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justagist / panda_simulator

A Gazebo simulator for the Franka Emika Panda robot with ROS interface, supporting sim-to-real code transfer (Python). Exposes customisable controllers and state feedback from robot in simulation.
Apache License 2.0
188 stars 58 forks source link

catkin build error #34

Closed Sission closed 3 years ago

Sission commented 3 years ago

Hello! I suffered this error when I catkin build. Could you help me with this? Thanks!

Errors << franka_interface:make /home/airlab/catkin_ws/logs/franka_interface/build.make.002.log /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp: In member function ‘void franka_interface::CustomFrankaStateController::publishFrankaState(const ros::Time&)’: /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:361:39: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’? static_assert(sizeof(robotstate.NE_T_EE) == sizeof(robotstate.O_T_EE), ^~~ O_T_EE /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:369:63: error: ‘struct franka::RobotState’ has no member named ‘F_T_NE’; did you mean ‘F_T_EE’? publisher_frankastate.msg_.F_T_NE[i] = robotstate.F_T_NE[i]; ^~ F_T_EE /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:370:64: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’? publisher_frankastate.msg_.NE_T_EE[i] = robotstate.NE_T_EE[i]; ^~~ O_T_EE /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp: In member function ‘void franka_interface::CustomFrankaStateController::publishTransforms(const ros::Time&)’: /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:474:74: error: ‘struct franka::RobotState’ has no member named ‘F_T_NE’; did you mean ‘F_T_EE’? tf::StampedTransform stamped_transform(convertArrayToTf(robotstate.F_T_NE), time, ^~ F_T_EE /home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:480:76: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’? stamped_transform = tf::StampedTransform(convertArrayToTf(robotstate.NE_T_EE), time, ^~~ O_T_EE

justagist commented 3 years ago

The missing variables are defined in v0.7.1 of franka-ros. Make sure you have installed >0.7.1 of franka-ros. If you are trying to build it for older version, you have to use an older commit of this repository (see the instructions in the README of this repo).