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Generic robotic controllers to accompany ros_control
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Building against the latest version of actionlib in Melodic fails #352

Open clalancette opened 6 years ago

clalancette commented 6 years ago

This is mostly a place to work with @bmagyar about the current problems between actionlib, ros_controllers, and realtime_tools.

Background

In the leadup to Melodic, we ended up adding additional typedefs to actionlib to support ros_controllers: https://github.com/ros/actionlib/commit/506541aa5f0d23079f13f29cc8afa8f3e68fa7f0 . However, it turned out that that caused build problems, so we quickly reverted that. As it stands today, the versions in melodic of the packages involved here are:

Current status

To try and move forward with this, I made a workspace containing actionlib, ros_controllers, and realtime_tools, and put them all on the latest code (indigo-devel for actionlib, melodic-devel for ros_controllers and realtime_tools). When trying to build this workspace, I see the following error:

==> make -j1 in '/home/ubuntu/ros_ws/build_isolated/gripper_action_controller'
[  0%] Built target gripper_action_controller_xacro_generated_to_devel_space_
Scanning dependencies of target gripper_action_controller
[ 50%] Building CXX object CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o
In file included from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/ubuntu/ros_ws/install_isolated/include/realtime_tools/realtime_server_goal_handle.h:50:35: error: redeclaration of ‘typedef class std::shared_ptr<typename Action::_action_result_type::_result_type> realtime_tools::RealtimeServerGoalHandle<Action>::ResultPtr’
   typedef std::shared_ptr<Result> ResultPtr;
                                   ^~~~~~~~~
In file included from /home/ubuntu/ros_ws/install_isolated/include/actionlib/server/action_server.h:49:0,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:53,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/ubuntu/ros_ws/install_isolated/include/actionlib/action_definition.h:58:37: note: previous declaration ‘typedef class boost::shared_ptr<typename ActionSpec::_action_result_type::_result_type> realtime_tools::RealtimeServerGoalHandle<Action>::ResultPtr’
   typedef boost::shared_ptr<Result> ResultPtr; \
                                     ^
/home/ubuntu/ros_ws/install_isolated/include/actionlib/action_definition.h:58:37: note: in definition of macro ‘ACTION_DEFINITION’
   typedef boost::shared_ptr<Result> ResultPtr; \
                                     ^~~~~~~~~
In file included from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:56:0,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/ubuntu/ros_ws/install_isolated/include/realtime_tools/realtime_server_goal_handle.h:51:37: error: redeclaration of ‘typedef class std::shared_ptr<typename Action::_action_feedback_type::_feedback_type> realtime_tools::RealtimeServerGoalHandle<Action>::FeedbackPtr’
   typedef std::shared_ptr<Feedback> FeedbackPtr;
                                     ^~~~~~~~~~~
In file included from /home/ubuntu/ros_ws/install_isolated/include/actionlib/server/action_server.h:49:0,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:53,
                 from /home/ubuntu/ros_ws/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/ubuntu/ros_ws/install_isolated/include/actionlib/action_definition.h:63:39: note: previous declaration ‘typedef class boost::shared_ptr<typename ActionSpec::_action_feedback_type::_feedback_type> realtime_tools::RealtimeServerGoalHandle<Action>::FeedbackPtr’
   typedef boost::shared_ptr<Feedback> FeedbackPtr;
                                       ^
/home/ubuntu/ros_ws/install_isolated/include/actionlib/action_definition.h:63:39: note: in definition of macro ‘ACTION_DEFINITION’
   typedef boost::shared_ptr<Feedback> FeedbackPtr;
                                       ^~~~~~~~~~~
CMakeFiles/gripper_action_controller.dir/build.make:62: recipe for target 'CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o' failed
make[2]: *** [CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o] Error 1
CMakeFiles/Makefile2:1576: recipe for target 'CMakeFiles/gripper_action_controller.dir/all' failed
make[1]: *** [CMakeFiles/gripper_action_controller.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'gripper_action_controller': 
  Command '['/home/ubuntu/ros_ws/install_isolated/env.sh', 'make', '-j1']' returned non-zero exit status 2

I don't currently have time to look into this, but I think we should get it fixed. @bmagyar , do you happen to have some time to look at this and try to resolve it? Thanks.

mathias-luedtke commented 6 years ago

I would suggest to trigger a coordinated release with actionlib including the pointer types and realtime_tools without these extra types (https://github.com/ros-controls/realtime_tools/pull/27), within the same sync window.

bmagyar commented 6 years ago

Hi @clalancette, Thanks for chasing us up. How is the build now? :)

clalancette commented 6 years ago

@ipa-mdl Absolutely, otherwise I think they are going to fail.

