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Public tutorials of TIAGo robot
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Installation Problem during catkin_make #25

Closed pranav2481 closed 4 years ago

pranav2481 commented 4 years ago

Hi, Im getting the following errors during catkin_make part of the installation. I get the same errors even if I use catkin build.

[  2%] Built target aruco_ros_gencfg
Scanning dependencies of target _tf_lookup_generate_messages_check_deps_TfLookupGoal
Scanning dependencies of target _tf_lookup_generate_messages_check_deps_TfStreamActionFeedback
Scanning dependencies of target _tiago_pcl_tutorial_generate_messages_check_deps_PlaneCoefficients
Scanning dependencies of target _tf_lookup_generate_messages_check_deps_lookupTransform
[  2%] Linking CXX shared library /root/tiago_public_ws/devel/lib/libbackward.so
Scanning dependencies of target tiago_pcl_tutorial_gencfg
Scanning dependencies of target _tf_lookup_generate_messages_check_deps_TfLookupActionGoal
In file included from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:34:0,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:34,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:28:
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:58:82: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     CameraParameters(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
                                                                                  ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:64:80: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void setParams(cv::Mat cameraMatrix,cv::Mat distorsionCoeff,cv::Size size) throw(cv::Exception);
                                                                                ^~~~~
In file included from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:34:0,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:34,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:28:
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:79:35: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void readFromFile(string path)throw(cv::Exception);
                                   ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:82:49: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void saveToFile(string path,bool inXML=true)throw(cv::Exception);
                                                 ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:86:42: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void readFromXMLFile(string filePath)throw(cv::Exception);
                                          ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:90:31: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void resize(cv::Size size)throw(cv::Exception);
                               ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:107:137: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void glGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
                                                                                                                                         ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:119:139: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void OgreGetProjectionMatrix( cv::Size orgImgSize, cv::Size size,double proj_matrix[16],double gnear,double gfar,bool invert=false   )throw(cv::Exception);
                                                                                                                                           ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:125:132: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static void argConvGLcpara2( double cparam[3][4], int width, int height, double gnear, double gfar, double m[16], bool invert )throw(cv::Exception);
                                                                                                                                    ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/cameraparameters.h:126:96: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     static int  arParamDecompMat( double source[3][4], double cpara[3][4], double trans[3][4] )throw(cv::Exception);
                                                                                                ^~~~~
In file included from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:34:0,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:28:
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:76:104: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void calculateExtrinsics(float markerSize, const CameraParameters &CP, bool setYPerpendicular=true)throw(cv::Exception);
                                                                                                        ^~~~~
In file included from /root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:34:0,
                 from /root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:28:
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:83:129: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void calculateExtrinsics(float markerSize, cv::Mat  CameraMatrix, cv::Mat Distorsion=cv::Mat(), bool setYPerpendicular=true)throw(cv::Exception);
                                                                                                                                 ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:88:61: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void glGetModelViewMatrix(  double modelview_matrix[16])throw(cv::Exception);
                                                             ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/marker.h:100:77: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void OgreGetPoseParameters(  double position[3], double orientation[4] )throw(cv::Exception);
                                                                             ^~~~~
[  2%] Built target _tf_lookup_generate_messages_check_deps_TfStreamActionGoal
In file included from /root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:28:0:
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:89:34: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void saveToFile(string sfile)throw (cv::Exception);
                                  ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:92:36: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void readFromFile(string sfile)throw (cv::Exception);
                                    ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:108:50: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     const MarkerInfo& getMarkerInfo(int id)const throw (cv::Exception);
                                                  ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:115:41: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void saveToFile(cv::FileStorage &fs)throw (cv::Exception);
                                         ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:118:43: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void readFromFile(cv::FileStorage &fs)throw (cv::Exception);
                                           ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:143:59: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void glGetModelViewMatrix(double modelview_matrix[16])throw(cv::Exception);
                                                           ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:155:77: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void OgreGetPoseParameters(  double position[3], double orientation[4] )throw(cv::Exception);
                                                                             ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:160:37: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void saveToFile(string filePath)throw(cv::Exception);
                                     ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/include/aruco/board.h:163:39: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
     void readFromFile(string filePath)throw(cv::Exception);
                                       ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:67:54: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void BoardConfiguration::saveToFile ( string sfile ) throw ( cv::Exception )
                                                      ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:76:57: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void BoardConfiguration::saveToFile(cv::FileStorage &fs)throw (cv::Exception) {
                                                         ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:97:56: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void BoardConfiguration::readFromFile ( string sfile ) throw ( cv::Exception )
                                                        ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:107:59: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void BoardConfiguration::readFromFile(cv::FileStorage &fs)throw (cv::Exception)
                                                           ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:144:66: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 const MarkerInfo& BoardConfiguration::getMarkerInfo(int id)const throw (cv::Exception)
                                                                  ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:155:66: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void Board::glGetModelViewMatrix ( double modelview_matrix[16] ) throw ( cv::Exception )
                                                                  ^~~~~
/root/tiago_public_ws/src/aruco_ros/aruco/src/aruco/board.cpp:210:81: warning: dynamic exception specifications are deprecated in C++11 [-Wdeprecated]
 void Board::OgreGetPoseParameters ( double position[3], double orientation[4] ) throw ( cv::Exception )
                                                                                 ^~~~~
Generating reconfiguration files for Physics in gazebo_ros
Wrote header file in /root/tiago_public_ws/devel/include/gazebo_ros/PhysicsConfig.h
Scanning dependencies of target pcl_msgs_generate_messages_nodejs
v-lopez commented 4 years ago

