[BUILD FAILS] Error: ompl/geometric/planners/informedtrees/BITstar.h: No such file or directory

[adbidwai]

System Configuration
ROS Melodic on Ubuntu 18.04

Error

Errors     << se2_planning:make /home/adbidwai/catkin_ws/logs/se2_planning/build.make.002.log       
In file included from /opt/ros/melodic/include/ompl-1.4/ompl/base/ProjectionEvaluator.h:43:0,
                 from /opt/ros/melodic/include/ompl-1.4/ompl/base/StateSpace.h:43,
                 from /opt/ros/melodic/include/ompl-1.4/ompl/base/SpaceInformation.h:43,
                 from /opt/ros/melodic/include/ompl-1.4/ompl/base/Planner.h:40,
                 from /home/adbidwai/catkin_ws/src/se2_navigation/se2_planning/include/se2_planning/ompl_planner_creators.hpp:10,
                 from /home/adbidwai/catkin_ws/src/se2_navigation/se2_planning/src/ompl_planner_creators.cpp:8:
/opt/ros/melodic/include/ompl-1.4/ompl/base/GenericParam.h:152:104: warning: ISO C++11 requires at least one argument for the "..." in a variadic macro
                     OMPL_ERROR("At least one setter or getter function must be specified for parameter");
                                                                                                        ^
/home/adbidwai/catkin_ws/src/se2_navigation/se2_planning/src/ompl_planner_creators.cpp:9:10: fatal error: ompl/geometric/planners/informedtrees/BITstar.h: No such file or directory
 #include <ompl/geometric/planners/informedtrees/BITstar.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/se2_planning.dir/src/ompl_planner_creators.cpp.o] Error 1
make[1]: *** [CMakeFiles/se2_planning.dir/all] Error 2
make: *** [all] Error 2
cd /home/adbidwai/catkin_ws/build/se2_planning; catkin build --get-env se2_planning | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -
....................................................................................................
Failed     << se2_planning:make                          [ Exited with code 2 ]                     
Failed    <<< se2_planning                               [ 1.7 seconds ]                            
Abandoned <<< approach_pose_planner                      [ Unrelated job failed ]                   
Abandoned <<< se2_planning_ros                           [ Unrelated job failed ]                   
Abandoned <<< car_demo                                   [ Unrelated job failed ]                   
Abandoned <<< approach_pose_planner_ros                  [ Unrelated job failed ]                   
[build] Summary: 10 of 15 packages succeeded.                                                       
[build]   Ignored:   None.                                                                          
[build]   Warnings:  None.                                                                          
[build]   Abandoned: 4 packages were abandoned.                                                     
[build]   Failed:    1 packages failed.                                                             
[build] Runtime: 2.5 seconds total.                                     

[tomlankhorst]

Thanks for your report.
The needed informedtrees/BITstar.h is available in OMPL version 1.5.

So try to upgrade to a recent version.

I believe ompl is ROS compatible so alternatively you might be able to just put a recent version in your ws:

cd src # in your workspace
wget https://github.com/ompl/ompl/archive/refs/tags/1.5.0.zip -O ompl-1.5.0.zip
unzip ompl-1.5.0.zip 
rm ompl-1.5.0.zip