Closed whitedoll closed 2 years ago
doosan-robotics
commented
3 years ago @whitedoll
The gazebo_ros_pkgs package is not specified in package.xml. Install it manually using sudo apt-get install ros-foxy-gazebo-ros-pkgs command, or clone the package again and install it using rosdep command.
whitedoll
commented
3 years ago i installed foxy-gazebo using command sudo apt-get install ros-foxy-gazebo-ros-pkgs After running the command source usr/share/gazebo/setup.sh, I reinstalled the Doosan package. However, the following error is still appearing.
--- stderr: gazebo_ros2_control
In file included from /home/choi/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp:25,
from /home/choi/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/src/gazebo_system.cpp:19:
/home/choi/ros2_ws/src/gazebo_ros2_control/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp:27:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory
27 | #include "hardware_interface/base_interface.hpp"
| ^~~~~~~~~~~
compilation terminated.
make[2]: [CMakeFiles/gazebo_hardware_plugins.dir/build.make:63: CMakeFiles/gazebo_hardware_plugins.dir/src/gazebo_system.cpp.o] Error 1
make[1]: [CMakeFiles/Makefile2:80: CMakeFiles/gazebo_hardware_plugins.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
i would appreciate it if you could fix this error
doosan-robotics
commented
3 years ago This issue has been fixed. Please refer to the link.
whitedoll
commented
3 years ago Thanks for solving the "hardware_interface/base_interface.hpp" problem However, newly build error problem has appeared error message is here
| Starting >>> dsr_control2
[Processing: dsr_control2] --- stderr: dsr_control2 In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9: /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:218: warning: "_DEBUG_DSR_CTL" redefined 218 |
#define _DEBUG_DSR_CTL 0 |
|---|
| In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14: /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:218: warning: "_DEBUG_DSR_CTL" redefined 218 | #define _DEBUG_DSR_CTL 0 |
|---|
| In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9: /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:38: note: this is the location of the previous definition 38 | #define _DEBUG_DSR_CTL 1 |
|---|
| In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14: /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:38: note: this is the location of the previous definition 38 | #define _DEBUG_DSR_CTL 1 |
|---|
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_control_node2.cpp:14:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:360:6: warning: extra ‘;’ [-Wpedantic]
360 | };
| ^
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:215,
from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/../../../common2/include/DRFL.h:360:6: warning: extra ‘;’ [-Wpedantic]
360 | };
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_RobotState()’:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:477:60: warning: ‘void memcpy(void, const void, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
477 | memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
| ^
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
400 | typedef struct {
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘int dsr_control2::DRHWInterface::MsgPublisher_JointState()’:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:620:60: warning: ‘void memcpy(void, const void, size_t)’ writing to an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use copy-assignment or copy-initialization instead [-Wclass-memaccess]
620 | memcpy(&m_stDrState, &g_stDrState, sizeof(DR_STATE));
| ^
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
400 | typedef struct {
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:621:26: warning: statement has no effect [-Wunused-value]
621 | msg.header.stamp.sec;
| ~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static void dsr_control2::DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr)’:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:653:66: warning: unused parameter ‘nh’ [-Wunused-parameter]
653 | void DRHWInterface::thread_subscribe(rclcpp::Node::SharedPtr nh)
| ~~~~~~~~^~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In constructor ‘dsr_control2::DRHWInterface::DRHWInterface(rclcpp::Node::SharedPtr&)’:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:906:52: warning: ‘void memset(void, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
906 | memset(&g_stDrState, 0x00, sizeof(DR_STATE));
| ^
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
400 | typedef struct {
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:908:52: warning: ‘void memset(void, int, size_t)’ clearing an object of type ‘struct DR_STATE’ with no trivial copy-assignment; use assignment or value-initialization instead [-Wclass-memaccess]
908 | memset(&m_stDrState, 0x00, sizeof(DR_STATE));
| ^
In file included from /home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:9:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/include/dsr_control2/dsr_hw_interface2.h:400:16: note: ‘struct DR_STATE’ declared here
400 | typedef struct {
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘virtual hardware_interface::return_type dsr_control2::DRHWInterface::init()’:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szController’ [-Wmissing-field-initializers]
1025 | SYSTEM_VERSION tSysVerion = {'\0', };
| ^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInterpreter’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szInverter’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szSafetyBoard’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotSerial’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szRobotModel’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szJTSBoard’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1025:48: warning: missing initializer for member ‘_SYSTEM_VERSION::_szFlangeBoard’ [-Wmissing-field-initializers]
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In member function ‘void dsr_control2::DRHWInterface::trajectoryCallback(moveitmsgs::msg::DisplayTrajectory<std::allocator~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1224:15: warning: unused variable ‘preTargetTime’ [-Wunused-variable]
