open_manipulator_x_controller build issue - colcon fails to build packge

[ajaysonar]

Hello,

I am trying to setup Openmanipulator-X (Ubuntu 22.04 + ROS2 Humble). While following the instruction on,
https://emanual.robotis.com/docs/en/platform/openmanipulator_x/quick_start_guide/#install-ubuntu-on-pc

after executing, colcon build --symlink-install, I get the following error...

Starting >>> open_manipulator_x_controller
--- stderr: open_manipulator_x_controller
/home/ros2desk/colcon_ws/src/open_manipulator/open_manipulator_x_controller/src/open_manipulator_x_controller.cpp: In member function ‘void open_manipulator_x_controller::OpenManipulatorXController::init_parameters()’:
/home/ros2desk/colcon_ws/src/open_manipulator/open_manipulator_x_controller/src/open_manipulator_x_controller.cpp:66:26: error: no matching function for call to ‘open_manipulator_x_controller::OpenManipulatorXController::declare_parameter(const char [4])’
66 | this->declare_parameter("sim");
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~

AND...

/home/ros2desk/colcon_ws/src/open_manipulator/open_manipulator_x_controller/src/open_manipulator_x_controller.cpp:67:26: error: no matching function for call to ‘open_manipulator_x_controller::OpenManipulatorXController::declare_parameter(const char [15])’
67 | this->declare_parameter("control_period");
| ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~

All I could tell was it has something to do with the "sim" and "control_period" parameters. Any feedback would be appreciated.

Thanks!

[irenebm]

The parameters should be declare with default values. Thus, that code section would be:

this->declare_parameter("sim", default);
this->declare_parameter("control_period", default);

Take into account that the parameter type is inferred from the default value.

For example, in this case could be:

this->declare_parameter("sim", false);
this->declare_parameter("control_period", 0.010);

So sim would be set to a bool type and control_period would be set to a double type, which are the types assing in the yaml file.

[Aki1608]

@irenebm, Thanks this solves the issue.

[Gredin67]

@irenebm @Aki1608 @ajaysonar Can someone open a pull request to solve this issue ?
edit : it worked with

this->declare_parameter("sim", false);
this->declare_parameter("control_period", 0.010);

I tried to replace

  // Declare parameters that may be set on this node
  this->declare_parameter("sim");
  this->declare_parameter("control_period");

with

this->declare_parameter("sim", default);
this->declare_parameter("control_period", default);

and I'm still getting

error: expected primary-expression before ‘default’
   66 |   this->declare_parameter("sim", default);

Should I change something in the parameter file ? src/open_manipulator/open_manipulator_x_controller/param/open_manipulator_x_controller_params.yaml

open_manipulator_x_controller:
  ros__parameters:
    sim: false
    control_period: 0.010

[ROBOTIS-Will]

Thanks for reviewing this issue.
We're working on OpenMANIPULATOR-X package for Humble and Iron.
Based on current progress, I'm expecting to update the code by mid August at the latest, but you may see some WIP branches soon.
I'll make sure to reflect this information in the update.
Thanks!