@bmagyar Thanks for the fix, it seems to compile for me now in a local workspace. In the past when I tried to fix it by just removing the duplicate pointer types, things still didn't work for me, but I don't have the notes to see why that was. I'm running a prerelease right now just to confirm that this is OK; I'll comment here again when it is finished. Assuming all goes well, then a new release of ros_controllers and realtime_tools would be in order, at which point we can bump actionlib back to the latest and merge those two. Sound like a plan?

bmagyar commented 6 years ago

Absolutely! I've actually done the same tests prior to my first PR to actonlib, I don't remember having to add other changes.

On Wed, 20 Jun 2018 at 22:40, Chris Lalancette notifications@github.com wrote:

@ipa-mdl https://github.com/ipa-mdl Absolutely, otherwise I think they are going to fail.

@bmagyar https://github.com/bmagyar Thanks for the fix, it seems to compile for me now in a local workspace. In the past when I tried to fix it by just removing the duplicate pointer types, things still didn't work for me, but I don't have the notes to see why that was. I'm running a prerelease right now just to confirm that this is OK; I'll comment here again when it is finished. Assuming all goes well, then a new release of ros_controllers and realtime_tools would be in order, at which point we can bump actionlib back to the latest and merge those two. Sound like a plan?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ros-controls/ros_controllers/issues/352#issuecomment-398906495, or mute the thread https://github.com/notifications/unsubscribe-auth/ADXH4Z41aU2sorLmWgkP9vuikkdMqq2Qks5t-sFBgaJpZM4UvnWU .

sloretz commented 5 years ago

I think this can be fixed in melodic. The downstream typedefs are identical in https://github.com/ros-controls/realtime_tools/commit/b5c6cc9383a6855e33040e6d41bddcdc7b89282c which is released into melodic. The compiler error in the original report should be gone since "Once declared, a typedef-name may only be redeclared to refer to the same type again".

  1. Create melodic-devel branch in ros/actionlib
  2. Revert ros/actionlib#113
  3. Release actionlib into melodic from melodic-devel branch (this issue is fixed at this point)
  4. Resubmit ros-controls/realtime_tools#27 since the typedefs are defined upstream
  5. Release realtime_tools into melodic.
bmagyar commented 5 years ago

I too think it is fixable, at that time we tried rolling it out I think it was causing a few regressions from packages also defining these aliases. It may also potentially trigger massive rebuilds.

On Tue, 28 May 2019, 18:47 Shane Loretz, notifications@github.com wrote:

I think this can be fixed in melodic. The downstream typedefs are identical in ros-controls/realtime_tools@b5c6cc9 https://github.com/ros-controls/realtime_tools/commit/b5c6cc9383a6855e33040e6d41bddcdc7b89282c which is released into melodic https://github.com/ros/rosdistro/blob/680852343e8daf674034b35f3f8f23f37704c6d6/melodic/distribution.yaml#L5505. The compiler error in the original report should be gone since "Once declared, a typedef-name may only be redeclared to refer to the same type again" https://en.cppreference.com/w/cpp/language/typedef.

  1. Create melodic-devel branch in ros/actionlib
  2. Revert ros/actionlib#113 https://github.com/ros/actionlib/pull/113
  3. Release actionlib into melodic from melodic-devel branch (this issue is fixed at this point)
  4. Resubmit ros-controls/realtime_tools#27 https://github.com/ros-controls/realtime_tools/pull/27 since the typedefs are defined upstream
  5. Release realtime_tools into melodic.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/ros-controls/ros_controllers/issues/352?email_source=notifications&email_token=AA24PYJPY5JSDLUDVSGFL4TPXVVZVA5CNFSM4FF6OWKKYY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGODWM46YA#issuecomment-496619360, or mute the thread https://github.com/notifications/unsubscribe-auth/AA24PYIIXNSPQFD2SXPSE6DPXVVZVANCNFSM4FF6OWKA .

jhbruhn commented 4 years ago

How is the state of this issue? I currently have the problem described and cannot access older versions of actionlib easily.

mathias-luedtke commented 4 years ago

How is the state of this issue?

I think this issue is already is already solved and can be closed.

I currently have the problem described and cannot access older versions of actionlib easily.

