RobertWilbrandt
commented
8 months ago This is not an error, but a warning. We are aware that we should switch to a receive timeout instead at some point (this is tracked in #822 ), but this is currently the expected behavior and should not give you any problems when using the robot.
Please let us know if you have further problems with this, otherwise i'd go ahead and close this issue as the required change is already tracked in #822.
Affected ROS2 Driver version(s)
humble and iron at least
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR E-series robot
Robot SW / URSim version(s)
UR3e
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
I'm trying to colcon build the repository for humble, i'm just following the steps of the GitHub and i have an error when i colcon build because it tells me that the function setKeepaliveCount() is deprecated. so mi ur_robot_driver has an error.
Issue details
I have to include a personal github and build it so i need to build the ROS driver from source. Im am following the steps of the GitHub and i have this error:
--- stderr: ur_robot_driver
/home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘virtual hardware_interface::CallbackReturn ur_robot_driver::URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State&)’: /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:432:34: warning: ‘void urcl::UrDriver::setKeepaliveCount(uint32_t)’ is deprecated: Set keepaliveCount is deprecated, instead set the robot receive timeout directly in the write commands. [-Wdeprecated-declarations] 432 | urdriver->setKeepaliveCount(keep_alive_count); |
~~~~~~~^~~~In file included from /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp:55, from /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:50: /opt/ros/humble/include/ur_client_library/ur/ur_driver.h:461:3: note: declared here 461 | setKeepaliveCount(const uint32_t count); | ^~~~~Steps to Reproduce
sudo apt install python3-colcon-common-extensions python3-vcstool export COLCON_WS=~/workspace/ros_ur_driver mkdir -p $COLCON_WS/src cd $COLCON_WS git clone -b humble https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git src/Universal_Robots_ROS2_Driver vcs import src --skip-existing --input src/Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver-not-released.${ROS_DISTRO}.repos rosdep update rosdep install --ignore-src --from-paths src -y colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release source install/setup.bash
Expected Behavior
im expecting not having errors on the build
Actual Behavior
Starting >>> ur_dashboard_msgs Starting >>> ur_description Finished <<< ur_description [2.06s]
Starting >>> ur_moveit_config Finished <<< ur_moveit_config [1.48s]
Finished <<< ur_dashboard_msgs [15.3s]
Starting >>> ur_controllers Finished <<< ur_controllers [13.8s]
Starting >>> ur_robot_driver Starting >>> ur_bringup
Finished <<< ur_bringup [0.79s]
--- stderr: ur_robot_driver
/home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp: In member function ‘virtual hardware_interface::CallbackReturn ur_robot_driver::URPositionHardwareInterface::on_configure(const rclcpp_lifecycle::State&)’: /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:432:34: warning: ‘void urcl::UrDriver::setKeepaliveCount(uint32_t)’ is deprecated: Set keepaliveCount is deprecated, instead set the robot receive timeout directly in the write commands. [-Wdeprecated-declarations] 432 | urdriver->setKeepaliveCount(keep_alive_count); |
~~~~~~~^~~~In file included from /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp:55, from /home/victor/workspace/ros_ur_driver/src/Universal_Robots_ROS2_Driver/ur_robot_driver/src/hardware_interface.cpp:50: /opt/ros/humble/include/ur_client_library/ur/ur_driver.h:461:3: note: declared here 461 | setKeepaliveCount(const uint32_t count); | ^~~~~Workaround Suggestion
I don't know if i can change the function or what, it tells me to include the time directly but i don't know how, i appreciate any help.
Relevant log output
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