I don't see any error, those are all warnings. Are you sure you pasted the full log?

pranav2481 commented 4 years ago

The full log is too large. I get these warnings constantly and at the end I get the following:

make[2]: *** [ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/src/joint_trajectory_controller.cpp.o] Error 1
ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/build.make:62: recipe for target 'ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/src/joint_trajectory_controller.cpp.o' failed
CMakeFiles/Makefile2:51404: recipe for target 'ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/all' failed
make[1]: *** [ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/all] Error 2
make: *** [all] Error 2
Makefile:140: recipe for target 'all' failed
####
#### Running command: "cmake /root/tiago_public_ws/src -DCATKIN_DEVEL_PREFIX=/root/tiago_public_ws/devel -DCMAKE_INSTALL_PREFIX=/root/tiago_public_ws/install -G Unix Makefiles" in "/root/tiago_public_ws/build"
####
####
#### Running command: "make -j40 -l40" in "/root/tiago_public_ws/build"
####
Invoking "make -j40 -l40" failed

I also tried running catkin_make -j40 -l40 and catkin_make -j8 -l8 Also I get these same error messages for some other packages as well. But I get the same errors.

v-lopez commented 4 years ago

I am sorry but unless we can see the error itself there's nothing we can do. Also if you have error with other packages it's probably not related to tiago_tutorials.

pranav2481 commented 4 years ago

Alright the entire log is too large to add to the issue. Is there any other way I could send it to you so you could have a look at it? The workspace has only the tiago stuff in it and the errors occur while building some of the tiago packages. But the problem could be due to some missing packages or dependencies. But I'm not sure. Let me know if I could send the entire log in any other way. I'll continue to try to fix this.

v-lopez commented 4 years ago

First make sure you are following all the steps in the tutorials here: http://wiki.ros.org/Robots/TIAGo/Tutorials

Yes, you could attach the whole log here as a file, or paste it on pastebin, but that leads me to believe that you haven't even looked into the issue yourself, since you haven't found the offending line.

We'd appreciate if you took the effort to look in your build log, find the error, and if you are not able to fix it, then report it here so we may help you. But probably it's something that can be fixed on your side.

pranav2481 commented 4 years ago

Thank you for the support. I'll look into it and get back to you soon.

pranav2481 commented 4 years ago

So I have found the offending lines. The problem seems to be specific to the ros_controllers package. Please have a look at the following.