Our CI jobs don't indicate any problem. Which versions of actionlib and ros_control are you using?

jhbruhn commented 4 years ago

I am trying to compile joint_trajectory_controller 0.15.0 using actionlib 1.12.0. I am also having the same problem with gripper_action_controller 0.15.0.

ewillsbae commented 4 years ago

I am also still experiencing an issue with this. Everything is on the proper branch (melodic-devel) but catkin_make keeps yielding the following errors (in all painful completion):

==> Building with env: '/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/devel_isolated/ackermann_steering_controller/env.sh'
Makefile exists, skipping explicit cmake invocation...
==> make cmake_check_build_system in '/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/build_isolated/gripper_action_controller'
==> make -j8 -l8 in '/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/build_isolated/gripper_action_controller'
[  0%] Built target gripper_action_controller_xacro_generated_to_devel_space_
[ 50%] Building CXX object CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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’?
 st ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                                     ^~~~~~~~~~~
                                                                                                                   Feedback
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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 /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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> > >]’:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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]’
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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
 dle(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’
 dle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                            ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:155:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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 /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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
 esult*)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’
 esult*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                          ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:155:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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 /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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> > >]’:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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]’
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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
 dle(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’
 dle(GoalHandle &gh, const ResultPtr &preallocated_result = ResultPtr((Result*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                            ~~~~~~~~~^~~~~~~~~~~~~~~
                                                                                   Result
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:155:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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 /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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
 esult*)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’
 esult*)NULL), const FeedbackPtr &preallocated_feedback = FeedbackPtr((Feedback*)NULL))
                                                          ~~~~~~~~~~~^~~~~~~~~~~~~~~~~
                                                                                                                                                        Feedback
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:155:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/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));
                                 ^~~~~~~~~~~~~~~~~~~~~~~~~~
CMakeFiles/gripper_action_controller.dir/build.make:62: recipe for target 'CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o' failed
make[2]: *** [CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o] Error 1
CMakeFiles/Makefile2:1576: recipe for target 'CMakeFiles/gripper_action_controller.dir/all' failed
make[1]: *** [CMakeFiles/gripper_action_controller.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
<== Failed to process package 'gripper_action_controller': 
  Command '['/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/devel_isolated/ackermann_steering_controller/env.sh', 'make', '-j8', '-l8']' returned non-zero exit status 2.

Reproduce this error by running:
==> cd /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/build_isolated/gripper_action_controller && /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3/devel_isolated/ackermann_steering_controller/env.sh make -j8 -l8

Command failed, exiting.
bmagyar commented 4 years ago

realtime_tools has the fix for this which should propagate to ros_controllers, otherwise we would see issues on travis and the ROS buildfarm. Don't worry, the problem is only with your setup :) Please read the error messages more carefully, it clearly tells you that realtime_tools is at fault and I suspect you all have an old version of it.

ewillsbae commented 4 years ago

I'm on the branch origin/melodic-devel for realtime_tools and using the latest version of it. I agree it is probably my set up, but it's not an old version of realtime_tools, which is why I came here. It seemed the closest related error - I'm happy to be directed elsewhere.

bmagyar commented 4 years ago

Your build is not using the local checkout of realtime_tools, but the system one.

/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 preallocatedresult; // Preallocated so it can be used in realtime ^~~~~ Result

ewillsbae commented 4 years ago

Now the realtime tools is being sourced from the local build, and I still see the same error.

[  0%] Built target gripper_action_controller_xacro_generated_to_devel_space_
[ 50%] Building CXX object CMakeFiles/gripper_action_controller.dir/src/gripper_action_controller.cpp.o
In file included from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3_copy/src/ros_controllers/gripper_action_controller/include/gripper_action_controller/gripper_action_controller.h:52:0,
                 from /home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3_copy/src/ros_controllers/gripper_action_controller/src/gripper_action_controller.cpp:34:
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3_copy/src/realtime_tools/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
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3_copy/src/realtime_tools/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
/home/CYBERNET/ewills/gazebo_sims/alexnet_demo_py3_copy/src/realtime_tools/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

And it is saying I'm on the latest branch of melodic, still:

(vcaml_py3) ewills@gazebo-laptop:~/gazebo_sims/alexnet_demo_py3_copy/src/realtime_tools$ git status
On branch melodic-devel
Your branch is up to date with 'origin/melodic-devel'.

nothing to commit, working tree clean
ewillsbae commented 4 years ago

In case this helps anyone else- it turns out that git clone of actionlib automatically goes to the branch indigo-devel no matter what you click on/go through. Switching to the melodic branch automatically fixes the issue.