[BUG] - Kuka kss build error

Description

I want to run the iiqka_moveit_example to understand how it works and implement ROS on our setup. We want to perform a pick and place operation in a tight environment where the picked object varies in form. However, the project is not building.

KUKA robot OS

KSS

KUKA robot OS version

unkonwn

KUKA external interface version

unkown

Affected robot model(s)

KR 210 R3100

Version or commit hash of the driver

master

Setup

Docker container with moveit2 humble installed running in a amd cpu machine
'''
ubuntu@alejandro-Victus-16:/kuka_ws$ lscpu
Architecture:             x86_64
  CPU op-mode(s):         32-bit, 64-bit
  Address sizes:          48 bits physical, 48 bits virtual
  Byte Order:             Little Endian
CPU(s):                   16
  On-line CPU(s) list:    0-15
Vendor ID:                AuthenticAMD
  Model name:             AMD Ryzen 7 5800H with Radeon Graphics
    CPU family:           25
    Model:                80
    Thread(s) per core:   2
    Core(s) per socket:   8
    Socket(s):            1
    Stepping:             0
    CPU max MHz:          4463.0000
    CPU min MHz:          400.0000
    BogoMIPS:             6388.09
    Flags:                fpu vme de pse tsc msr pae mce cx8 apic sep mtrr pge mca cmov pat pse36 clflush mmx fxsr sse sse2 ht syscall nx mmxext fxsr_opt pdpe1gb rdtscp lm co
                          nstant_tsc rep_good nopl nonstop_tsc cpuid extd_apicid aperfmperf rapl pni pclmulqdq monitor ssse3 fma cx16 sse4_1 sse4_2 x2apic movbe popcnt aes xs
                          ave avx f16c rdrand lahf_lm cmp_legacy svm extapic cr8_legacy abm sse4a misalignsse 3dnowprefetch osvw ibs skinit wdt tce topoext perfctr_core perfc
                          tr_nb bpext perfctr_llc mwaitx cpb cat_l3 cdp_l3 hw_pstate ssbd mba ibrs ibpb stibp vmmcall fsgsbase bmi1 avx2 smep bmi2 erms invpcid cqm rdt_a rdse
                          ed adx smap clflushopt clwb sha_ni xsaveopt xsavec xgetbv1 xsaves cqm_llc cqm_occup_llc cqm_mbm_total cqm_mbm_local user_shstk clzero irperf xsaveer
                          ptr rdpru wbnoinvd cppc arat npt lbrv svm_lock nrip_save tsc_scale vmcb_clean flushbyasid decodeassists pausefilter pfthreshold avic v_vmsave_vmload
                           vgif v_spec_ctrl umip pku ospke vaes vpclmulqdq rdpid overflow_recov succor smca fsrm debug_swap
Virtualization features:  
  Virtualization:         AMD-V
Caches (sum of all):      
  L1d:                    256 KiB (8 instances)
  L1i:                    256 KiB (8 instances)
  L2:                     4 MiB (8 instances)
  L3:                     16 MiB (1 instance)
NUMA:                     
  NUMA node(s):           1
  NUMA node0 CPU(s):      0-15
Vulnerabilities:          
  Gather data sampling:   Not affected
  Itlb multihit:          Not affected
  L1tf:                   Not affected
  Mds:                    Not affected
  Meltdown:               Not affected
  Mmio stale data:        Not affected
  Reg file data sampling: Not affected
  Retbleed:               Not affected
  Spec rstack overflow:   Vulnerable: Safe RET, no microcode
  Spec store bypass:      Mitigation; Speculative Store Bypass disabled via prctl
  Spectre v1:             Mitigation; usercopy/swapgs barriers and __user pointer sanitization
  Spectre v2:             Mitigation; Retpolines; IBPB conditional; IBRS_FW; STIBP always-on; RSB filling; PBRSB-eIBRS Not affected; BHI Not affected
  Srbds:                  Not affected
  Tsx async abort:        Not affected
'''

my projects's src folder looks like 
'''
ubuntu@alejandro-Victus-16:/kuka_ws/src$ tree -L 1
.
├── kuka_drivers
├── kuka-external-control-sdk
├── kuka_robot_descriptions
├── launch_param_builder
├── moveit2
├── moveit2_tutorials
├── moveit_resources
├── moveit_task_constructor
├── moveit_visual_tools
├── rosparam_shortcuts
└── srdfdom

'''

Reproduction steps

1. Install moveit2 following moveit2 [tutorial](https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html)
2. Install kuka drivers following the [tutorial](https://github.com/kroshu/kuka_drivers?tab=readme-ov-file#installation)
3. build the project using '''colcon build --mixin release ccache'''

Logs

ubuntu@alejandro-Victus-16:/kuka_ws$ colcon build --mixin release ccache
Starting >>> moveit_resources_panda_description
Starting >>> moveit_common
Starting >>> moveit_resources_pr2_description
...
[lines were omitted for readability]
...
Finished <<< moveit2_tutorials [0.45s]                                                                                                     
Finished <<< kuka_robot_descriptions [0.23s]                                                                    
Starting >>> kuka_kss_rsi_driver
--- stderr: kuka_kss_rsi_driver                                                                                    
/kuka_ws/src/kuka_drivers/kuka_kss_rsi_driver/src/hardware_interface.cpp: In member function ‘virtual hardware_interface::return_type kuka_kss_rsi_driver::KukaRSIHardwareInterface::read(const rclcpp::Time&, const rclcpp::Duration&)’:
/kuka_ws/src/kuka_drivers/kuka_kss_rsi_driver/src/hardware_interface.cpp:171:31: error: ‘class kuka_kss_rsi_driver::KukaRSIHardwareInterface’ has no member named ‘get_lifecycle_state’; did you mean ‘lifecycle_state_’?
  171 |     this->on_deactivate(this->get_lifecycle_state());
      |                               ^~~~~~~~~~~~~~~~~~~
      |                               lifecycle_state_
gmake[2]: *** [CMakeFiles/kuka_kss_rsi_driver.dir/build.make:76: CMakeFiles/kuka_kss_rsi_driver.dir/src/hardware_interface.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/kuka_kss_rsi_driver.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< kuka_kss_rsi_driver [3.59s, exited with code 2]
Aborted  <<< iiqka_moveit_example [18.5s]                                   

Summary: 81 packages finished [27.0s]
  1 package failed: kuka_kss_rsi_driver
  1 package aborted: iiqka_moveit_example
  2 packages had stderr output: iiqka_moveit_example kuka_kss_rsi_driver
  1 package not processed

kroshu / kuka_drivers

[BUG] - Kuka kss build error #199