In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:60:3: error: ‘ResultPtr’ does not name a type; did you mean ‘Result’?
   ResultPtr preallocated_result_;  // Preallocated so it can be used in realtime
   ^~~~~~~~~
   Result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:61:3: error: ‘FeedbackPtr’ does not name a type; did you mean ‘Feedback’?
   FeedbackPtr preallocated_feedback_;  // Preallocated so it can be used in realtime
   ^~~~~~~~~~~
   Feedback
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:50: error: ‘ResultPtr’ does not name a type; did you mean ‘Result’?
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                  ^~~~~~~~~
                                                  Result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:115: error: ‘FeedbackPtr’ does not name a type; did you mean ‘Feedback’?
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                   ^~~~~~~~~~~
                                                                                                                   Feedback
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In constructor ‘realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&)’:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:68:7: error: class ‘realtime_tools::RealtimeServerGoalHandle<Action>’ does not have any field named ‘preallocated_result_’
       preallocated_result_(preallocated_result),
       ^~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:69:7: error: class ‘realtime_tools::RealtimeServerGoalHandle<Action>’ does not have any field named ‘preallocated_feedback_’
       preallocated_feedback_(preallocated_feedback)
       ^~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:71:10: error: ‘preallocated_result_’ was not declared in this scope
     if (!preallocated_result_)
          ^~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:71:10: note: suggested alternative: ‘preallocated_result’
     if (!preallocated_result_)
          ^~~~~~~~~~~~~~~~~~~~
          preallocated_result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:73:10: error: ‘preallocated_feedback_’ was not declared in this scope
     if (!preallocated_feedback_)
          ^~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:73:10: note: suggested alternative: ‘preallocated_feedback’
     if (!preallocated_feedback_)
          ^~~~~~~~~~~~~~~~~~~~~~
          preallocated_feedback
In file included from /root/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/robot_hw.h:35:0,
                 from /root/catkin_ws/src/ros_control/controller_interface/include/controller_interface/controller_base.h:37,
                 from /root/catkin_ws/src/ros_control/controller_interface/include/controller_interface/controller.h:35,
                 from /root/catkin_ws/src/ros_controllers/temperature_sensor_controller/include/temperature_sensor_controller/temperature_sensor_controller.h:4,
                 from /root/catkin_ws/src/ros_controllers/temperature_sensor_controller/src/temperature_sensor_controller.cpp:4:
/root/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/internal/interface_manager.h: In instantiation of ‘static char (& hardware_interface::CheckIsResourceManager<T>::callCM(std::vector<C*>&, C*, typename C::resource_manager_type*))[1] [with C = hardware_interface::ActuatorTemperatureSensorInterface; T = hardware_interface::ActuatorTemperatureSensorInterface; hardware_interface::CheckIsResourceManager<T>::yes = char [1]; typename C::resource_manager_type = hardware_interface::ResourceManager<hardware_interface::ActuatorTemperatureSensorHandle>]’:
/root/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/internal/interface_manager.h:83:14:   required from ‘static const void hardware_interface::CheckIsResourceManager<T>::callConcatManagers(std::vector<T*>&, T*) [with T = hardware_interface::ActuatorTemperatureSensorInterface]’
/root/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/internal/interface_manager.h:200:54:   required from ‘T* hardware_interface::InterfaceManager::get() [with T = hardware_interface::ActuatorTemperatureSensorInterface]’
/root/catkin_ws/src/ros_control/controller_interface/include/controller_interface/controller.h:110:8:   required from ‘bool controller_interface::Controller<T>::initRequest(hardware_interface::RobotHW*, ros::NodeHandle&, ros::NodeHandle&, controller_interface::ControllerBase::ClaimedResources&) [with T = hardware_interface::ActuatorTemperatureSensorInterface; controller_interface::ControllerBase::ClaimedResources = std::vector<hardware_interface::InterfaceResources>]’
/root/catkin_ws/src/ros_controllers/temperature_sensor_controller/src/temperature_sensor_controller.cpp:71:1:   required from here
/root/catkin_ws/src/ros_control/hardware_interface/include/hardware_interface/internal/interface_manager.h:73:9: warning: reference to local variable ‘tmp_yes’ returned [-Wreturn-local-addr]
     yes tmp_yes;
         ^~~~~~~
[ 88%] Building CXX object openslam_gmapping/gridfastslam/CMakeFiles/gridfastslam.dir/motionmodel.cpp.o
[ 88%] Linking CXX executable /root/catkin_ws/devel/lib/diff_drive_controller/skidsteerbot
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libgridfastslam.so
[ 88%] Built target gridfastslam
[ 88%] Built target skidsteerbot
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:60:3: error: ‘ResultPtr’ does not name a type; did you mean ‘Result’?
   ResultPtr preallocated_result_;  // Preallocated so it can be used in realtime
   ^~~~~~~~~
   Result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:61:3: error: ‘FeedbackPtr’ does not name a type; did you mean ‘Feedback’?
   FeedbackPtr preallocated_feedback_;  // Preallocated so it can be used in realtime
   ^~~~~~~~~~~
   Feedback
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:50: error: ‘ResultPtr’ does not name a type; did you mean ‘Result’?
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                  ^~~~~~~~~
                                                  Result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:115: error: ‘FeedbackPtr’ does not name a type; did you mean ‘Feedback’?
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                   ^~~~~~~~~~~
                                                                                                                   Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In constructor ‘realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&)’:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:68:7: error: class ‘realtime_tools::RealtimeServerGoalHandle<Action>’ does not have any field named ‘preallocated_result_’
       preallocated_result_(preallocated_result),
       ^~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:69:7: error: class ‘realtime_tools::RealtimeServerGoalHandle<Action>’ does not have any field named ‘preallocated_feedback_’
       preallocated_feedback_(preallocated_feedback)
       ^~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:71:10: error: ‘preallocated_result_’ was not declared in this scope
     if (!preallocated_result_)
          ^~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:71:10: note: suggested alternative: ‘preallocated_result’
     if (!preallocated_result_)
          ^~~~~~~~~~~~~~~~~~~~
          preallocated_result
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:73:10: error: ‘preallocated_feedback_’ was not declared in this scope
     if (!preallocated_feedback_)
          ^~~~~~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:73:10: note: suggested alternative: ‘preallocated_feedback’
     if (!preallocated_feedback_)
          ^~~~~~~~~~~~~~~~~~~~~~
