diogoalmeida / generic_control_toolbox Goto Github PK

Hi,

I tried building on Kinetic today and got this error messages:

/homes/corcodel/grasping/src/generic_control_toolbox/src/kdl_manager.cpp: In member function ‘void generic_control_toolbox::KDLManager::updateSolvers()’:
/homes/corcodel/grasping/src/generic_control_toolbox/src/kdl_manager.cpp:1134:25: error: ‘class KDL::ChainIkSolverVel’ has no member named ‘updateInternalDataStructures’
     ikvel_[item.first]->updateInternalDataStructures();
                         ^
/homes/corcodel/grasping/src/generic_control_toolbox/src/kdl_manager.cpp:1135:25: error: ‘class KDL::ChainFkSolverPos_recursive’ has no member named ‘updateInternalDataStructures’
     fkpos_[item.first]->updateInternalDataStructures();
                         ^
/homes/corcodel/grasping/src/generic_control_toolbox/src/kdl_manager.cpp:1136:30: error: ‘class KDL::ChainJntToJacSolver’ has no member named ‘updateInternalDataStructures’
     jac_solver_[item.first]->updateInternalDataStructures();
                              ^
/homes/corcodel/grasping/src/generic_control_toolbox/src/kdl_manager.cpp:1137:33: error: ‘class KDL::ChainDynParam’ has no member named ‘updateInternalDataStructures’
     dynamic_chain_[item.first]->updateInternalDataStructures();

On this system, there is this version of KDL installed.

ros-kinetic-orocos-kdl is already the newest version (1.3.2-1xenial-20201017-070916+0000).

On ROS Melodic it builds just fine. I tried updating all ROS packages but that didn't help. Any ideas on what else I could do?

Radu,

Hi, could you adopt a release mechanism (e.g., with github tags and semver) so that we can depend on your code in a more organized way ?

You could start with v1.0.0.

Similar to #14. Derived classes should not access feedback_ directly.

Right now, the interface will take claim of all the joint handles on the hardware interface.

In the KDL manager, it is assumed that the joint states position and velocity members have the same size as the name member. When this is not verified, there should be an error.

Will prevent code duplication by factorizing these type of implementations.

Missing code to monitor a generic action goal with the context of an experiment's action server. Should allow for preemptions to be routed to the called action server.

There is no need to have a class when no operation stores state.

Private namespaces for nodehandles are an issue when integrating a controller with ros control. Allow every manager to receive a nodehandle in the constructor.

Template controller should have a pure virtual checkSuccess method that would be called on controller update, such that derived classes don't have to access action_server_.