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IFRA-Cranfield / ros2_RobotSimulation

ROS2.0 Foxy and Humble repositories which provide ready-to-use ROS2.0 Gazebo + MoveIt!2 simulation packages for different Industrial and Collaborative Robots.
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Error building ros_actions in Humble #14

Closed chwu-rwth closed 1 year ago

chwu-rwth commented 1 year ago

Hello IFRA team,

I am using Ubuntu 22.04, Humble. I replaced the moveit file from include, but unfortunately was presented with this error when i run colcon build.

/home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 177 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 155 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveGGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 180 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRPGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 95 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 257 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:44: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:163:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 163 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 95 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 337 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:362:53: warning: comparison with string literal results in unspecified behavior [-Waddress] 362 | } else if (LimitCheck == true && InputJoint == "Valid") { /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZWGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 196 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:162:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 162 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveROTGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 201 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 155 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveYPRGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveLGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:108: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 189 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 155 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:109: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 190 | bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:206:119: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 206 | bool success2 = (move_group_interface.execute(trajectory) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:20: warning: unused variable ‘fraction’ [-Wunused-variable] 204 | double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:154:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable] 154 | const moveit::core::JointModelGroup joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param); /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 94 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJsGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 95 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 284 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:309:53: warning: comparison with string literal results in unspecified behavior [-Waddress] 309 | } else if (LimitCheck == true && InputJoint == "Valid") { /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 258 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode; /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJGoal<std::allocator > >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter] 95 | const rclcpp_action::GoalUUID & uuid, /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle >)’: /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:112: warning: ‘using MoveItErrorCode = class moveit::core::MoveItErrorCode’ is deprecated: Use moveit::core::MoveItErrorCode [-Wdeprecated-declarations] 312 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS); In file included from /home/user/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:43: /opt/ros/humble/include/moveit/move_group_interface/move_group_interface_improved.h:71:7: note: declared here 71 | using MoveItErrorCode [[deprecated("Use moveit::core::MoveItErrorCode")]] = moveit::core::MoveItErrorCode;

Any guidance is appreciated.

chwu-rwth commented 1 year ago

There was no issue with the build, it was built successfully, but no idea what are those about. It works perfectly even after the logs are shown above.