          preallocated_feedback
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libtemperature_sensor_controller.so
[ 88%] Built target temperature_sensor_controller
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void gripper_action_controller::GripperActionController<HardwareInterface>::goalCB(gripper_action_controller::GripperActionController<HardwareInterface>::GoalHandle) [with HardwareInterface = hardware_interface::PositionJointInterface; gripper_action_controller::GripperActionController<HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:215:18:   required from ‘bool gripper_action_controller::GripperActionController<HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with HardwareInterface = hardware_interface::PositionJointInterface]’
/root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:57:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:159:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:258:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::GripperCommandAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:159:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:258:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::GripperCommandAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void gripper_action_controller::GripperActionController<HardwareInterface>::goalCB(gripper_action_controller::GripperActionController<HardwareInterface>::GoalHandle) [with HardwareInterface = hardware_interface::EffortJointInterface; gripper_action_controller::GripperActionController<HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:215:18:   required from ‘bool gripper_action_controller::GripperActionController<HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with HardwareInterface = hardware_interface::EffortJointInterface]’
/root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:57:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:159:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:258:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::GripperCommandAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:159:0,
                 from /root/catkin_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller_impl.h:258:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::GripperCommandAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::GripperCommandAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
[ 88%] Built target gazebo_ros_paths_plugin
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h: In member function ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::update(const ros::Time&, const ros::Duration&)’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:419:50: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
           if(rt_segment_goal && rt_segment_goal->preallocated_result_)
                                                  ^~~~~~~~~~~~~~~~~~~~
                                                  req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:421:30: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
             rt_segment_goal->preallocated_result_->error_code =
                              ^~~~~~~~~~~~~~~~~~~~
                              req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:423:58: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
             rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
                                                          ^~~~~~~~~~~~~~~~~~~~
                                                          req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:462:30: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
             rt_segment_goal->preallocated_result_->error_code = control_msgs::FollowJointTrajectoryResult::GOAL_TOLERANCE_VIOLATED;
                              ^~~~~~~~~~~~~~~~~~~~
                              req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:463:58: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
             rt_segment_goal->setAborted(rt_segment_goal->preallocated_result_);
                                                          ^~~~~~~~~~~~~~~~~~~~
                                                          req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:478:51: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
   if (current_active_goal && current_active_goal->preallocated_result_ && successful_joint_traj_.count() == joints_.size())
                                                   ^~~~~~~~~~~~~~~~~~~~
                                                   req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:480:26: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
     current_active_goal->preallocated_result_->error_code = control_msgs::FollowJointTrajectoryResult::SUCCESSFUL;
                          ^~~~~~~~~~~~~~~~~~~~
                          req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:481:60: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_result_’; did you mean ‘req_result_’?
     current_active_goal->setSucceeded(current_active_goal->preallocated_result_);
                                                            ^~~~~~~~~~~~~~~~~~~~
                                                            req_result_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:491:43: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
   if (rt_active_goal_ && rt_active_goal_->preallocated_feedback_)
                                           ^~~~~~~~~~~~~~~~~~~~~~
                                           req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:493:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->header.stamp          = time_data_.readFromRT()->time;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:494:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->desired.positions     = desired_state_.position;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:495:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->desired.velocities    = desired_state_.velocity;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:496:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->desired.accelerations = desired_state_.acceleration;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:497:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->actual.positions      = current_state_.position;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:498:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->actual.velocities     = current_state_.velocity;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:499:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->error.positions       = state_error_.position;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:500:22: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->preallocated_feedback_->error.velocities      = state_error_.velocity;
                      ^~~~~~~~~~~~~~~~~~~~~~
                      req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:501:52: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
     rt_active_goal_->setFeedback( rt_active_goal_->preallocated_feedback_ );
                                                    ^~~~~~~~~~~~~~~~~~~~~~
                                                    req_feedback_
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h: In member function ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle)’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:633:12: error: ‘class realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >’ has no member named ‘preallocated_feedback_’; did you mean ‘req_feedback_’?
   rt_goal->preallocated_feedback_->joint_names = joint_names_;
            ^~~~~~~~~~~~~~~~~~~~~~
