franka_control compilation error

[sasilva1998]

Hi, I am using ubuntu 20 and noetic, I am trying to compile this package but I am getting the following error when doing catkin build:

Errors     << franka_control:make /home/sasm/franka_test_ws/logs/franka_control/build.make.004.log                                                                                           
/usr/bin/ld: CMakeFiles/franka_combined_control_node.dir/src/franka_combined_control_node.cpp.o: in function `boost::filesystem::path::parent_path() const':
franka_combined_control_node.cpp:(.text._ZNK5boost10filesystem4path11parent_pathEv[_ZNK5boost10filesystem4path11parent_pathEv]+0x2c): undefined reference to `boost::filesystem::path::find_parent_path_size() const'
/usr/bin/ld: CMakeFiles/franka_combined_control_node.dir/src/franka_combined_control_node.cpp.o: in function `pluginlib::ClassLoader<hardware_interface::RobotHW>::getPackageFromPluginXMLFilePath(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)':
franka_combined_control_node.cpp:(.text._ZN9pluginlib11ClassLoaderIN18hardware_interface7RobotHWEE31getPackageFromPluginXMLFilePathERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE[_ZN9pluginlib11ClassLoaderIN18hardware_interface7RobotHWEE31getPackageFromPluginXMLFilePathERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE]+0x1cf): undefined reference to `boost::filesystem::path::filename_v3() const'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/franka_combined_control_node.dir/build.make:127: /home/sasm/franka_test_ws/devel/.private/franka_control/lib/franka_control/franka_combined_control_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:263: CMakeFiles/franka_combined_control_node.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: /home/sasm/franka_test_ws/devel/.private/franka_hw/lib/libfranka_hw.so: undefined reference to `boost::filesystem::path::find_parent_path_size() const'
/usr/bin/ld: /home/sasm/franka_test_ws/devel/.private/franka_hw/lib/libfranka_hw.so: undefined reference to `boost::filesystem::path::filename_v3() const'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/franka_control_node.dir/build.make:128: /home/sasm/franka_test_ws/devel/.private/franka_control/lib/franka_control/franka_control_node] Error 1
make[1]: *** [CMakeFiles/Makefile2:349: CMakeFiles/franka_control_node.dir/all] Error 2
In file included from /usr/include/boost/smart_ptr/detail/sp_thread_sleep.hpp:22,
                 from /usr/include/boost/smart_ptr/detail/yield_k.hpp:23,
                 from /usr/include/boost/smart_ptr/detail/spinlock_gcc_atomic.hpp:14,
                 from /usr/include/boost/smart_ptr/detail/spinlock.hpp:42,
                 from /usr/include/boost/smart_ptr/detail/spinlock_pool.hpp:25,
                 from /usr/include/boost/smart_ptr/shared_ptr.hpp:29,
                 from /usr/include/boost/shared_ptr.hpp:17,
                 from /opt/ros/noetic/include/ros/forwards.h:37,
                 from /opt/ros/noetic/include/ros/node_handle.h:31,
                 from /opt/ros/noetic/include/controller_interface/controller_base.h:35,
                 from /opt/ros/noetic/include/controller_interface/multi_interface_controller.h:33,
                 from /home/sasm/franka_test_ws/src/franka_ros/franka_control/include/franka_control/franka_state_controller.h:10,
                 from /home/sasm/franka_test_ws/src/franka_ros/franka_control/src/franka_state_controller.cpp:3:
/usr/include/boost/bind.hpp:36:1: note: #pragma message: The practice of declaring the Bind placeholders (_1, _2, ...) in the global namespace is deprecated. Please use <boost/bind/bind.hpp> + using namespace boost::placeholders, or define BOOST_BIND_GLOBAL_PLACEHOLDERS to retain the current behavior.
   36 | BOOST_PRAGMA_MESSAGE(
      | ^~~~~~~~~~~~~~~~~~~~
make: *** [Makefile:141: all] Error 2

does anyone know how it is fixed?

[Maverobot]

franka_ros has set up github actions for building and testing on Ubuntu 20.04 and ROS noetic:

https://github.com/frankaemika/franka_ros/blob/develop/.github/workflows/ci.yml#L44-L52

So far the builds are all successful. Does this issue of yours still exist?