ros2_RobotSimulation
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Published
20 hours ago •
IFRA-Cranfield
IFRA-Cranfield
move_group_interface_EE’ was not declared in this scope
Hello,
I followed the tutorial step by step from ros2_RobotSimulation on Ubuntu 20.04 using ROS2 Foxy, installed all depedencies, imported the move_group_interface_improved.h and at the last command to build it gives the following error below. I Also tried the ros2_SimRealRobotControl on another system, with Ubuntu 22.04, ROS2 Humble, but had the same issue with MoveGroupInterface. How can I overcome this issue?
The command used (Step 8, Installation):
cd ~/dev_ws/src
git clone https://github.com/IFRA-Cranfield/ros2_RobotSimulation.git
cd ~/dev_ws/
colcon build
The result:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:53:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
53 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:54:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
54 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRP_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
124 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJs_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:94:41: warning: unused parameter ‘uuid’ -Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:130:9: error: ‘move_group_interface’ was not declared in this scope
130 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
143 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
124 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
125 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:152:9: error: ‘move_group_interface’ was not declared in this scope
152 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:310:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
310 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:123:9: error: ‘move_group_interface’ was not declared in this scope
123 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:55: error: ‘my_plan’ was not declared in this scope
312 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
312 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveG_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:255:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
255 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
143 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveROT_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:94:41: warning: unused parameter ‘uuid’ -Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:51: error: ‘my_plan’ was not declared in this scope
257 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
257 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZW_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
144 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:163:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
163 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:256:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
256 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:368:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
368 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveL_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:175:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
175 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:55: error: ‘my_plan’ was not declared in this scope
258 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
258 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:122:9: error: ‘move_group_interface’ was not declared in this scope
122 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:305:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
305 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:147:9: error: ‘move_group_interface’ was not declared in this scope
147 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:51: error: ‘my_plan’ was not declared in this scope
177 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
177 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
125 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:129:9: error: ‘move_group_interface’ was not declared in this scope
129 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:3: error: ‘move_group_interface’ was not declared in this scope
369 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
95 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:314:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
314 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:225:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
225 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:282:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
282 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
124 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:3: error: ‘move_group_interface’ was not declared in this scope
306 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:55: error: ‘my_plan’ was not declared in this scope
284 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
284 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:26: error: ‘MoveGroupInterface’ was not declared in this scope
369 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:309:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
309 | } else if (LimitCheck == true && InputJoint == "Valid") {
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:148:66: error: ‘move_group_interface’ was not declared in this scope
148 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
144 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:151:9: error: ‘move_group_interface’ was not declared in this scope
151 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:3: error: ‘move_group_interface’ was not declared in this scope
315 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
124 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:3: error: ‘move_group_interface’ was not declared in this scope
226 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:26: error: ‘MoveGroupInterface’ was not declared in this scope
306 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:178:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
178 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:346:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
346 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:199:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
199 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:194:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
194 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
143 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:55: error: ‘my_plan’ was not declared in this scope
180 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
180 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:51: error: ‘my_plan’ was not declared in this scope
201 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
201 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:51: error: ‘my_plan’ was not declared in this scope
196 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
196 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:26: error: ‘MoveGroupInterface’ was not declared in this scope
315 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:26: error: ‘MoveGroupInterface’ was not declared in this scope
226 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:189:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
189 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:162:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
162 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:148:9: error: ‘move_group_interface’ was not declared in this scope
148 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:52: error: ‘my_plan’ was not declared in this scope
190 | bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:92: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
190 | bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:201:31: error: ‘RobotTrajectory’ is not a member of ‘moveit_msgs::msg’
201 | moveit_msgs::msg::RobotTrajectory trajectory;
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:3: error: ‘move_group_interface’ was not declared in this scope
347 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
237 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:249:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
249 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:110: error: ‘trajectory’ was not declared in this scope; did you mean ‘trajectory_msgs’?
204 | double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
| ^~~~~~~~~~
| trajectory_msgs
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:206:102: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
206 | bool success2 = (move_group_interface.execute(trajectory) == moveit::planning_interface::MoveItErrorCod ::SUCCESS);
| ^~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:244:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
244 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:20: warning: unused variable ‘fraction’ [-Wunused-variable]
204 | double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
| ^~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:154:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
154 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:335:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
335 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:26: error: ‘MoveGroupInterface’ was not declared in this scope
347 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:3: error: ‘move_group_interface’ was not declared in this scope
250 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
238 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:55: error: ‘my_plan’ was not declared in this scope
337 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
337 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:261:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
261 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:362:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
362 | } else if (LimitCheck == true && InputJoint == "Valid") {
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:3: error: ‘move_group_interface’ was not declared in this scope
245 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:26: error: ‘MoveGroupInterface’ was not declared in this scope
250 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
238 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:399:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
399 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:3: error: ‘move_group_interface’ was not declared in this scope
262 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:26: error: ‘MoveGroupInterface’ was not declared in this scope
245 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveYPR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:94:41: warning: unused parameter ‘uuid’ -Wunused-parameter]
94 | const rclcpp_action::GoalUUID & uuid,
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:3: error: ‘move_group_interface’ was not declared in this scope
400 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:26: error: ‘MoveGroupInterface’ was not declared in this scope
262 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:26: error: ‘MoveGroupInterface’ was not declared in this scope
400 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
125 | move_group_interface.stop();
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
144 | move_group_interface.setMaxVelocityScalingFactor(SPEED);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:187:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
187 | moveit::planning_interface::MoveGroupInterface::Plan my_plan;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:51: error: ‘my_plan’ was not declared in this scope
189 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
189 | bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
| ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
155 | const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
| ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
237 | using moveit::planning_interface::MoveGroupInterface;
| ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
238 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
238 | move_group_interface = MoveGroupInterface(node2, my_param);
| ^~~~~~~~~~~~~~~~~~
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---
Failed <<< ros2_actions [14.7s, exited with code 2]
Summary: 21 packages finished [16.6s]
1 package failed: ros2_actions
1 package had stderr output: ros2_actions
Hi @isanmn,
It seems like the move_group_interface_improved.h file you have copied is not correct. I believe you could have copied the humble-version file into ROS2 Foxy and vice-versa (do keep in mind that move_group_interface_improved.h is different in ROS2 Foxy and ROS2 Humble). Could you please double-check that?
Regards, Mikel, IFRA-Cranfield
The README file in the 'include' folder of the package says:
The original move_group_interface.h header file is included in the ~/opt/ros/foxy/include/moveit/move_group_interface folder in your Ubuntu 20.04 machine (if MoveIt!2 has been installed). This folder has restricted access, thus the following steps must be followed to paste the move_group_interface_improved.h file into that path:
- Install Nautilus Admin:
sudo apt-get install nautilus-admin - Once the installation finishes, Nautilus must be restarted:
nautilus -q - Open the ~/opt/ros/foxy/include/moveit/move_group_interface folder -> Right click -> Open as administrator.
- Paste the move_group_interface_improved.h file.
Follow these steps and the error doesn't occur.