            req_feedback_
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_harness.so
make[2]: *** [ros_controllers/gripper_action_controller/CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o] Error 1
ros_controllers/gripper_action_controller/CMakeFiles/gripper_action_controller.dir/build.make:62: recipe for target 'ros_controllers/gripper_action_controller/CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o' failed
CMakeFiles/Makefile2:62265: recipe for target 'ros_controllers/gripper_action_controller/CMakeFiles/gripper_action_controller.dir/all' failed
make[1]: *** [ros_controllers/gripper_action_controller/CMakeFiles/gripper_action_controller.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 88%] Linking CXX executable /root/catkin_ws/devel/lib/play_motion/pm_rrbot
[ 88%] Linking CXX executable /root/catkin_ws/devel/lib/joint_trajectory_controller/rrbot
[ 88%] Built target rrbot
[ 88%] Built target gazebo_ros_harness
[ 88%] Built target pm_rrbot
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PositionJointInterface; joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:302:53:   required from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PositionJointInterface]’
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:95:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::VelocityJointInterface; joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:302:53:   required from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::VelocityJointInterface]’
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:95:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::EffortJointInterface; joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:302:53:   required from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::EffortJointInterface]’
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:95:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PosVelJointInterface; joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:302:53:   required from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PosVelJointInterface]’
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:95:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h: In instantiation of ‘void joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::goalCB(joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PosVelAccJointInterface; joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]’:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:302:53:   required from ‘bool joint_trajectory_controller::JointTrajectoryController<SegmentImpl, HardwareInterface>::init(HardwareInterface*, ros::NodeHandle&, ros::NodeHandle&) [with SegmentImpl = trajectory_interface::QuinticSplineSegment<double>; HardwareInterface = hardware_interface::PosVelAccJointInterface]’
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:95:1:   required from here
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: error: ‘ResultPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:92: note: suggested alternative: ‘Result’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                   ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:66:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: error: ‘FeedbackPtr’ was not declared in this scope
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/realtime_tools/realtime_server_goal_handle.h:63:163: note: suggested alternative: ‘Feedback’
   RealtimeServerGoalHandle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                                                                                                        ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:255:0,
                 from /root/catkin_ws/src/ros_controllers/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/root/catkin_ws/src/ros_controllers/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:630:33: note:   when instantiating default argument for call to realtime_tools::RealtimeServerGoalHandle<Action>::RealtimeServerGoalHandle(realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle&, const int&, const int&) [with Action = control_msgs::FollowJointTrajectoryAction_<std::allocator<void> >; realtime_tools::RealtimeServerGoalHandle<Action>::GoalHandle = actionlib::ServerGoalHandle<control_msgs::FollowJointTrajectoryAction_<std::allocator<void> > >]
   RealtimeGoalHandlePtr rt_goal(new RealtimeGoalHandle(gh));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libed_localization_tf_plugin.so
[ 88%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_joint_trajectory.so
[ 88%] Built target ed_localization_tf_plugin
[ 89%] Linking CXX executable /root/catkin_ws/devel/lib/joint_trajectory_controller/rrbot_wrapping
[ 89%] Linking CXX executable /root/catkin_ws/devel/lib/diff_drive_controller/diffbot
[ 89%] Built target rrbot_wrapping
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libed_localization_plugin.so
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_bumper.so
[ 89%] Built target diffbot
[ 89%] Built target gazebo_ros_joint_trajectory
[ 89%] Built target ed_localization_plugin
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[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libfour_wheel_steering_controller.so
[ 89%] Building CXX object ros_control/transmission_interface/CMakeFiles/transmission_interface_loader_plugins.dir/src/effort_joint_interface_provider.cpp.o
[ 89%] Built target four_wheel_steering_controller
ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/build.make:62: recipe for target 'ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/src/joint_trajectory_controller.cpp.o' failed
make[2]: *** [ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/src/joint_trajectory_controller.cpp.o] Error 1
make[1]: *** [ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/all] Error 2
CMakeFiles/Makefile2:62731: recipe for target 'ros_controllers/joint_trajectory_controller/CMakeFiles/joint_trajectory_controller.dir/all' failed
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_joint_pose_trajectory.so
[ 89%] Built target gazebo_ros_joint_pose_trajectory
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libdiff_drive_controller.so
[ 89%] Built target diff_drive_controller
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/librviz_plugin_covariance.so
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libeband_local_planner.so
[ 89%] Built target eband_local_planner
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[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_joint_state_publisher.so
[ 89%] Built target gazebo_ros_joint_state_publisher
[ 89%] Linking CXX executable /root/catkin_ws/devel/lib/tiago_pcl_tutorial/detect_main_plane
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libtransmission_interface_loader_plugins.so
[ 89%] Built target transmission_interface_loader_plugins
[ 89%] Linking CXX executable /root/catkin_ws/devel/lib/tiago_pcl_tutorial/cylinder_detector
[ 89%] Built target detect_main_plane
[ 89%] Linking CXX executable /root/catkin_ws/devel/lib/tiago_pcl_tutorial/region_segment
[ 89%] Linking CXX shared library /root/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so
[ 89%] Built target cylinder_detector
[ 89%] Built target gazebo_ros_api_plugin
[ 89%] Built target region_segment
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
####
#### Running command: "cmake /root/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/root/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/root/catkin_ws/install -G Unix Makefiles" in "/root/catkin_ws/build"
####
####
#### Running command: "make -j40 -l40" in "/root/catkin_ws/build"
####
Invoking "make -j40 -l40" failed

