chapter 7.5.5 pkg "moveit_simple_grasps" catkin_make have error info

[phebot]

Hi,All
I download source of "moveit_simple_grasps" packge(kinetic) from github, after command catkin_make,sys indicated error info :
[ 18%] Built target moveit_simple_grasps_server
[ 35%] Built target moveit_simple_grasps_generate_messages_py
[ 52%] Built target moveit_simple_grasps_generate_messages_eus
[ 67%] Built target moveit_simple_grasps_generate_messages_nodejs
[ 83%] Built target moveit_simple_grasps_generate_messages_lisp
[ 98%] Built target moveit_simple_grasps_generate_messages_cpp
[ 98%] Built target moveit_simple_grasps_generate_messages
/home/fande/catkin_ws/src/moveit_simple_grasps/src/grasp_filter_test.cpp: In constructor ‘moveit_simple_grasps::GraspGeneratorTest::GraspGeneratorTest(int)’:
/home/fande/catkin_ws/src/moveit_simple_grasps/src/grasp_filter_test.cpp:138:20:
error: ‘class moveit_visual_tools::MoveItVisualTools’ has no member named ‘setFloorToBaseHeight’
visual_tools_->setFloorToBaseHeight(-0.9);
^
when I check issue info from https://github.com/davetcoleman/moveit_simple_grasps ,some met the same problem,but no solution.``

[ChenyangRan]

Hi,All
I download source of "moveit_simple_grasps" packge(kinetic) from github, after command catkin_make,sys indicated error info :
[ 18%] Built target moveit_simple_grasps_server
[ 35%] Built target moveit_simple_grasps_generate_messages_py
[ 52%] Built target moveit_simple_grasps_generate_messages_eus
[ 67%] Built target moveit_simple_grasps_generate_messages_nodejs
[ 83%] Built target moveit_simple_grasps_generate_messages_lisp
[ 98%] Built target moveit_simple_grasps_generate_messages_cpp
[ 98%] Built target moveit_simple_grasps_generate_messages
/home/fande/catkin_ws/src/moveit_simple_grasps/src/grasp_filter_test.cpp: In constructor ‘moveit_simple_grasps::GraspGeneratorTest::GraspGeneratorTest(int)’:
/home/fande/catkin_ws/src/moveit_simple_grasps/src/grasp_filter_test.cpp:138:20:
error: ‘class moveit_visual_tools::MoveItVisualTools’ has no member named ‘setFloorToBaseHeight’
visual_tools_->setFloorToBaseHeight(-0.9);
^
when I check issue info from https://github.com/davetcoleman/moveit_simple_grasps ,some met the same problem,but no solution.``

Hello, have you solved this problem? I meet the same problem as yours.

[Le0nLyn]

Hey, I think the issue is that the moveit_simple_grasps repo is deprecated and it doesn't work with the latest moveit! package.
The way I fixed it is by replacing moveit_simple_grasps with the new moveit_grasps package.

[ChenyangRan]

Hey, I think the issue is that the moveit_simple_grasps repo is deprecated and it doesn't work with the latest moveit! package.
The way I fixed it is by replacing moveit_simple_grasps with the new moveit_grasps package.

Thank you. And now I have solved this problem.

[lixinzeng01]

Hey, I think the issue is that the moveit_simple_grasps repo is deprecated and it doesn't work with the latest moveit! package.
The way I fixed it is by replacing moveit_simple_grasps with the new moveit_grasps package.

Thank you. And now I have solved this problem.

Can you tell me how to solve it?

[Le0nLyn]

In the instructions of the book, there were commands that ask you to download moveit_simple_grasp repo. Replace that part with the git repo mentioned above (moveit_grasp) and make sure you choose the kinetic-devel branch. Then, in the package.xml and CMakeList, replace moveit_simple_grasps with moveit_grasps as the newly downloaded packaged is named moveit_grasps. A global find and replace should do the job.