--- stderr: moveit_kinematics
In file included from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h:42,
from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp:37:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::refresh_dynamic_parameters()’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:146:36: error: expected unqualified-id before ‘.’ token
146 | auto& entry = updated_params..joints_map[value_1];
| ^
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘rcl_interfaces::msg::SetParametersResult kdl_kinematics::ParamListener::update(const std::vector<rclcpp::Parameter>&)’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:217:32: error: expected unqualified-id before ‘.’ token
217 | updated_params..joints_map[value_1].weight = param.as_double();
| ^
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::declare_params()’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:[308](https://github.com/ros-planning/moveit2/actions/runs/8332188070/job/22800777158?pr=2747#step:12:322):36: error: expected unqualified-id before ‘.’ token
308 | auto& entry = updated_params..joints_map[value_1];
| ^
gmake[2]: *** [kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/build.make:76: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/src/kdl_kinematics_plugin.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:363: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< moveit_kinematics [51.7s, exited with code 2]
Pretty sure it's the addition of {{struct_name}} in the jinja templates, as shown here, for example. Since the parameters in question do not have a struct name.
As described in https://github.com/ros-planning/moveit2/issues/2749, I think there is a bug introduced by #166.
Seems like this YAML description generates invalid C++ code:
As the build errors for this are as follows:
Pretty sure it's the addition of
{{struct_name}}
in the jinja templates, as shown here, for example. Since the parameters in question do not have a struct name.Should these be changed to this format instead? This seems to work as in https://github.com/ros-planning/moveit2/pull/2750