1224 | float preTargetTime = 0.0;
| ^~~~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1226:15: warning: unused variable ‘targetTime_sec’ [-Wunused-variable]
1226 | float targetTime_sec = 0.0;
| ^~~~~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotModeRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_system_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotSystemRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_state_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotStateRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_robot_speed_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetRobotSpeedModeRequest<std::allocator~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_last_alarm_cb(std::shared_ptr<dsr_msgs2::srv::GetLastAlarmRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::moveb_cb(std::shared_ptr<dsr_msgs2::srv::MoveBlendingRequest<std::allocator~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::move_resume_cb(std::shared_ptr<dsr_msgs2::srv::MoveResumeRequest<std::allocator~~~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::move_pause_cb(std::shared_ptr<dsr_msgs2::srv::MovePauseRequest<std::allocator~~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::check_motion_cb(std::shared_ptr<dsr_msgs2::srv::CheckMotionRequest<std::allocator~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::disable_alter_motion_cb(std::shared_ptr<dsr_msgs2::srv::DisableAlterMotionRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_control_mode_cb(std::shared_ptr<dsr_msgs2::srv::GetControlModeRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_control_space_cb(std::shared_ptr<dsr_msgs2::srv::GetControlSpaceRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_posj_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentPosjRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_velj_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentVeljRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_posj_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredPosjRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_velj_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredVeljRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_velx_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentVelxRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_desired_velx_cb(std::shared_ptr<dsr_msgs2::srv::GetDesiredVelxRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tool_flange_posx_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentToolFlangePosxRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_solution_space_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentSolutionSpaceRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_rotm_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentRotmRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_joint_torque_cb(std::shared_ptr<dsr_msgs2::srv::GetJointTorqueRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_external_torque_cb(std::shared_ptr<dsr_msgs2::srv::GetExternalTorqueRequest<std::allocator~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_tool_force_cb(std::shared_ptr<dsr_msgs2::srv::GetToolForceRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::GetWorkpieceWeightRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::reset_workpiece_weight_cb(std::shared_ptr<dsr_msgs2::srv::ResetWorkpieceWeightRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::release_compliance_ctrl_cb(std::shared_ptr<dsr_msgs2::srv::ReleaseComplianceCtrlRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::set_modbus_output_cb(std::shared_ptr<dsr_msgs2::srv::SetModbusOutputRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_modbus_input_cb(std::shared_ptr<dsr_msgs2::srv::GetModbusInputRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:2724:171: warning: unused parameter ‘res’ [-Wunused-parameter]
2724 | quest> req, std::shared_ptr~~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::config_create_modbus_cb(std::shared_ptr<dsr_msgs2::srv::ConfigCreateModbusRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::config_delete_modbus_cb(std::shared_ptr<dsr_msgs2::srv::ConfigDeleteModbusRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_pause_cb(std::shared_ptr<dsr_msgs2::srv::DrlPauseRequest<std::allocator~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::drl_resume_cb(std::shared_ptr<dsr_msgs2::srv::DrlResumeRequest<std::allocator~~~~~~~~~~~~^
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_drl_state_cb(std::shared_ptr<dsr_msgs2::srv::GetDrlStateRequest<std::allocator~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tcp_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentTcpRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::get_current_tool_cb(std::shared_ptr<dsr_msgs2::srv::GetCurrentToolRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_open_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FOpenRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: In static member function ‘static bool dsr_control2::DRHWInterface::robotiq_2f_close_cb(std::shared_ptr<dsr_msgs2::srv::Robotiq2FCloseRequest<std::allocator~~~~~~~~~~~~~^~~
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp: At global scope:
/home/choi/ros2_ws/src/doosan-robot2/dsr_control2/src/dsr_hw_interface2.cpp:1187:20: warning: ‘sn_cnt’ defined but not used [-Wunused-variable]
1187 | static int sn_cnt = 0;
| ^~
/usr/bin/ld: cannot find -lPocoFoundation
/usr/bin/ld: cannot find -lPocoNet
/usr/bin/ld: cannot find -lPocoFoundation
/usr/bin/ld: cannot find -lPocoNet
collect2: error: ld returned 1 exit status
make[2]: [CMakeFiles/dsr_control_node2.dir/build.make:330: dsr_control_node2] Error 1
make[1]: [CMakeFiles/Makefile2:78: CMakeFiles/dsr_control_node2.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Failed <<< dsr_control2 [36.5s, exited with code 2]
i would appreciate it if you could fix this error
doosan-robotics
commented
3 years ago It seems that the poco library is not installed. Please install the poco library using the command sudo apt-get install libpoco-dev
whitedoll
commented
3 years ago Thank for response my question Doosan robot code for ros2 was able to build successfully.
