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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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ROS platform compile error: assert was not declared in this scope #6

Closed wei1224hf closed 10 months ago

wei1224hf commented 10 months ago

here is the complete error log:

In file included from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/main.cpp:7: /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSM.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSM.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState_Passive.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Passive.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? [ 91%] Building CXX object hector_control/CMakeFiles/hector_ctrl.dir/src/common/DesiredCommand.cpp.o In file included from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/main.cpp:7: /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSM.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSM.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:167: hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState_Passive.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Passive.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:154: hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSM.cpp.o] Error 1 In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState_Walking.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Walking.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Passive.cpp: In member function virtual FSMStateName FSMState_Passive::checkTransition(): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Passive.cpp:39:1: warning: control reaches end of non-void function [-Wreturn-type] 39 | } | ^ make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:180: hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState_Passive.cpp.o] Error 1 In file included from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/ControlFSMData.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState.h:6, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/FSMState_Walking.h:4, from /home/ubuntu/catkin_ws/src/hector_control/src/FSM/FSMState_Walking.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/FSM/../../include/FSM/../common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ In file included from /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/LegController.h:31, from /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/StateEstimatorContainer.h:40, from /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/DesiredCommand.h:14, from /home/ubuntu/catkin_ws/src/hector_control/src/common/DesiredCommand.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h: In member function Vec3<double> Biped::getHipLocation(int): /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h:37:9: error: assert was not declared in this scope 37 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h:1:1: note: assert is defined in header <cassert>; did you forget to #include <cassert>? +++ |+#include <cassert> 1 | #ifndef PROJECT_BIPED_H /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h: In member function Vec3<double> Biped::getHip2Location(int): /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h:53:9: error: assert was not declared in this scope 53 | assert(leg >=0 && leg <2); | ^~~~~~ /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/Biped.h:53:9: note: assert is defined in header <cassert>; did you forget to #include <cassert>? make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:193: hector_control/CMakeFiles/hector_ctrl.dir/src/FSM/FSMState_Walking.cpp.o] Error 1 In file included from /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/DesiredCommand.h:15, from /home/ubuntu/catkin_ws/src/hector_control/src/common/DesiredCommand.cpp:1: /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/../interface/CmdPanel.h: In member function virtual void* CmdPanel::run(void*): /home/ubuntu/catkin_ws/src/hector_control/src/common/../../include/common/../interface/CmdPanel.h:70:34: warning: no return statement in function returning non-void [-Wreturn-type] 70 | virtual void *run(void *arg){}; | ^ /home/ubuntu/catkin_ws/src/hector_control/src/main.cpp: In function int main(int, char**): /home/ubuntu/catkin_ws/src/hector_control/src/main.cpp:72:11: warning: ignoring return value of int system(const char*), declared with attribute warn_unused_result [-Wunused-result] 72 | system("stty sane"); //Terminal back to normal | ~~~~~~^~~~~~~~~~~~~ make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:63: hector_control/CMakeFiles/hector_ctrl.dir/src/main.cpp.o] Error 1 make[2]: *** [hector_control/CMakeFiles/hector_ctrl.dir/build.make:206: hector_control/CMakeFiles/hector_ctrl.dir/src/common/DesiredCommand.cpp.o] Error 1 [ 91%] Linking CXX shared library /home/ubuntu/catkin_ws/devel/lib/libunitree_legged_control.so [ 91%] Built target unitree_legged_control [ 92%] Linking CXX executable /home/ubuntu/catkin_ws/devel/lib/unitree_controller/unitree_servo [ 92%] Built target unitree_servo make[1]: *** [CMakeFiles/Makefile2:3153: hector_control/CMakeFiles/hector_ctrl.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 93%] Linking CXX shared library /home/ubuntu/catkin_ws/devel/lib/libunitreeFootContactPlugin.so [ 93%] Built target unitreeFootContactPlugin make: *** [Makefile:141: all] Error 2

wei1224hf commented 10 months ago

modify /home/ubuntu/catkin_ws/src/hector_control/src/../include/common/Biped.h , add

include

then compile is done