Fails to compile under Jade due to changed controller_manager_msgs structure

[Barry Ridge]

Hi all,

I have been having trouble compiling MoveIt on Ubuntu 14.04 under ROS Jade. The compilation bugs out with the following error:

Linking CXX shared library /home/reconcell/moveit/deve/lib/libmoveit_controller_manager_example.so
[ 65%] Built target moveit_controller_manager_example
Scanning dependencies of target moveit_ros_control_interface_trajectory_plugin
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp: In member function ‘void moveit_ros_control_interface::MoveItControllerManager::allocate(const string&, const ControllerState&)’:
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:153:52: error: ‘const ControllerState’ has no member named ‘resources’
alloc_it->second->alloc(name, controller.resources); // allocate handle
^
[ 67%] /home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp: In member function ‘virtual void moveit_ros_control_interface::MoveItControllerManager::getControllerJoints(const string&, std::vectorstd::basic_string&)’:
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:244:27: error: ‘struct controller_manager_msgs::ControllerState_std::allocator’ has no member named ‘resources’
joints = it->second.resources;
^
Building CXX object moveit_plugins/moveit_ros_control_interface/CMakeFiles/moveit_ros_control_interface_trajectory_plugin.dir/src/joint_trajectory_controller_plugin.cpp.o
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp: In member function ‘virtual bool moveit_ros_control_interface::MoveItControllerManager::switchControllers(const std::vectorstd::basic_string&, const std::vectorstd::basic_string&)’:
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:286:61: error: ‘struct controller_manager_msgs::ControllerState_std::allocator’ has no member named ‘resources’
for (std::vectorstd::string::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
^
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:286:95: error: ‘struct controller_manager_msgs::ControllerState_std::allocator’ has no member named ‘resources’
for (std::vectorstd::string::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
^
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:311:63: error: ‘struct controller_manager_msgs::ControllerState_std::allocator’ has no member named ‘resources’
for (std::vectorstd::string::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
^
/home/reconcell/moveit/src/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp:311:97: error: ‘struct controller_manager_msgs::ControllerState_std::allocator’ has no member named ‘resources’
for (std::vectorstd::string::iterator r = c->second.resources.begin(); r != c->second.resources.end(); ++r)
^

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

[Dave Coleman]

Please try my fix (that's been an open PR for 2 months):
moveit/moveit_plugins#15

[Barry Ridge]

@davetcoleman Thanks for the response. I may not get a chance to test this, since we've reverted to Indigo on the boxes we're using here, but if I do, I'll post back here.

[Thomqa]

This should be fixed right now. It does compile on Jade. Thanks @davetcoleman !

[Dave Coleman]

I merged it yesterday.