When I ran the example code on the git hub, it worked without any problems. "ros2 launch dsr_launcher2 single_robot_rviz.launch.py model:=a0912 color:=blue" "ros2 run dsr_example2_py dsr_service_motion_simple"
However, the Doosan robot that I am using in my project is m1013, and when I ran the following code, I found an error. "ros2 launch dsr_launcher2 single_robot_rviz.launch.py model:=m1013 color:=white" "ros2 run dsr_example2_py dsr_service_motion_simple"
ros2 launch dsr_launcher2 single_robot_rviz.launch.py model:=m1013 color:=white [INFO] [launch]: All log files can be found below /home/choi/.ros/log/2021-04-27-09-33-49-870540-choi-NUC8i7BEH-95701 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [sh-1]: process started with pid [95704] [INFO] [static_transform_publisher-2]: process started with pid [95707] [INFO] [robot_state_publisher-3]: process started with pid [95709] [INFO] [rviz2-4]: process started with pid [95712] [INFO] [dsr_control_node2-5]: process started with pid [95715] [sh-1] Run Emulator of the Doosan Robot Controller [sh-1] dirname: /home/choi/ros2_ws2/install/common2/share/common2/bin/DRCF/run_drcf.sh [sh-1] server_port: [sh-1] robot model: [sh-1] ARCH: 64-bit [robot_state_publisher-3] Parsing robot urdf xml string. [robot_state_publisher-3] Link base_0 had 1 children [robot_state_publisher-3] Link link1 had 1 children [robot_state_publisher-3] Link link2 had 1 children [robot_state_publisher-3] Link link3 had 1 children [robot_state_publisher-3] Link link4 had 1 children [robot_state_publisher-3] Link link5 had 1 children [robot_state_publisher-3] Link link6 had 0 children [robot_state_publisher-3] [INFO] [1619483630.086867869] [robot_state_publisher]: got segment base_0 [robot_state_publisher-3] [INFO] [1619483630.086959994] [robot_state_publisher]: got segment link1 [robot_state_publisher-3] [INFO] [1619483630.086987423] [robot_state_publisher]: got segment link2 [robot_state_publisher-3] [INFO] [1619483630.086992192] [robot_state_publisher]: got segment link3 [robot_state_publisher-3] [INFO] [1619483630.086996028] [robot_state_publisher]: got segment link4 [robot_state_publisher-3] [INFO] [1619483630.087011656] [robot_state_publisher]: got segment link5 [robot_state_publisher-3] [INFO] [1619483630.087017525] [robot_state_publisher]: got segment link6 [robot_state_publisher-3] [INFO] [1619483630.087023553] [robot_state_publisher]: got segment world [static_transform_publisher-2] [INFO] [1619483630.095059046] [static_transform_publisher]: Spinning until killed publishing transform from 'base' to 'base_0' [dsr_control_node2-5] [INFO] [1619483630.096009865] [dsr_control_node2]: g_node = 0x0x7ffef0899ed0 [dsr_control_node2-5] [INFO] [1619483630.096093725] [dsr_control_node2]: rate is 100 [dsr_control_node2-5] [INFO] [1619483630.096141440] [dsr_control_node2]: controller_manager is updating! [dsr_control_node2-5] [INFO] [1619483630.096179113] [dsr_hw_interface2]: name = dsr01 [dsr_control_node2-5] [INFO] [1619483630.096198699] [dsr_hw_interface2]: model = m1013 [dsr_control_node2-5] [INFO] [1619483630.096202187] [dsr_hw_interface2]: gripper = none [dsr_control_node2-5] [INFO] [1619483630.096205694] [dsr_hw_interface2]: name_space is dsr01, m1013
[dsr_control_node2-5] [INFO] [1619483630.131802574] [dsr_hw_interface2]: [dsr_hw_interface2] init() ==> setup callback fucntion [dsr_control_node2-5] [INFO] [1619483630.131821287] [dsr_hw_interface2]: joint_name = joint1 [dsr_control_node2-5] [WARN] [1619483630.131863815] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [INFO] [1619483630.131921767] [dsr_hw_interface2]: joint_name = joint2 [dsr_control_node2-5] [INFO] [1619483630.131941933] [dsr_hw_interface2]: joint_name = joint3 [dsr_control_node2-5] [INFO] [1619483630.131948215] [dsr_hw_interface2]: joint_name = joint4 [dsr_control_node2-5] [INFO] [1619483630.131957506] [dsr_hw_interface2]: joint_name = joint5 [dsr_control_node2-5] [INFO] [1619483630.131963294] [dsr_hw_interface2]: joint_name = joint6
