Unimplemented initRequest function in SteeredWheelBaseController class

[SaraTohidi]

Hello everyone,

I get the youbot_simulation and youbot_description packages while I have Ubuntu 16.04 and ROS_Kinetic branch with gazebo7.

But the problem is when I make the packages an error shows up from the youbot_gazebo_control which says one virtual function doesn't implement. and I find out it was from this function:

virtual bool initRequest(hardware_interface::RobotHW *robot_hw,
                             ros::NodeHandle &root_nh,
                             ros::NodeHandle &controller_nh,
                             ClaimedResources &claimed_resources);

I would really appreciate any help to fix this.

[sthoduka]

This is a result of this commit in ros_control. The issue is described here

the initRequest function needs to be updated to match the current API.

[SynapseProgramming]

Hi everyone, the main reason why the initRequest function does not implement is because ros control has changed the type of the claimed_resources argument from std::set to ClaimedResourcesType. Hence, changes have to be made to functions which make use of this argument. steered_wheel_base_controller.txt

The attached steered_wheel_base_controller file is updated to work on (ROS Kinetic , Ubuntu 16.04 LTS) In order for it to work, please change the file extension from steered_wheel_base_controller.txt to steered_wheel_base_controller.cpp,

And place it in the youbot_gazebo_control/src directory.

Thanks!!!

[SaraTohidi]

Thank you so much! I've replaced the file and that works fine now.

[sthoduka]

FYI, the changes from @SynapseProgramming have been merged into kinetic-devel Thanks!