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pal-robotics / play_motion2

A tool to play and handle pre-recorded motions in ROS2
Apache License 2.0
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problems with trajectory_ makes the pkg not build-able by colcon in ROS2 humble (humble-devel) #1

Closed javichisco closed 4 months ago

javichisco commented 6 months ago

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:286:24: error: ‘struct moveit::planninginterface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory’? 286 | if (!approachplan.trajectory.joint_trajectory.points.empty()) { | ^~~ | trajectory

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:291:21: error: ‘struct moveit::planninginterface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory’? 291 | if (approachplan.trajectory.joint_trajectory.points.empty()) { | ^~~ | trajectory

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:295:45: error: ‘struct moveit::planninginterface::MoveGroupInterface::Plan’ has no member named ‘trajectory’; did you mean ‘trajectory’? 295 | return perform_motion(info, approachplan.trajectory.joint_trajectory); | ^~~ | trajectory

gmake[2]: [CMakeFiles/play_motion2.dir/build.make:90: CMakeFiles/play_motion2.dir/src/play_motion2/motion_planner.cpp.o] Error 1 gmake[1]: [CMakeFiles/Makefile2:165: CMakeFiles/play_motion2.dir/all] Error 2 gmake: *** [Makefile:146: all] Error 2

saikishor commented 6 months ago

@javichisco which MoveIt version are you using? Can you tell us which ROS Distro are you using?

javichisco commented 6 months ago

ROS2 Humble Ubuntu 20.04

Using play_motion2 1.1.1 Updated the last week

I changed trajectory_ with trajectory in the mentioned lines... and I was able to build the pkg with colcon.. (286, 291, 295)... in the motion planner cpp file... but I am not sure about the results and the behavior will be the same.

Noel215 commented 6 months ago

Hi @javichisco,

I've tested it in a fresh humble docker and a new workspace, but I cannot reproduce the issue.

Also, for further testing I've installed the ros-humble-tiago-simulation package and I've run the simulation with ros2 launch tiago_gazebo tiago_gazebo.launch.py, and everything is working for me.

The version of MoveIt 2 I'm using is the latest: 2.5.5.

Which version of MoveIt 2 are you using?

Also, note that the humble docker is an Ubuntu 22.04, not Ubuntu 20.04.

javichisco commented 6 months ago

okay, I will try again from an clean set up

saikishor commented 4 months ago

Hello!

Closing due to inactivity!

Thank you,

Best Regards, PAL Robotics Team.