moveit_commander fails in Kinetic due to pyassimp regression

[rhaschke]

In Xenial with pyassimp 3.2, importing moveit_commander fails with:

>>> import moveit_commander
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/vol/sandbox/ros/install/lib/python2.7/dist-packages/moveit_commander/__init__.py", line 3, in <module>
    from planning_scene_interface import *
  File "/vol/sandbox/ros/install/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py", line 48, in <module>
    import pyassimp
  File "/usr/lib/python2.7/dist-packages/pyassimp/__init__.py", line 1, in <module>
    from .core import *
  File "/usr/lib/python2.7/dist-packages/pyassimp/core.py", line 23, in <module>
    from . import structs
ImportError: cannot import name structs

@davetcoleman Did you ever tried to run moveit from python in kinect?

[rhaschke]

By the way, this was revealed by the new integration_tests ;-)

[rhaschke]

The bug is already filed on launchpad and a patch exists.

[davetcoleman]

No, I don't use commander or any Python interfaces

[davetcoleman]

Nice job with the integration tests!!

[v4hn]

@rhaschke can we close this? It's a bug in the ubuntu package that should be fixed in a while (I presume).

[davetcoleman]

Seems like this issue should be left open until fixed for other user's reference, or we should document it somewhere else like the moveit_command tutorial

[v4hn]

On Mon, Aug 22, 2016 at 11:21:52AM -0700, Dave Coleman wrote:

Seems like this issue should be left open until fixed for other user's reference

Ok, let's leave it open then.

[davetcoleman]

I just tried running the python move_group_interface tutorial and ran into this bug again. I just checked the launchpad link and even though they claim it has been released, Ubuntu 16.04 still lacks the fixed version. I asked a question on that forum, not sure how else to proceed.

[MarkusEich]

same problem here. Moveit commander is not usable due to ImportError: cannot import name structs. Is there a way to use moveit from python without using the commander? I basically need only a move_to for the endeffector (of Baxter).

[davetcoleman]

You can try https://github.com/mikeferguson/moveit_python - I'd like to eventually integrate that into our main release

[MarkusEich]

Was able to fix it. Pull the latest version from assimp. https://github.com/assimp/assimp.git and build it. make install will copy it to /usr/local/lib. Then go to /port/PyAssimp in the source folder and run python setup.py install. This should create the necessary files in /usr/local/lib/python2.7/dist-packages/pyassimp.

move_group_python_interface.py and using the commander works now flawlessly (tested with 16.04 and kinetic)

[ghost]

Was able to fix it. Pull the latest version from assimp. https://github.com/assimp/assimp.git and build it. make install will copy it to /usr/local/lib. Then go to /port/PyAssimp in the source folder and run python setup.py install. This should create the necessary files in /usr/local/lib/python2.7/dist-packages/pyassimp.

I can confirm this fixes the problem and moveit_commander works well

Edit: although adding previously working meshes to the scene now raises an error:

  File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py", line 131, in add_mesh
    self._pub_co.publish(self.__make_mesh(name, pose, filename, size))
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py", line 105, in __make_mesh
    if len(face.indices) == 3:
AttributeError: 'numpy.ndarray' object has no attribute 'indices'

[130s]

I suppose this can be closed now that Kinetic release https://github.com/ros-planning/moveit/issues/18 is already done. Please report/reopen if the issue persists.

[RunOrVeith]

I still have this issue, with ros-kinetic-moveit installed and fully updated Ubuntu 16.04 system.
It is fixed by doing the following:

pip install --user pyassimp

It requires pyassimp 3.3, installed by default is 3.2.

[130s]

I have a chance to run this on Kinetic and confirmed that it still occurs.

$ ipython
Python 2.7.12 (default, Nov 19 2016, 06:48:10)
Type "copyright", "credits" or "license" for more information.

IPython 2.4.1 -- An enhanced Interactive Python.
?         -> Introduction and overview of IPython's features.
%quickref -> Quick reference.
help      -> Python's own help system.
object?   -> Details about 'object', use 'object??' for extra details.

