webots_ros2_control build failures on Rolling AMD64

[nuclearsandwich]

Describe the Bug

webots_ros2_driver does not currently build on Ubuntu Jammy AMD64

The following additional packages are blocked by this failure

• webots_ros2
• webots_ros2_epuck
• webots_ros2_tiago
• webots_ros2_turtlebot
• webots_ros2_universal_robot

Links to failing builds

• https://build.ros2.org/view/Rbin_uJ64/job/Rbin_uJ64__webots_ros2_control__ubuntu_jammy_amd64__binary/78/

Build log excerpt

00:03:14.406 /usr/lib/ccache/c++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_fastrtps_cpp -DPLUGINLIB__DISABLE_BOOST_FUNCTIONS -DRCUTILS_ENABLE_FAULT_INJECTION -DROLLING -Dwebots_ros2_control_EXPORTS -I/tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0/include -I/opt/ros/rolling/include -I/opt/ros/rolling/include/rclcpp_lifecycle -I/opt/ros/rolling/include/webots/c -I/opt/ros/rolling/include/webots/cpp -I/opt/ros/rolling/include/tf2_geometry_msgs -isystem /opt/ros/rolling/include/pluginlib -isystem /opt/ros/rolling/include/rclcpp -isystem /opt/ros/rolling/include/control_msgs -isystem /opt/ros/rolling/include/lifecycle_msgs -isystem /opt/ros/rolling/include/rcpputils -isystem /opt/ros/rolling/include/rcutils -isystem /opt/ros/rolling/include/ament_index_cpp -isystem /opt/ros/rolling/include/sensor_msgs -isystem /opt/ros/rolling/include/controller_manager_msgs -isystem /opt/ros/rolling/include/diagnostic_msgs -isystem /opt/ros/rolling/include/std_msgs -isystem /opt/ros/rolling/include/rclcpp_action -isystem /opt/ros/rolling/include/tf2_ros -isystem /opt/ros/rolling/include/vision_msgs -isystem /opt/ros/rolling/include/webots_ros2_msgs -isystem /opt/ros/rolling/include/class_loader -isystem /opt/ros/rolling/include/libstatistics_collector -isystem /opt/ros/rolling/include/builtin_interfaces -isystem /opt/ros/rolling/include/rosidl_runtime_c -isystem /opt/ros/rolling/include/rosidl_typesupport_interface -isystem /opt/ros/rolling/include/fastcdr -isystem /opt/ros/rolling/include/rosidl_runtime_cpp -isystem /opt/ros/rolling/include/rosidl_typesupport_fastrtps_cpp -isystem /opt/ros/rolling/include/rmw -isystem /opt/ros/rolling/include/rosidl_typesupport_fastrtps_c -isystem /opt/ros/rolling/include/rosidl_typesupport_introspection_c -isystem /opt/ros/rolling/include/rosidl_typesupport_introspection_cpp -isystem /opt/ros/rolling/include/rcl -isystem /opt/ros/rolling/include/rcl_interfaces -isystem /opt/ros/rolling/include/rcl_logging_interface -isystem /opt/ros/rolling/include/rcl_yaml_param_parser -isystem /opt/ros/rolling/include/libyaml_vendor -isystem /opt/ros/rolling/include/tracetools -isystem /opt/ros/rolling/include/statistics_msgs -isystem /opt/ros/rolling/include/rosgraph_msgs -isystem /opt/ros/rolling/include/rosidl_typesupport_cpp -isystem /opt/ros/rolling/include/rosidl_typesupport_c -isystem /opt/ros/rolling/include/trajectory_msgs -isystem /opt/ros/rolling/include/geometry_msgs -isystem /opt/ros/rolling/include/action_msgs -isystem /opt/ros/rolling/include/unique_identifier_msgs -isystem /opt/ros/rolling/include/rcl_lifecycle -isystem /opt/ros/rolling/include/rcl_action -isystem /usr/include/eigen3 -isystem /opt/ros/rolling/include/message_filters -isystem /opt/ros/rolling/include/tf2 -isystem /opt/ros/rolling/include/tf2_msgs -g -O2 -ffile-prefix-map=/tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0=. -flto=auto -ffat-lto-objects -flto=auto -ffat-lto-objects -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC -Wall -Wextra -Wpedantic -MD -MT CMakeFiles/webots_ros2_control.dir/src/Ros2Control.cpp.o -MF CMakeFiles/webots_ros2_control.dir/src/Ros2Control.cpp.o.d -o CMakeFiles/webots_ros2_control.dir/src/Ros2Control.cpp.o -c /tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0/src/Ros2Control.cpp
00:03:14.406 make[4]: Leaving directory '/tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0/.obj-x86_64-linux-gnu'
00:03:21.263 /tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0/src/Ros2Control.cpp: In member function ‘virtual void webots_ros2_control::Ros2Control::init(webots_ros2_driver::WebotsNode*, std::unordered_map<std::__cxx11::basic_string<char>, std::__cxx11::basic_string<char> >&)’:
00:03:21.263 /tmp/binarydeb/ros-rolling-webots-ros2-control-2023.0.0/src/Ros2Control.cpp:98:59: error: ‘__gnu_cxx::__alloc_traits<std::allocator<hardware_interface::HardwareInfo>, hardware_interface::HardwareInfo>::value_type’ {aka ‘struct hardware_interface::HardwareInfo’} has no member named ‘hardware_class_type’
00:03:21.263    98 |       const std::string hardwareType = controlHardware[i].hardware_class_type;
00:03:21.263       |                                                           ^~~~~~~~~~~~~~~~~~~

System

• Operating System: Ubuntu 22.04 (Jammy)
• Graphics Card: N/A

[ad-daniel]

Hi @nuclearsandwich, the following PR #584 proposes a fix that would address the issue as far as ci_industrial is concerned. However I'm not certain it would work also in the buildfarm as well. If I understood correctly, the problem you mention appears in the process of synchronizing Rolling testing into main, correct?

If that's the case, the proposed fix wouldn't work. To make it work we would need to temporarily break our package (for the currently available version of rolling main), with the knowledge that it would work in the buildfarm and accordingly after the sync takes place. Unless there is a better approach of course