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unitreerobotics / unitree_ros

BSD 3-Clause "New" or "Revised" License
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has no member named ‘eeForce’ #55

Open tcr1314 opened 1 year ago

tcr1314 commented 1 year ago

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; How to solve this problem?

tcr1314 commented 1 year ago

image

JonasFovea commented 1 year ago

Hi!

I think this video might help :)

xyq1223 commented 1 year ago

Hello,this is caused by the wrong version of unitree_legged_msgs. There are two solutions for this.

Method 1: You can choose to put the latest unitree_legged_msgs from the unitree_ros_to_real (v3.2.1） package under ~/catkin_ws/src and recompile it. https://github.com/unitreerobotics/unitree_ros_to_real/tree/v3.2.1

Method 2: Add the following statements to the unitree_legged_msgs/msg/LowState.msg file and recompile.

Cartesian[4] eeForceRaw Cartesian[4] eeForce #it's a 1-DOF force infact, but we use 3-DOF here just for visualization