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mayataka / unitree_ros2

ROS2 interface of unitree A1
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Build problems #5

Closed invidia0 closed 1 year ago

invidia0 commented 1 year ago

Hi,

thank you very much for providing this repo! Great work! Anyway i have an issue regarding the field names of the msgs you defined in the unitree_msgs package. Basically ROS2 says that he wants the field names declared in lower case without any upper case as you instead defined.

"Field names must be lowercase alphanumeric characters with underscores for separating words. They must start with an alphabetic character, they must not end with an underscore and never have two consecutive underscores." In https://docs.ros.org/en/humble/Concepts/About-ROS-Interfaces.html#field-names

float64 t # Time float64[12] qJ # Joint position measurements float64[12] vJ # Joint velocity measurements float64[12] tauJ # Joint torque measurements float64[4] imu_orientation # Imu orientation estimation expressed as a quaternion (x, y, z, w) float64[3] imu_angular_velocity # Imu angular velocity float64[3] imu_linear_acceleration # Imu linear acceleration float64[4] foot_force_sensor # Force sensor measurements

The problems are the "J" and rewriting the msg with them in lower case solves the problem but obviously it generates others in the unitree_hardware package. So i am wondering how did you manage to build the package? I am building this package on Foxy but also Humble mentions this constraint on the field names. 2022-09-26_22-21

Thank you in advice!

mayataka commented 1 year ago

Hi @invidia0,

I consider only Humble, so there is no wonder if the build fails with Foxy. There can be other problems other than the msgs with Foxy because there are many differences around ros2_control between Foxy and Humble.

invidia0 commented 1 year ago

Hi @mayataka,

thank you for you response! I imagined that! However i just saw there's a foxy branch, does it make sense to consider it or is it better to switch to humble and take the last branch? Thank you in advice!

invidia0 commented 1 year ago

Hi @invidia0,

I consider only Humble, so there is no wonder if the build fails with Foxy. There can be other problems other than the msgs with Foxy because there are many differences around ros2_control between Foxy and Humble.

mayataka commented 1 year ago

@invidia0 Foxy branch is a deprecated branch. It is no longer maintained and it might not work.