Also I am able to successfully build the workspace when I remove the ros_controllers package. But that definitely is not the right solution to this problem.

v-lopez commented 4 years ago

I don't think it has to do with our repos. It looks like it's missing some definitions that were removed here: https://github.com/ros-controls/realtime_tools/commit/6e0e91ef34eb16b3aa95987d35ef65ee7060ea2b#diff-2ee9910bfa291e95139620de52b72eb9L52

pranav2481 commented 4 years ago

I'll look into it. Thank you.

pranav2481 commented 4 years ago

Looks like your fork of the ros-controllers package is in kinetic-devel. The original one has a melodic-devel which solves this problem. This is what they said when I raised an issue in realtime_tools page. But following the installation in another PC was working for me. I do not know why I have this problem in this PC.

saikishor commented 4 years ago

@Pranav24-8 I have tested building the tutorials in an updated melodic docker, and with catkin_make I am able to build my packages perfectly. Please find the compilation log here : https://pastebin.com/Bmm144Uu.

I have these following packages in my workspace:

play_motion
aruco_ros   
pmb2_navigation
backward_ros    
pmb2_robot
ddynamic_reconfigure_python
pmb2_simulation
dynamic_introspection
robot_pose
eband_local_planner
roboticsgroup_gazebo_plugins    
ros_control
gazebo_ros_pkgs 
ros_controllers
head_action 
rviz_plugin_covariance
hey5_description
humanoid_msgs
openslam_gmapping
pal_gazebo_plugins
simple_grasping_action
pal_gazebo_worlds
simple_models_robot
pal_gripper 
slam_gmapping
pal_hardware_gazebo
teleop_tools
pal_hardware_interfaces
tf_lookup
pal_msgs    
tiago_description_calibration
pal_navigation_cfg_public 
tiago_moveit_config
pal_navigation_sm
tiago_navigation
pal_python  
tiago_robot
pal_statistics  
tiago_simulation
pal_wsg_gripper 
tiago_tutorials

I have ros-melodic-realtime-tools(1.15.0-1bionic.20190809.155508) installed. Could you please clean your workspace and try rebuilding.

pranav2481 commented 4 years ago

Alright thank you. I will try and let you know about the results.

saikishor commented 4 years ago

@Pranav24-8 Sure. Keep us posted.

pranav2481 commented 4 years ago

@saikishor can you also please post your Dockerfile here? I am also having this problem only while I am building it in a docker image.

saikishor commented 4 years ago

@Pranav24-8 I used the official docker for testing osrf/ros:melodic-desktop-full. Please try using this.

pranav2481 commented 4 years ago

Alright thank you. Will try this.

pranav2481 commented 4 years ago

Installing an updated version of ros-melodic-desktop-full did the trick. Thank you for the help guys.