follow_joint_trajectory.hpp: No such file or directory

[fujitatomoya]

i was trying to give it a shot, but facing build problem here,
using docker image ubuntu16.04 / ROS melodic&crystal.

--- stderr: action_bridge
/root/ros2_intro_colcon/src/action_bridge/src/action_bridge_follow_joint_trajectory.cpp:28:10: fatal error: control_msgs/action/follow_joint_trajectory.hpp: No such file or directory
 #include "control_msgs/action/follow_joint_trajectory.hpp"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/action_bridge_follow_joint_trajectory_node.dir/src/action_bridge_follow_joint_trajectory.cpp.o] Error 1
make[1]: *** [CMakeFiles/action_bridge_follow_joint_trajectory_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< action_bridge      [ Exited with code 2 ]

confirmed control-msgs packages are installed on host for melodic and crystal.

~/ros2_intro_colcon# dpkg -l | grep control_msgs
ii  ros-crystal-control-msgs                           2.1.0-0bionic.20190402.205335        amd64        control_msgs contains base messages and actions useful for controlling robots.
ii  ros-melodic-control-msgs                           1.5.0-0bionic.20190319.071503        amd64        control_msgs contains base messages and actions useful for controlling robots.

[hsd-dev]

You will have to clone control_msgs in your ROS2 workspace as mentioned in the README. There is a dependency missing in the binaries.

[fujitatomoya]

still having the same problem,

root@5aa526d14948:~/ros2_intro_colcon# cd src/control_msgs/
root@5aa526d14948:~/ros2_intro_colcon/src/control_msgs# git branch
* crystal-devel
root@5aa526d14948:~/ros2_intro_colcon/src/control_msgs# cd -
/root/ros2_intro_colcon
root@5aa526d14948:~/ros2_intro_colcon# colcon build
...<snip>
--- stderr: action_bridge
/root/ros2_intro_colcon/src/action_bridge/src/action_bridge_follow_joint_trajectory.cpp:28:10: fatal error: control_msgs/action/follow_joint_trajectory.hpp: No such file or directory
 #include "control_msgs/action/follow_joint_trajectory.hpp"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/action_bridge_follow_joint_trajectory_node.dir/src/action_bridge_follow_joint_trajectory.cpp.o] Error 1
make[1]: *** [CMakeFiles/action_bridge_follow_joint_trajectory_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< action_bridge      [ Exited with code 2 ]

actually follow_joint_trajectory.hpp is successfully compiled as followings,

root@5aa526d14948:~/ros2_intro_colcon# find . -type f -name follow_joint_trajectory.hpp
./install/control_msgs/include/control_msgs/action/follow_joint_trajectory.hpp
./build/control_msgs/rosidl_generator_cpp/control_msgs/action/follow_joint_trajectory.hpp

not sure if this is cz of my environment or not.

[hsd-dev]

You can use this Dockerfile to build the package:

from osrf/ros:crystal-ros1-bridge

RUN apt-get update && apt-get install --no-install-recommends -y \
    git \
    python3-colcon-common-extensions 

RUN apt-get install -y ros-melodic-actionlib \
                       ros-melodic-actionlib-tutorials \
                       ros-melodic-control-msgs \
                       ros-melodic-roscpp \
                       ros-crystal-control-msgs \
                       ros-crystal-example-interfaces \
                       ros-crystal-rclcpp \
                       ros-crystal-rclcpp-action \
                       && rm -rf /var/lib/apt/lists/*

RUN mkdir -p /bridge_ws/src/ && cd /bridge_ws/src/ \
    && git clone https://github.com/ipa-hsd/action_bridge.git \
    && git clone -b crystal-devel https://github.com/ros-controls/control_msgs.git \
    && cd /bridge_ws \ 
    && . /opt/ros/melodic/setup.sh \
    && . /opt/ros/crystal/setup.sh \
    && colcon build

[hsd-dev]

I will close this for now. If you still face any issues, you can reopen it.

[fujitatomoya]

confirmed it works, just in case.