error while trying to install

[ilariagi]

following the installation guide, on a virtual machine with ubuntu 18.04.6 and ros melodic rosdep install --from-paths src --ignore-src --rosdistro melodic

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies: ur_modern_driver: Cannot locate rosdep definition for [ur_description]

[fmauch]

First of all the obligatory question: Are you sure you want to use this driver? The answer to this should only be yes, if you have a CB1 or CB2 robot as stated in the README. If you have a CB3 or e-series robot, please use the ur_robot_driver.

That being said, currently it is required to build ur_description from source, please checkout the universal_robot repo on the melodic-devel branch. A binary release will be available very soon.

Please also note, that the launchfile to load the description has changed, so the launchfile's name will have to be changed ,e.g. to load_ur5.launch in this line:

https://github.com/ros-industrial/ur_modern_driver/blob/066716ed6a10eb0d9211f5bc5e32d65c7afce878/launch/ur5_ros_control.launch#L18

[ilariagi]

Yes, we have to use a ur5 cb2 with polyscope v1.8.x.

Thank you

[ilariagi]

I checked out the universal_robot repo on the correct branch, and I can build it alone successfully, but when I try to build the workspace including also ur_modern_driver it fails in ros_main.cpp.o

/home/ilaria/ros_workspace/src/ur_modern_driver/include/ur_modern_driver/ros/io_service.h: In member function ‘bool IOService::setPayload(ur_msgs::SetPayloadRequest&, ur_msgs::SetPayloadResponse&)’: /home/ilaria/ros_workspace/src/ur_modern_driver/include/ur_modern_driver/ros/io_service.h:69:54: error: ‘ur_msgs::SetPayloadRequest {aka struct urmsgs::SetPayloadRequest<std::allocator >}’ has no member named ‘payload’ return (resp.success = commander_.setPayload(req.payload)); ^~~ ur_modern_driver/CMakeFiles/ur_driver.dir/build.make:422: recipe for target 'ur_modern_driver/CMakeFiles/ur_driver.dir/src/ros_main.cpp.o' failed make[2]: [ur_modern_driver/CMakeFiles/ur_driver.dir/src/ros_main.cpp.o] Error 1 CMakeFiles/Makefile2:5865: recipe for target 'ur_modern_driver/CMakeFiles/ur_driver.dir/all' failed make[1]: [ur_modern_driver/CMakeFiles/ur_driver.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2

[fmauch]

Changing this line https://github.com/ros-industrial/ur_modern_driver/blob/0331cbf8452e95bd1921449523468ed6fb97f3dd/include/ur_modern_driver/ros/io_service.h#L69

to

    return (resp.success = commander_.setPayload(req.mass));

should make it compile. Since I don't have access to a CB2 anymore, could you please test this @ilariagi?