Build error

[ruslan98m]

Errors << unitree_controller:make /workspace/logs/unitree_controller/build.make.005.log
/workspace/src/unitree_ros/unitree_controller/src/servo.cpp: In member function 'void multiThread::FRfootCallback(const WrenchStamped&)': /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:170:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[0].x = msg.wrench.force.x; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:171:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[0].y = msg.wrench.force.y; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:172:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[0].z = msg.wrench.force.z; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp: In member function 'void multiThread::FLfootCallback(const WrenchStamped&)': /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:178:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[1].x = msg.wrench.force.x; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:179:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[1].y = msg.wrench.force.y; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:180:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[1].z = msg.wrench.force.z; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp: In member function 'void multiThread::RRfootCallback(const WrenchStamped&)': /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:186:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[2].x = msg.wrench.force.x; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:187:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[2].y = msg.wrench.force.y; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:188:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[2].z = msg.wrench.force.z; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp: In member function 'void multiThread::RLfootCallback(const WrenchStamped&)': /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:194:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[3].x = msg.wrench.force.x; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:195:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[3].y = msg.wrench.force.y; ^~~ footForce /workspace/src/unitree_ros/unitree_controller/src/servo.cpp:196:18: error: 'unitree_legged_msgs::LowState {aka struct unitree_leggedmsgs::LowState<std::allocator >}' has no member named 'eeForce'; did you mean 'footForce'? lowState.eeForce[3].z = msg.wrench.force.z; ^~~ footForce make[2]: [CMakeFiles/unitree_servo.dir/src/servo.cpp.o] Error 1 make[1]: [CMakeFiles/unitree_servo.dir/all] Error 2 make: *** [all] Error 2 cd /workspace/build/unitree_controller; catkin build --get-env unitree_controller | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
.................................................................. Failed << unitree_controller:make [ Exited with code 2 ]
Failed <<< unitree_controller [ 6.8 seconds ] [build] Summary: 6 of 7 packages succeeded.
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: 1 packages failed.
[build] Runtime: 7.2 seconds total.

[andrewhstovell]

Commit: 1ad059e38dcaba37cd3f4a6600727e8f789be658 on the 24th May saw the Cartesian eeForce get removed from unitree_legged_msgs::LowState. However its references clearly weren't checked.

Is the eeForce needed or not?

[andrewhstovell]

@Ruslan2288 check out my responses to #53