Fails to compile under Jade due to changed controller_manager_msgs structure

[Josque]

To quote this website. I think I have the same problem.

I did a little more investigating and it would seem that the structure of controller_manager_msgs has changed between Indigo and Jade, such that ControllerState.msg has gone from this:
string name
string state
string type
string hardware_interface
string[] resources

to this:

string name
string state
string type
controller_manager_msgs/HardwareInterfaceResources[] claimed_resources

where HardwareInterfaceResources.msg now contains the resources field:

/# Type of hardware interface
string hardware_interface
/# List of resources belonging to the hardware interface
string[] resources

I will revert back to Indigo for now and will try building MoveIt from there, but I hope the above might be helpful for developing the Jade release. I would try to fix it myself, but I'm not familiar enough with the codebase and don't have the time right now.

Cheers,
Barry

Can you change this?

I hope that fixes this error:

/home/user/Projects/ROS/Training/src/ur_modern_driver/src/ur_hardware_interface.cpp:180:22: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’
        if (controller_it->hardware_interface == "hardware_interface::VelocityJointInterface")

[Josque]

Here is the complete error message:
ur_modern_driver/src/ur_hardware_interface.cpp:180:22: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’ if (controller_it->hardware_interface == "hardware_interface::VelocityJointInterface") { ^ In file included from /opt/ros/jade/include/hardware_interface/internal/resource_manager.h:40:0, from /opt/ros/jade/include/hardware_interface/internal/hardware_resource_manager.h:36, from /opt/ros/jade/include/hardware_interface/joint_state_interface.h:33, from /home/user/Projects/ROS/Training/src/ur_modern_driver/include/ur_modern_driver/ur_hardware_interface.h:61, from /home/user/Projects/ROS/Training/src/ur_modern_driver/src/ur_hardware_interface.cpp:58: /home/user/Projects/ROS/Training/src/ur_modern_driver/src/ur_hardware_interface.cpp:185:22: error: ‘const struct hardware_interface::ControllerInfo’ has no member named ‘hardware_interface’ controller_it->hardware_interface.c_str()); ^

[Josque]

the problem is that hardware_interface.h defers in jade and indigo.
this is the file in Indigo:

#ifndef HARDWARE_INTERFACE_CONTROLLER_INFO_H
#define HARDWARE_INTERFACE_CONTROLLER_INFO_H

#include
#include

namespace hardware_interface
{

/** \brief Controller Information

• This struct contains information about a given controller.
  */
  struct ControllerInfo
  {
  std::string name, type, hardware_interface;
  std::setstd::string resources;
  };

}

#endif

and this is the code in Jade:

#ifndef HARDWARE_INTERFACE_CONTROLLER_INFO_H
#define HARDWARE_INTERFACE_CONTROLLER_INFO_H

#include
#include

#include <hardware_interface/interface_resources.h>

namespace hardware_interface
{

/** \brief Controller Information
*

• This struct contains information about a given controller.

/
struct ControllerInfo
{
/* Controller name. */
std::string name;

/** Controller type. */
std::string type;

/** Claimed resources, grouped by the hardware interface they belong to. */
std::vector claimed_resources;
};

}

#endif

As you can see the indigo headerfile uses a string for the name, type and hardware_interface where the Jade headerfile uses a vector.
I dont know what the best solution is how to fix this issue.

[daveying]

Same problem!!

[Josque]

@ThomasTimm Do you have a solution to this?

[ThomasTimm]

At the moment, nothing except suggesting not to use Jade... If that is not an option, I'll be happy to see pull requests from the community to solve the problem.

[BenBlumer]

See solution here: #58 (in particular Carlos' later post).

[gavanderhoorn]

As Jade is EOL, closing this.

The problems with Kinetic are known, and tracked in issues such as #58 mentioned by @BenBlumer.

[gavanderhoorn]

Not ignoring the build issues @Josque, but tracking it in a different issue.