In [1]: import moveit_commander
---------------------------------------------------------------------------
ImportError                               Traceback (most recent call last)
<ipython-input-1-adfba809480d> in <module>()
----> 1 import moveit_commander

/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/__init__.py in <module>()
      1 from exception import *
      2 from roscpp_initializer import *
----> 3 from planning_scene_interface import *
      4 from move_group import *
      5 from robot import *

/opt/ros/kinetic/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py in <module>()
     46 except:
     47     # support pyassimp > 3.0
---> 48     import pyassimp
     49
     50 # This is going to have more functionality; (feel free to add some!)

/usr/lib/python2.7/dist-packages/pyassimp/__init__.py in <module>()
----> 1 from .core import *

/usr/lib/python2.7/dist-packages/pyassimp/core.py in <module>()
     21 logger.addHandler(logging.NullHandler())
     22
---> 23 from . import structs
     24 from . import helper
     25 from . import postprocess

ImportError: cannot import name structs

In [2]:
Do you really want to exit ([y]/n)?
$ rosversion moveit_commander
0.9.3
$ apt-cache policy ros-kinetic-moveit-commander |grep Inst
   Installed: 0.9.3-0xenial-20170113-175334-0800
$ apt-cache policy python-pyassimp |grep Inst
   Installed: 3.2~dfsg-3

I've reported to the upstream and ask if they can make a new release into Xenia. https://github.com/assimp/assimp/issues/1142

[v4hn]

Upstream developers are usually neither interested in nor in charge of distribution packages.
Upstream has no problem - Let's see how/if they respond.

The right place to complain should be https://launchpad.net/ubuntu/+source/assimp
This is the resource of the ubuntu package of assimp.

[130s]

I see, opened a ticket on launchpad.

[lifangda01]

@alexpad05 I had the same issue. The simple fix was to change the following lines in planning_scene_interface.py from

if len(face.indices) == 3:
    triangle.vertex_indices = [face.indices[0], face.indices[1], face.indices[2]]

to

if len(face) == 3:
    triangle.vertex_indices = [face[0], face[1], face[2]]

After this my mesh imports worked.

[dbolkensteyn]

@lifangda01 @alexpad05 Isn't that a separate issue for which a PR should be opened on this repo?

[davetcoleman]

I believe #450 fixes this issue

[jlack1987]

What was the fix for the pyassimp regression? Did you somehow remove the dependency on pyassimp completely considering simply importing it throws an exception?

[130s]

@jlack1987 https://github.com/ros-planning/moveit/issues/86#issuecomment-282336998

[iglstone]

sudo pip uninstall pyassimp
and then,
sudo pip install pyassimp ,
which will install pyassimp 3.3, solved the problems..may help.

[guihomework]

For those who cannot upgrade to 3.3, which indeed fixed the problem on our side, if you patch 3.2 be careful about this patch https://launchpadlibrarian.net/263969718/patch.txt mentioned earlier. This solves the import problem but fails on execution of this line https://github.com/ros-planning/moveit/blob/kinetic-devel/moveit_commander/src/moveit_commander/planning_scene_interface.py#L95

AttributeError: 'AssimpLib' object has no attribute 'load'

This sounds logical since this function was removed by the patch. But in fact the patch is wrong, and should remove load_mem (because what is returned by the helper lib is a _loadfromfile_, not a _loadfrommem_)

I then did a different patch

-    load, load_mem, release, dll = helper.search_library()
+   load, release, dll = helper.search_library()

which solved both problems (until now). But in upstream the load and load_mem still exists, only the ubuntu released version helper.py function returns a single _load_ function.
I reported this in the launchpad bug report, hoping the maintainers would fix their own patch, which might have more chance to occur than a backport of 3.3 to xenial.

[jlack1987]

Yeah this issue has been a real pain. I have raised an issue to the developers here

[guihomework]

@jlack1987 yes, but I think this is not at the developer's side that it can be fixed, because in the github repository, the load_mem function is not removed, this is a problem in the maintained debian package as far as I could see. Hence my comments on 2 launchpad bug reports when I discovered that.

[jlack1987]

Installing via pip didn't help here. Still can't even import pyassimp in a terminal. Tried both python3 and python2 versions. Can verify that installing pyassimp gives version pyassimp-3.3.

Got it to work. Looks like if you install from pip it works as long as you also install libassimp-dev debian package.

[jlack1987]

I believe this should be reopened. There is a way to fix this in an automated fashion that doesn't require users to mess with source code of dependencies. The problem is that the debian version of pyassimp is broken in Ubuntu 16.04, but the pip version works; however, if you install the pip version you have to make sure to install the libassimp-dev debian as well.

