-plugin 1.13.2          py39h6fdeb60_13    robostack
ros-noetic-urdf-sim-tutorial 0.5.1           py39h6fdeb60_13    robostack
ros-noetic-urdf-tutorial  0.5.0           py39h6fdeb60_13    robostack
ros-noetic-urdfdom-py     0.4.6           py39h6fdeb60_13    robostack
ros-noetic-vision-opencv  1.16.0          py39h6fdeb60_13    robostack
ros-noetic-visualization-marker-tutorials 0.11.0          py39h6fdeb60_13    robostack
ros-noetic-visualization-msgs 1.13.1          py39h6fdeb60_13    robostack
ros-noetic-visualization-tutorials 0.11.0          py39h6fdeb60_13    robostack
ros-noetic-viz            1.5.0           py39h6fdeb60_13    robostack
ros-noetic-webkit-dependency 1.1.2           py39h6fdeb60_13    robostack
ros-noetic-xacro          1.14.13         py39h6fdeb60_14    robostack
ros-noetic-xmlrpcpp       1.15.14         py39h57e59dc_13    robostack
rosdep                    0.22.1             pyhd8ed1ab_0    conda-forge
rosdistro                 0.9.0            py39hf3d152e_0    conda-forge
rospkg                    1.4.0              pyhd8ed1ab_0    conda-forge
ruby                      3.1.2                h22ca3a2_0    conda-forge
sbcl                      1.5.4                ha770c72_1    conda-forge
sdl2                      2.26.1               h55ee7ae_0    conda-forge
setuptools                65.6.3             pyhd8ed1ab_0    conda-forge
simbody                   3.7                  h64f3f5a_3    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
snappy                    1.1.9                hbd366e4_2    conda-forge
sqlite                    3.40.0               h4ff8645_0    conda-forge
svt-av1                   0.9.1                h27087fc_0    conda-forge
swig                      4.1.1                h5d7ef5f_0    conda-forge
sysroot_linux-64          2.12                he073ed8_15    conda-forge
tbb                       2021.7.0             h924138e_0    conda-forge
tbb-devel                 2021.7.0             h924138e_0    conda-forge
tiledb                    2.8.3                h1e4a385_1    conda-forge
tinyxml                   2.6.2                h4bd325d_2    conda-forge
tinyxml2                  9.0.0                h9c3ff4c_2    conda-forge
tk                        8.6.12               h27826a3_0    conda-forge
toml                      0.10.2             pyhd8ed1ab_0    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tzcode                    2022g                h166bdaf_0    conda-forge
tzdata                    2022g                h191b570_0    conda-forge
unicodedata2              15.0.0           py39hb9d737c_0    conda-forge
unixodbc                  2.3.10               h583eb01_0    conda-forge
urdfdom                   2.3.5                h4bd325d_0    conda-forge
urdfdom_headers           1.1.0                h924138e_0    conda-forge
utfcpp                    3.2.2                ha770c72_0    conda-forge
vtk                       9.1.0           qt_py39hd359688_208    conda-forge
wheel                     0.38.4             pyhd8ed1ab_0    conda-forge
x264                      1!161.3030           h7f98852_1    conda-forge
x265                      3.5                  h924138e_3    conda-forge
xerces-c                  3.2.3                h8ce2273_4    conda-forge
xorg-fixesproto           5.0               h7f98852_1002    conda-forge
xorg-inputproto           2.3.2             h7f98852_1002    conda-forge
xorg-kbproto              1.0.7             h7f98852_1002    conda-forge
xorg-libice               1.0.10               h7f98852_0    conda-forge
xorg-libsm                1.2.3             hd9c2040_1000    conda-forge
xorg-libx11               1.7.2                h7f98852_0    conda-forge
xorg-libxau               1.0.9                h7f98852_0    conda-forge
xorg-libxaw               1.0.14               h7f98852_1    conda-forge
xorg-libxdmcp             1.1.3                h7f98852_0    conda-forge
xorg-libxext              1.3.4                h7f98852_1    conda-forge
xorg-libxfixes            5.0.3             h7f98852_1004    conda-forge
xorg-libxi                1.7.10               h7f98852_0    conda-forge
xorg-libxmu               1.1.3                h7f98852_0    conda-forge
xorg-libxpm               3.5.13               h7f98852_0    conda-forge
xorg-libxrender           0.9.10            h7f98852_1003    conda-forge
xorg-libxt                1.2.1                h7f98852_2    conda-forge
xorg-renderproto          0.11.1            h7f98852_1002    conda-forge
xorg-xextproto            7.3.0             h7f98852_1002    conda-forge
xorg-xproto               7.0.31            h7f98852_1007    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
yaml-cpp                  0.6.3                he1b5a44_4    conda-forge
zeromq                    4.3.4                h9c3ff4c_1    conda-forge
zipp                      3.11.0             pyhd8ed1ab_0    conda-forge
zlib                      1.2.13               h166bdaf_4    conda-forge
zstd                      1.5.2                h6239696_4    conda-forge
zziplib                   0.13.69              h27826a3_1    conda-forge

