Building Problem

[marcingajewski14]

Hi,
I am begginer in ROS and it is important for me to use package Kuka LWR for my project. I am using ROS Melodic, Gazebo 9. I added package and before launching examples I wanted to build workspace using catkin build command. I've got these errors:

`marcin@marcin-VirtualBox:~/ws_moveit/src$ catkin build

Profile: default
Extending: [explicit] /opt/ros/melodic
Workspace: /home/marcin/ws_moveit

Build Space: [exists] /home/marcin/ws_moveit/build
Devel Space: [exists] /home/marcin/ws_moveit/devel
Install Space: [unused] /home/marcin/ws_moveit/install
Log Space: [exists] /home/marcin/ws_moveit/logs
Source Space: [exists] /home/marcin/ws_moveit/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: -DCMAKE_BUILD_TYPE=Release
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '52' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> fri_library_ros
Finished <<< fri_library_ros [ 0.3 seconds ]
Starting >>> geometric_shapes
Finished <<< geometric_shapes [ 0.3 seconds ]
Starting >>> lwr_console
Finished <<< lwr_console [ 0.2 seconds ]
Starting >>> lwr_description
Finished <<< lwr_description [ 0.2 seconds ]
Starting >>> lwr_hw

---

Errors << lwr_hw:make /home/marcin/ws_moveit/logs/lwr_hw/build.make.003.log
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp: In member function ‘void lwr_hw::LWRHW::registerJointLimits(const string&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const hardware_interface::JointHandle&, const urdf::Model*, double*, double*, double*, double*, double*)’:
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:245:83: error: conversion from ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’ to non-scalar type ‘const boost::shared_ptr’ requested
const boost::shared_ptr urdf_joint = urdf_model->getJoint(joint_name);
~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:246:93: error: conversion from ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’ to non-scalar type ‘const boost::shared_ptr’ requested
const boost::shared_ptr urdf_joint_sitffness = urdf_model->getJoint(joint_name + std::string("_stiffness"));
~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:250:70: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr&, joint_limits_interface::JointLimits&)’
if (joint_limits_interface::getJointLimits(urdf_joint, limits))
^
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)
inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:20:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)
inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:252:90: error: no matching function for call to ‘getJointLimits(const boost::shared_ptr&, joint_limits_interface::JointLimits&)’
if (joint_limits_interface::getJointLimits(urdf_joint_sitffness, limits_stiffness))
^
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate: bool joint_limits_interface::getJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::JointLimits&)
inline bool getJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:75:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:20:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: candidate: bool joint_limits_interface::getJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::JointLimits&)
inline bool getJointLimits(urdf::JointConstSharedPtr urdf_joint, JointLimits& limits)
^~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:48:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:254:79: error: no matching function for call to ‘getSoftJointLimits(const boost::shared_ptr&, joint_limits_interface::SoftJointLimits&)’
if (joint_limits_interface::getSoftJointLimits(urdf_joint, soft_limits))
^
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:19:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note: candidate: bool joint_limits_interface::getSoftJointLimits(const string&, const ros::NodeHandle&, joint_limits_interface::SoftJointLimits&)
inline bool getSoftJointLimits(const std::string& joint_name, const ros::NodeHandle& nh, SoftJointLimits& soft_limits)
^~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_rosparam.h:194:13: note: candidate expects 3 arguments, 2 provided
In file included from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/include/lwr_hw/lwr_hw.h:20:0,
from /home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:1:
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:84:13: note: candidate: bool joint_limits_interface::getSoftJointLimits(urdf::JointConstSharedPtr, joint_limits_interface::SoftJointLimits&)
inline bool getSoftJointLimits(urdf::JointConstSharedPtr urdf_joint, SoftJointLimits& soft_limits)
^~~~~~~~~~~~~~~~~~
/opt/ros/melodic/include/joint_limits_interface/joint_limits_urdf.h:84:13: note: no known conversion for argument 1 from ‘const boost::shared_ptr’ to ‘urdf::JointConstSharedPtr {aka std::shared_ptr}’
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp: In member function ‘virtual bool lwr_hw::LWRHW::canSwitch(const std::__cxx11::list<hardware_interface::ControllerInfo>&, const std::__cxx11::list<hardware_interface::ControllerInfo>&) const’:
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:412:15: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
if( it->hardware_interface.compare( std::string("hardware_interface::VelocityJointInterface") ) == 0 )