Simply adding the necessary rosdep keys here and updating the way the dependencies are called out in the package.xml to the new keys would solve this problem so the necessary dependencies could be installed via rosdep install. This would save users of moveit a lot of headache I think.

[v4hn]

@jlack1987 feel free to file a pull-request with your proposal and we can discuss what else is required for it there.

It doesn't look like https://bugs.launchpad.net/ubuntu/+source/assimp/+bug/1657374 will be resolved unless some affected ROS user follows through with https://wiki.ubuntu.com/StableReleaseUpdates .

I think the next-best solution is to have our own pyassimp package (the pip version) for ubuntu 16.04 kinetic.
@tfoote could we do that? Without this, Python MoveIt support is broken at runtime on ubuntu 16.04.

[srsidd]

I looked into modifying the rosdep keys so we can install pyassimp from pip2 and use apt to install libassimp-dev. However, rosdep is not configured to accept a particular version of pip.

@jlack1987 has opened an issue here, (rosdep/issues/519), which is technically a blocker for this to get done.

[jlack1987]

I just tested in a pristine docker installing pyassimp via pip install pyassimp and then apt install libassimp-dev and that combo imported just fine. That should be all that's needed for it to work with rosdep right? I didn't have to specify pip2 or pip3

[0ldham]

I still receive the initial structs error, even after following the advice of @MarkusEich and of @iglstone, and after updating moveit and pyassimp.

[k-okada]

as @0ldham reported, we still have this problem, our proposal patch is https://github.com/ros-planning/moveit/pull/581

[jacknlliu]

We still have this problem.

Ubuntu: 16.04
ROS: kinetic
moviet: 0.9.9-Alpha

[v4hn]

We still have this problem.

The problem is worked around in f00addf and things work if you build moveit/the moveit_commander package yourself.
However it is still not released in kinetic. We are on our way to release (hopefully) next week (see #686).

[naveedhd]

Following the moveit_commander and fell into this. [Xenial, Kinetic]. Workaround:

1. removed installed python-assimp (<=3.2) by sudo dpkg --remove --force-depends python-pyassimp (as apt will remove dependencies also)
2. installed by pip pyassimp (3.3) using sudo -H flag (to replace the /usr one)

[bmagyar]

I believe it is an old version that's released with Ubuntu. I recommend
first checking which version pip installs and if newer Ubuntu versions have
this issue, it may only be broken in Kinetic but working in Melodic.

We could use a different library to load meshes in kinetic or both if still
broken in Ubuntu bionic.

On Thu, 24 May 2018, 18:55 raequin, [e-mail] wrote:

@naveedhd https://github.com/naveedhd prescribed

1. sudo dpkg --remove --force-depends python-pyassimp
2. sudo pip install pyassimp

That works for importing a mesh but now sudo apt upgrade yields

The following packages have unmet dependencies:
ros-kinetic-moveit-commander : Depends: python-pyassimp but it is not
installed

E: Unmet dependencies. Try using -f.

Please tell me what I should do now.

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[Aparun8]

Segmentation fault(Core dumped) while adding mesh files to moveit. I updated the pyassimp version to 4.1.3 after some advice, but still I'm getting the same error. Importing moveit_commander works. Adding default shapes to moveit works, but adding meshfiles doesn't works. And the error comes when I add mesh files. I tried with both absolute and relative paths. Any help would be appreciated.

[tandukion]

Had this problem before:
Process finished with exit code 139 (interrupted by signal 11: SIGSEGV)
And it seems it was segmentation fault like @Aparun8 said that was caused by pyassimp error.
Found a solution here.
Only version 4.1.3 or 3.3 works.

[dhiegomaga]

sudo pip uninstall pyassimp
and then,
sudo pip install pyassimp ,
which will install pyassimp 3.3, solved the problems..may help.

Nope, it only worked for you because the current library version of pyassimp on pip when you installed it _HAPPENED_ to be 3.3. Today the current one is 4.1.4, and I get the same error using your same commands. This is not a solution, it's mere luck.

The way to do this is:

pip install 'pyassimp>=3.3.0,<3.4.0' --force-reinstall

If you also have problems with multiple python versions installed, this is an even more robust solution:

sudo python -m pip install 'pyassimp>=3.3.0,<3.4.0' --force-reinstall