Thank you in advance for you kind attention,
Arturo
@alaurenzi alaurenzi changed the title moveit_core exports liboctomap.so.1.9.7 as link dependency, by 1.9.8 is installed moveit_core exports liboctomap.so.1.9.7 as link dependency, but 1.9.8 is installed Dec 23, 2022
@traversaro
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Hi @alaurenzi , thanks for the report! Just to double check, can you try installing mamba install octomap==1.9.7 and see if then that works? Clearly this is just a workaround.

@Tobias-Fischer
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What do you think the issue is @traversaro? They set the SOVERSION correctly to minor, but somehow down stream links to the patch version ..

@traversaro
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What do you think the issue is @traversaro? They set the SOVERSION correctly to minor, but somehow down stream links to the patch version ..

Yes, I was looking at this as well.

@alaurenzi
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Indeed this works (meanwhile I switched to Mambaforge but I don't believe it makes any difference)

 mamba create -n ros_env python=3.9
 mamba activate ros_env
 conda config --env --add channels robostack
 mamba install ros-noetic-desktop-full ros-noetic-moveit-core octomap=1.9.7

@traversaro
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I looked a bit into it. I think the problem is that when moveit_coreConfig.cmake is generated by catkin in https://github.com/ros/catkin/blob/ff31d451ce1c68d47bc058a4693aad6c0fb63a43/cmake/catkin_package.cmake#L258 the catkin_replace_imported_library_targets function is called, and that function uses the name with the full version names, for example for octomap (from octomap-targets-release.cmake):

set_property(TARGET octomap APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
set_target_properties(octomap PROPERTIES
  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/liboctomap.so.1.9.8"
  IMPORTED_SONAME_RELEASE "liboctomap.so.1.9"
  )

The value used is the one in IMPORTED_LOCATION_RELEASE and the value in IMPORTED_SONAME_RELEASE is ignored.

I think the upstream issue that tracks this is ros/catkin#1141, there is also an unmerged PR in ros/catkin#1142 that we could import in robostack.

@traversaro
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I tested ros/catkin#1142 and it works fine to avoid the problem.

traversaro added a commit to traversaro/ros-noetic that referenced this issue Dec 29, 2022
@traversaro
Backport PR ros/catkin#1142
d29e788 
Backport ros/catkin#1142
Fix RoboStack#318
@traversaro traversaro mentioned this issue Dec 29, 2022
Merged
Tobias-Fischer pushed a commit that referenced this issue Jan 2, 2023
@traversaro
Backport PR ros/catkin#1142 (#322)
48099b0 
Backport ros/catkin#1142
Fix #318
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Backport PR ros/catkin#1142 traversaro/ros-noetic
3 participants
@traversaro @Tobias-Fischer @alaurenzi