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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 12 months ago

chwu-rwth commented 12 months 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 12 months 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.