problems with trajectory_ makes the pkg not build-able by colcon in ROS2 humble (humble-devel)

[javichisco]

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:286:24: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
286 | if (!approach_plan.trajectory_.joint_trajectory.points.empty()) {
| ^~~~~~~~~~~
| trajectory

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:291:21: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
291 | if (approach_plan.trajectory_.joint_trajectory.points.empty()) {
| ^~~~~~~~~~~
| trajectory

ThirdParty/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:295:45: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
295 | return perform_motion(info, approach_plan.trajectory_.joint_trajectory);
| ^~~~~~~~~~~
| trajectory

gmake[2]: *** [CMakeFiles/play_motion2.dir/build.make:90: CMakeFiles/play_motion2.dir/src/play_motion2/motion_planner.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:165: CMakeFiles/play_motion2.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2

[saikishor]

@javichisco which MoveIt version are you using? Can you tell us which ROS Distro are you using?

[javichisco]

ROS2 Humble
Ubuntu 20.04

Using play_motion2 1.1.1
Updated the last week

I changed trajectory_ with trajectory in the mentioned lines... and I was able to build the pkg with colcon.. (286, 291, 295)... in the motion planner cpp file... but I am not sure about the results and the behavior will be the same.

[Noel215]

Hi @javichisco,

I've tested it in a fresh humble docker and a new workspace, but I cannot reproduce the issue.

Also, for further testing I've installed the ros-humble-tiago-simulation package and I've run the simulation with ros2 launch tiago_gazebo tiago_gazebo.launch.py, and everything is working for me.

The version of MoveIt 2 I'm using is the latest: 2.5.5.

Which version of MoveIt 2 are you using?

Also, note that the humble docker is an Ubuntu 22.04, not Ubuntu 20.04.

[javichisco]

okay, I will try again from an clean set up