Open qq949718803 opened 11 months ago
Hello,
I can see that you are using humble
, so that is probably the origin of the issue. As stated in README.md, this repository was developed and tested for galactic
. Furthermore, this compilation error is unrelated to this repository and occurs in ros2_controllers
.
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:121:7: error: ‘std::shared_ptr controllerinterface::ControllerInterfaceBase::node’ is private within this context
121 | node_->get_logger(), "Expected %zu position command interfaces, got %zu", jointnames.size(),
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr node_;
| ^~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /opt/ros/humble/include/controller_interface/controller_interface_base.hpp:28,
from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:121:7: error: ‘std::shared_ptr controllerinterface::ControllerInterfaceBase::node’ is private within this context
121 | node_->get_logger(), "Expected %zu position command interfaces, got %zu", jointnames.size(),
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr node_;
| ^~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /opt/ros/humble/include/controller_interface/controller_interface_base.hpp:28,
from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp: In member function ‘virtual controller_interface::return_type forward_command_controller::ForwardCommandController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:154:34: error: ‘std::shared_ptr controllerinterface::ControllerInterfaceBase::node’ is private within this context
154 | get_node()->getlogger(), *node->get_clock(), 1000,
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr node_;
| ^~~~~
gmake[2]: *** [CMakeFiles/forward_command_controller.dir/build.make:76:CMakeFiles/forward_command_controller.dir/src/forward_command_controller.cpp.o]