webots_ros2_control : marked ‘override’, but does not override

[233Xiaowu]

Describe the Bug colcon build returns error:error: ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn webots_ros2_control::Ros2ControlSystem::on_init(const hardware_interface::HardwareInfo&)’ marked ‘override’, but does not override

Steps to Reproduce colcon build

Expected behavior colcon build successfully

Affected Packages List of affected packages: webots_ros2_control

System

• Webots Version: 2023a
• ROS Version: foxy
• Operating System : Ubuntu 20.04

Additional context --- stderr: webots_ros2_control
In file included from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2ControlSystem.cpp:15: /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:58:79: error: ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn webots_ros2_control::Ros2ControlSystem::on_init(const hardware_interface::HardwareInfo&)’ marked ‘override’, but does not override 58 | rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_init( | ^~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:60:79: error: ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn webots_ros2_control::Ros2ControlSystem::on_activate(const rclcpp_lifecycle::State&)’ marked ‘override’, but does not override 60 | rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate( | ^~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:62:79: error: ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn webots_ros2_control::Ros2ControlSystem::on_deactivate(const rclcpp_lifecycle::State&)’ marked ‘override’, but does not override 62 | rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate( | ^~~~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:67:37: error: ‘hardware_interface::return_type webots_ros2_control::Ros2ControlSystem::read(const rclcpp::Time&, const rclcpp::Duration&)’ marked ‘override’, but does not override 67 | hardware_interface::return_type read(const rclcpp::Time & /time/, const rclcpp::Duration & /period/) override; | ^~~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:68:37: error: ‘hardware_interface::return_type webots_ros2_control::Ros2ControlSystem::write(const rclcpp::Time&, const rclcpp::Duration&)’ marked ‘override’, but does not override 68 | hardware_interface::return_type write(const rclcpp::Time & /time/, const rclcpp::Duration & /period/) override; | ^~~~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2ControlSystem.cpp: In member function ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn webots_ros2_control::Ros2ControlSystem::on_init(const hardware_interface::HardwareInfo&)’: /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2ControlSystem.cpp:87:46: error: ‘on_init’ is not a member of ‘hardware_interface::SystemInterface’ 87 | if (hardware_interface::SystemInterface::on_init(info) != | ^~~ /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp: In member function ‘virtual void webots_ros2_control::Ros2Control::step()’: /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:48:61: error: no matching function for call to ‘controller_manager::ControllerManager::read(rclcpp::Time, const rclcpp::Duration&)’ 48 | mControllerManager->read(mNode->get_clock()->now(), dt); | ^ In file included from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp:23, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:15: /opt/ros/foxy/include/controller_manager/controller_manager.hpp:130:8: note: candidate: ‘void controller_manager::ControllerManager::read()’ 130 | void read(); | ^~~~ /opt/ros/foxy/include/controller_manager/controller_manager.hpp:130:8: note: candidate expects 0 arguments, 2 provided /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:50:63: error: no matching function for call to ‘controller_manager::ControllerManager::update(rclcpp::Time, const rclcpp::Duration&)’ 50 | mControllerManager->update(mNode->get_clock()->now(), dt); | ^ In file included from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp:23, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:15: /opt/ros/foxy/include/controller_manager/controller_manager.hpp:133:37: note: candidate: ‘controller_interface::return_type controller_manager::ControllerManager::update()’ 133 | controller_interface::return_type update(); | ^~ /opt/ros/foxy/include/controller_manager/controller_manager.hpp:133:37: note: candidate expects 0 arguments, 2 provided /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:53:62: error: no matching function for call to ‘controller_manager::ControllerManager::write(rclcpp::Time, const rclcpp::Duration&)’ 53 | mControllerManager->write(mNode->get_clock()->now(), dt); | ^ In file included from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp:23, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:15: /opt/ros/foxy/include/controller_manager/controller_manager.hpp:136:8: note: candidate: ‘void controller_manager::ControllerManager::write()’ 136 | void write(); | ^~~~~ /opt/ros/foxy/include/controller_manager/controller_manager.hpp:136:8: note: candidate expects 0 arguments, 2 provided /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp: In member function ‘virtual void webots_ros2_control::Ros2Control::init(webots_ros2_driver::WebotsNode, std::unordered_map<std::cxx11::basic_string, std::__cxx11::basic_string >&)’: /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:91:84: error: no matching function for call to ‘hardware_interface::ResourceManager::import_component(std::remove_reference<std::unique_ptr&>::type, gnu_cxx::__alloc_traits<std::allocator, hardware_interface::HardwareInfo>::value_type&)’ 91 | resourceManager->import_component(std::move(webotsSystem), controlHardware[i]); | ^ In file included from /opt/ros/foxy/include/controller_manager/controller_manager.hpp:39, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2Control.hpp:23, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:15: /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:151:8: note: candidate: ‘void hardware_interface::ResourceManager::import_component(std::unique_ptr)’ 151 | void import_component(std::unique_ptr actuator); | ^~~~ /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:151:8: note: candidate expects 1 argument, 2 provided /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:169:8: note: candidate: ‘void hardware_interface::ResourceManager::import_component(std::unique_ptr)’ 169 | void import_component(std::unique_ptr sensor); | ^~~~ /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:169:8: note: candidate expects 1 argument, 2 provided /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:187:8: note: candidate: ‘void hardware_interface::ResourceManager::import_component(std::unique_ptr)’ 187 | void import_component(std::unique_ptr system); | ^~~~ /opt/ros/foxy/include/hardware_interface/resource_manager.hpp:187:8: note: candidate expects 1 argument, 2 provided /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2Control.cpp:101:24: error: ‘class hardware_interface::ResourceManager’ has no member named ‘activate_all_components’ 101 | resourceManager->activate_all_components(); | ^~~~~~~ In file included from /opt/ros/foxy/include/class_loader/class_loader_core.hpp:57, from /opt/ros/foxy/include/class_loader/class_loader.hpp:55, from /opt/ros/foxy/include/class_loader/multi_library_class_loader.hpp:52, from /opt/ros/foxy/include/pluginlib/class_loader.hpp:58, from /home/xiaowu/ROS_TRY/install/webots_ros2_driver/include/webots_ros2_driver/WebotsNode.hpp:26, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/include/webots_ros2_control/Ros2ControlSystem.hpp:31, from /home/xiaowu/ROS_TRY/src/webots_ros2/webots_ros2_control/src/Ros2ControlSystem.cpp:15: /opt/ros/foxy/include/class_loader/meta_object.hpp: In instantiation of ‘B class_loader::impl::MetaObject<C, B>::create() const [with C = webots_ros2_control::Ros2ControlSystem; B = webots_ros2_control::Ros2ControlSystemInterface]’: /opt/ros/foxy/include/class_loader/meta_object.hpp:216:7: required from here /opt/ros/foxy/include/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘webots_ros2_control::Ros2ControlSystem’ 218 | return new C;

[omichel]

Please note that foxy is deprecated and not maintained any more. I would recommend you to upgrade to humble / Ubuntu 22.04 / Webots R2023b.

[233Xiaowu]

Please note that foxy is deprecated and not maintained any more. I would recommend you to upgrade to humble / Ubuntu 22.04 / Webots R2023b. Thanks for your advice ，I have changed my ubuntu and ROS version and It worked successfully.