WrappedResult issue

[vmayoral]

Connected to https://github.com/AcutronicRobotics/moveit2/issues/78, I'm getting the following error when compiling in OS X moveit_simple_controller_manager:

colcon build --merge-install --packages-select moveit_simple_controller_manager
Starting >>> moveit_simple_controller_manager
--- stderr: moveit_simple_controller_manager
In file included from /Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp:38:
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h:73:115: error: no type named 'WrappedResult' in 'rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>'
  void controllerDoneCallback(const rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::WrappedResult& result);
                                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
In file included from /Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp:41:
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h:73:115: error: no type named 'WrappedResult' in 'rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>'
  void controllerDoneCallback(const rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::WrappedResult& result);
                                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp:68:96: error: no member named 'SendGoalOptions' in 'rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>'
  auto send_goal_options = rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SendGoalOptions();
                           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp:54:8: warning: 'initialize' overrides a member function but is not marked 'override' [-Winconsistent-missing-override]
  void initialize(std::shared_ptr<rclcpp::Node>& node)
       ^
/Users/victor/ros2_moveit_ws/install/include/moveit/controller_manager/controller_manager.h:187:16: note: overridden virtual function is here
  virtual void initialize(std::shared_ptr<rclcpp::Node>& node) = 0;
               ^
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp:225:152: error: no type named 'WrappedResult' in 'rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>'
void FollowJointTrajectoryControllerHandle::controllerDoneCallback(const rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::WrappedResult& result)
                                                                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
/Users/victor/ros2_moveit_ws/src/moveit2/moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp:230:3: error: expected expression
  else
  ^
1 warning and 1 error generated.
make[2]: *** [CMakeFiles/moveit_simple_controller_manager.dir/src/moveit_simple_controller_manager.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
4 errors generated.
make[2]: *** [CMakeFiles/moveit_simple_controller_manager.dir/src/follow_joint_trajectory_controller_handle.cpp.o] Error 1
make[1]: *** [CMakeFiles/moveit_simple_controller_manager.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< moveit_simple_controller_manager	[ Exited with code 2 ]

Summary: 0 packages finished [6.33s]
  1 package failed: moveit_simple_controller_manager
  1 package had stderr output: moveit_simple_controller_manager
The file /Users/victor/ros2_moveit_ws/None does not exist.