[dsr_control_node2-5] [INFO] [1619483630.131971568] [dsr_hw_interface2]: init() ==> arm is standby [dsr_control_node2-5] [INFO] [1619483630.131980265] [dsr_hw_interface2]: host = 127.0.0.1 [dsr_control_node2-5] [INFO] [1619483630.131983246] [dsr_hw_interface2]: port = 12345 [dsr_control_node2-5] [INFO] [1619483630.131986115] [dsr_hw_interface2]: command = 1 [dsr_control_node2-5] [INFO] [1619483630.131989143] [dsr_hw_interface2]: mode = virtual [dsr_control_node2-5] [INFO] [1619483630.131991986] [dsr_hw_interface2]: host 127.0.0.1, port=12345 bCommand: 1, mode: virtual [dsr_control_node2-5] [INFO] [1619483630.132349519] [dsr_hw_interface2]: On Monitor State [dsr_control_node2-5] [INFO] [1619483630.132478512] [dsr_hw_interface2]: On Monitor State [dsr_control_node2-5] joint_name = joint1joint_name = joint2joint_name = joint3joint_name = joint4joint_name = joint5joint_name = joint6[callback OnMonitoringAccessControlCB] eAccCtrl: 2 [dsr_control_node2-5] access control granted [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (15) NOT_READY [dsr_control_node2-5] [callback OnTpInitializingCompletedCB] tp initializing completed [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY [dsr_control_node2-5] [callback OnMonitoringAccessControlCB] eAccCtrl: 2 [dsr_control_node2-5] access control granted [dsr_control_node2-5] [callback OnMonitoringStateCB] current state: (1) STANDBY [dsr_control_node2-5] [INFO] [1619483630.133293834] [dsr_hw_interface2]: On Monitor State
[dsr_control_node2-5] [INFO] [1619483630.133316525] [dsr_hw_interface2]: Emulator Mode [dsr_control_node2-5] [INFO] [1619483630.133319845] [dsr_hw_interface2]: DRCF version = GF120500 [dsr_control_node2-5] [INFO] [1619483630.133322977] [dsr_hw_interface2]: DRFL version = GL010106-beta [dsr_control_node2-5] [INFO] [1619483630.133325768] [dsr_hw_interface2]: m_nVersionDRCF = 120500
[dsr_control_node2-5] [INFO] [1619483630.133554263] [dsr_hw_interface2]: [init]::read 0-pos: 0.000 [dsr_control_node2-5] [INFO] [1619483630.133566793] [dsr_hw_interface2]: [init]::read 1-pos: 0.000 [dsr_control_node2-5] [INFO] [1619483630.133572429] [dsr_hw_interface2]: [init]::read 2-pos: 0.000 [dsr_control_node2-5] [INFO] [1619483630.133577336] [dsr_hw_interface2]: [init]::read 3-pos: 0.000 [dsr_control_node2-5] [INFO] [1619483630.133581107] [dsr_hw_interface2]: [init]::read 4-pos: 0.000 [dsr_control_node2-5] [INFO] [1619483630.133583902] [dsr_hw_interface2]: [init]::read 5-pos: 0.000 [dsr_control_node2-5] [WARN] [1619483630.133640053] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [INFO] [1619483630.143205445] [dsr_control_node2]: Loading controller 'dsr_joint_publisher' [dsr_control_node2-5] [dsr_control_node2-5] [WARN] [1619483630.144249278] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. [dsr_control_node2-5] [ERROR] [1619483630.150700489] [joint handle]: handle with interface (joint1: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150771533] [joint handle]: handle with interface (joint1: effort) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150847004] [joint handle]: handle with interface (joint2: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150852718] [joint handle]: handle with interface (joint2: effort) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150874723] [joint handle]: handle with interface (joint3: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150879536] [joint handle]: handle