^~~~~~~~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:419:15: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
if( it->hardware_interface.compare( std::string("hardware_interface::PositionJointInterface") ) == 0 )
^~~~~~~~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:425:20: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
else if( it->hardware_interface.compare( std::string("hardware_interface::EffortJointInterface") ) == 0 )
^~~~~~~~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp: In member function ‘virtual void lwr_hw::LWRHW::doSwitch(const std::__cxx11::list<hardware_interface::ControllerInfo>&, const std::__cxx11::list<hardware_interface::ControllerInfo>&)’:
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:459:15: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
if( it->hardware_interface.compare( std::string("hardware_interface::PositionJointInterface") ) == 0 )
^~~~~~~~~~~~~~~~~~
/home/marcin/ws_moveit/src/kuka-lwr-ros/kuka_lwr/lwr_hw/src/lwr_hw.cpp:465:20: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
else if( it->hardware_interface.compare( std::string("hardware_interface::EffortJointInterface") ) == 0 )
^~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/lwr_hw.dir/src/lwr_hw.cpp.o] Error 1
make[1]: *** [CMakeFiles/lwr_hw.dir/all] Error 2
make: *** [all] Error 2
cd /home/marcin/ws_moveit/build/lwr_hw; catkin build --get-env lwr_hw | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
...............................................................................
Failed << lwr_hw:make [ Exited with code 2 ]
Failed <<< lwr_hw [ 5.2 seconds ]
Abandoned <<< lwr_launch [ Unrelated job failed ]
Abandoned <<< mani [ Unrelated job failed ]
Abandoned <<< moveit_msgs [ Unrelated job failed ]
Abandoned <<< moveit_resources [ Unrelated job failed ]
Abandoned <<< passive_ds_control [ Unrelated job failed ]
Abandoned <<< robot_motion_generation [ Unrelated job failed ]
Abandoned <<< rviz_visual_tools [ Unrelated job failed ]
Abandoned <<< srdfdom [ Unrelated job failed ]
Abandoned <<< lwr_fri [ Unrelated job failed ]
Abandoned <<< moveit_commander [ Unrelated job failed ]
Abandoned <<< panda_moveit_config [ Unrelated job failed ]
Abandoned <<< peg_lwr_launch [ Unrelated job failed ]
Abandoned <<< peg_lwr_robot [ Unrelated job failed ]
Abandoned <<< lwr_controllers [ Unrelated job failed ]
Abandoned <<< lwr_ros_interface [ Unrelated job failed ]
Abandoned <<< lwr_ros_client [ Unrelated job failed ]
Abandoned <<< lwr_simple_example [ Unrelated job failed ]
Abandoned <<< single_lwr_robot [ Unrelated job failed ]
Abandoned <<< single_lwr_moveit [ Unrelated job failed ]
Abandoned <<< moveit_core [ Unrelated job failed ]
Abandoned <<< chomp_motion_planner [ Unrelated job failed ]
Abandoned <<< moveit_chomp_optimizer_adapter [ Unrelated job failed ]
Abandoned <<< moveit_ros_occupancy_map_monitor [ Unrelated job failed ]
Abandoned <<< moveit_ros_perception [ Unrelated job failed ]
Abandoned <<< moveit_ros_planning [ Unrelated job failed ]
Abandoned <<< moveit_fake_controller_manager [ Unrelated job failed ]
Abandoned <<< moveit_kinematics [ Unrelated job failed ]
Abandoned <<< moveit_planners_ompl [ Unrelated job failed ]
Abandoned <<< moveit_ros_move_group [ Unrelated job failed ]
Abandoned <<< moveit_ros_manipulation [ Unrelated job failed ]
Abandoned <<< moveit_ros_robot_interaction [ Unrelated job failed ]
Abandoned <<< moveit_ros_warehouse [ Unrelated job failed ]
Abandoned <<< moveit_ros_benchmarks [ Unrelated job failed ]
Abandoned <<< moveit_ros_planning_interface [ Unrelated job failed ]
Abandoned <<< moveit_jog_arm [ Unrelated job failed ]
Abandoned <<< moveit_planners_chomp [ Unrelated job failed ]
Abandoned <<< moveit_ros_visualization [ Unrelated job failed ]
Abandoned <<< moveit_setup_assistant [ Unrelated job failed ]
Abandoned <<< moveit_simple_controller_manager [ Unrelated job failed ]
Abandoned <<< moveit_ros_control_interface [ Unrelated job failed ]
Abandoned <<< moveit_visual_tools [ Unrelated job failed ]
Abandoned <<< moveit_tutorials [ Unrelated job failed ]
[build] Summary: 4 of 47 packages succeeded.
[build] Ignored: 5 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 42 packages were abandoned.
[build] Failed: 1 packages failed.
[build] Runtime: 7.4 seconds total. `

I'll be really thankful, if someone can help me what the problem is.

[smhadisadati]

Hi. the package is for ROS Indigo Ubuntu 14.
You may use:

for ( std::list<hardware_interface::ControllerInfo>::const_iterator ci_it = start_list.begin(); ci_it != start_list.end(); ++ci_it ) {
for( std::vector<hardware_interface::InterfaceResources>::const_iterator it = ci_it->claimed_resources.begin(); it != ci_it->claimed_resources.end(); ++it) {
...
} }

instead of

for ( std::list<hardware_interface::ControllerInfo>::const_iterator it = start_list.begin(); it != start_list.end(); ++it ) {
...
}

Do the same for similar errors.

[smhadisadati]

Later you get more errors with FRI that I am working on at the moment. Better to run it on ROS Indigo Ubuntu 14 if you want no hassles. Alternatively, apparently the simulator works on ROS Kinetic Ubuntu 16 (what I have) if you remove all the unnecessary packages (working on it now).
Any luck on your side?