I'm trying to set up hebiros following your Wiki, but I'm running into catkin_make issues during install. "smach_viewer" is not in your dependency list, so I wasn't sure what was going on here. Could there be an issue Noetic vs. Kinetic?
Make Error at /opt/ros/noetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "smach_viewer" with
any of the following names:
1. Comment out these two lines in CMakeLists.txt
2. Clone executive_smach_viewer inside /src/
At least the hebiros_node runs now. Either way results in the errors below.
Code: Select all
In member function ‘void HebirosGazeboPlugin::UpdateGroup(std::shared_ptr<HebirosGazeboGroup>, const ros::Duration&)’: /home/usmarobot0/hebi_ros_ws/src/hebiros/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp:68:32: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’ 68 | double position = joint->GetAngle(0).Radian(); | ^~~~~~~~ /home/usmarobot0/hebi_ros_ws/src/hebiros/hebiros_gazebo_plugin/plugin/hebiros_gazebo_plugin.cpp:71:39: error: ‘class gazebo::physics::Link’ has no member named ‘GetInitialRelativePose’; did you mean ‘SetInitialRelativePose’? 71 | auto trans = joint->GetChild()->GetInitialRelativePose().rot; | ^~~~~~~~~~~~~~~~~~~~~~ | SetInitialRelativePose make: *** [hebiros/hebiros_gazebo_plugin/CMakeFiles/hebiros_gazebo_plugin.dir/build.make:63: hebiros/hebiros_gazebo_plugin/CMakeFiles/hebiros_gazebo_plugin.dir/plugin/hebiros_gazebo_plugin.cpp.o] Error 1 make: *** [CMakeFiles/Makefile2:4367: hebiros/hebiros_gazebo_plugin/CMakeFiles/hebiros_gazebo_plugin.dir/all] Error 2 make: *** [Makefile:141: all] Error 2 Invoking "make -j8 -l8" failed
More broadly, we encourage users to switch over to our newer ROS API, which is documented at http://wiki.ros.org/hebi_cpp_api_examples. Is there a particular feature or need you have that keeps you on HEBIROS which is not met by the newer API?