with interface (joint3: effort) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150888697] [joint handle]: handle with interface (joint4: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150896071] [joint handle]: handle with interface (joint4: effort) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150903966] [joint handle]: handle with interface (joint5: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150908272] [joint handle]: handle with interface (joint5: effort) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150915801] [joint handle]: handle with interface (joint6: velocity) wasn't found! [dsr_control_node2-5] [ERROR] [1619483630.150920236] [joint handle]: handle with interface (joint6: effort) wasn't found! [dsr_control_node2-5] [WARN] [1619483630.152259967] [rcl_lifecycle]: No transition matching 1 found for current state inactive [dsr_control_node2-5] [ERROR] [1619483630.152277618] []: Unable to start transition 1 from current state inactive: Transition is not registered., at /tmp/binarydeb/ros-foxy-rcl-lifecycle-1.1.11/src/rcl_lifecycle.c:350 [dsr_control_node2-5] [INFO] [1619483630.152291558] [dsr_control_node2]: controller_manager is updating! [rviz2-4] [INFO] [1619483630.432382361] [rviz2]: Stereo is NOT SUPPORTED [rviz2-4] [INFO] [1619483630.432587390] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-4] [INFO] [1619483630.456505788] [rviz2]: Stereo is NOT SUPPORTED [rviz2-4] Parsing robot urdf xml string. [rviz2-4] Parsing robot urdf xml string. [rviz2-4] Parsing robot urdf xml string.
movie link : https://drive.google.com/file/d/19MpCc0w617BXZVhMytN-y3grVTWUuCjj/view?usp=sharing
doosan-robotics
commented
3 years ago @whitedoll
The same problem occurred in another issue and that part was corrected. This was caused by not installing the libpoco-dev package. Added description of package installation to Readme.md. Install the poco library for the connection using the command sudo apt-get install libpoco-dev.
Hellow, I'm using Ubuntu 20.04 and I installed ros2 foxy via Debian package I will inform you of an error that occurred when I installed the Doosan Robot package. How can I install the package without errors?
1) --- stderr: gazebo_ros2_control fatal error: hardware_interface/base_interface.hpp: No such file or directory 27 | #include "hardware_interface/base_interface.hpp" | ^
~~~~~~~~~~ compilation terminated. make[2]: [CMakeFiles/gazebo_hardware_plugins.dir/build.make:63: CMakeFiles/gazebo_hardware_plugins.dir/src/gazebo_system.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:80: CMakeFiles/gazebo_hardware_plugins.dir/all]2) --- stderr: dsr_gazebo2 CMake Error at CMakeLists.txt:19 (find_package): By not providing "Findgazebo_ros_pkgs.cmake" in CMAKE_MODULE_PATH this project has asked CMake to find a package configuration file provided by "gazebo_ros_pkgs", but CMake did not find one.
Could not find a package configuration file provided by "gazebo_ros_pkgs" with any of the following names:
Add the installation prefix of "gazebo_ros_pkgs" to CMAKE_PREFIX_PATH or set "gazebo_ros_pkgs_DIR" to a directory containing one of the above files. If "gazebo_ros_pkgs" provides a separate development package or SDK, be sure it has been installed.
3) --- stderr: dsr_control2 /usr/bin/ld: cannot find -lPocoFoundation /usr/bin/ld: cannot find -lPocoNet /usr/bin/ld: cannot find -lPocoFoundation /usr/bin/ld: cannot find -lPocoNet collect2: error: ld returned 1 exit status make[2]: [CMakeFiles/dsr_control_node2.dir/build.make:330: dsr_control_node2] Error 1 make[1]: [CMakeFiles/Makefile2:78: CMakeFiles/dsr_control_node2.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 Failed <<< dsr_control2 [4.74s, exited with code 2]