justagist/panda_simulator

catkin build error

Sission opened this issue · 1 comments

Sission commented

Hello! I suffered this error when I catkin build. Could you help me with this? Thanks!

Errors << franka_interface:make /home/airlab/catkin_ws/logs/franka_interface/build.make.002.log
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp: In member function ‘void franka_interface::CustomFrankaStateController::publishFrankaState(const ros::Time&)’:
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:361:39: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’?
static_assert(sizeof(robot_state_.NE_T_EE) == sizeof(robot_state_.O_T_EE),
^~~~~~~
O_T_EE
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:369:63: error: ‘struct franka::RobotState’ has no member named ‘F_T_NE’; did you mean ‘F_T_EE’?
publisher_franka_state_.msg_.F_T_NE[i] = robot_state_.F_T_NE[i];
^~~~~~
F_T_EE
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:370:64: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’?
publisher_franka_state_.msg_.NE_T_EE[i] = robot_state_.NE_T_EE[i];
^~~~~~~
O_T_EE
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp: In member function ‘void franka_interface::CustomFrankaStateController::publishTransforms(const ros::Time&)’:
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:474:74: error: ‘struct franka::RobotState’ has no member named ‘F_T_NE’; did you mean ‘F_T_EE’?
tf::StampedTransform stamped_transform(convertArrayToTf(robot_state_.F_T_NE), time,
^~~~~~
F_T_EE
/home/airlab/catkin_ws/src/franka_ros_interface/franka_interface/src/robot_state_controller.cpp:480:76: error: ‘struct franka::RobotState’ has no member named ‘NE_T_EE’; did you mean ‘O_T_EE’?
stamped_transform = tf::StampedTransform(convertArrayToTf(robot_state_.NE_T_EE), time,
^~~~~~~
O_T_EE

justagist commented

The missing variables are defined in v0.7.1 of franka-ros. Make sure you have installed >0.7.1 of franka-ros.
If you are trying to build it for older version, you have to use an older commit of this repository (see the instructions in the README of this repo).