ROS Melodic build error due to ur_msgs mismatch (old build issue)

[gokhansolak]

Summary

I cannot catkin_make as the ur_msgs package does not have the variable expected by the hardware interface.

Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp:396:39: error: ‘ur_msgs::SetPayload::Request {aka struct ur_msgs::SetPayloadRequest_<std::allocator<void> >}’ has no member named ‘mass’
             << " set_payload(" << req.mass << ", [" << req.center_of_gravity.x << ", " << req.center_of_gravity.y

Similar to #235, but the solution there does not work (anymore). I have the Fmauch's fork on calibration_devel branch, that meta-package does not contain a ur_msgs package anymore. Rosdep installs a ur_msgs to the system, but that version does not build with this driver.

Versions

• ROS Driver version: Latest commit on master, ROS Melodic

Details

The system-wide ur_msgs package, installed by rosdep is:
ros-melodic-ur-msgs/bionic,now 1.3.4-1bionic.20210525.170053 amd64 [installed]

Steps to Reproduce

Install according to the instructions.

[fmauch]

Did you make sure to pull the universal_robots repository from my fork to the most recent version? There's been a major change including handling this properly. The driver's master branch now builds corrently with the ur_msgs package installed by rosdep. Which is why it is not anymore included in my fork.

[gokhansolak]

The fork and the commit were correct. Strangely, deleting ROS build solved the issue (rm -rf build/ devel/). I used to have a build with older versions of these packages... Thank you!

[fmauch]

right, as it has been built previously, it still hangs around in the devel / install space... thanks for following this up.

[ljden]

I was having the same issue when updating to the newest setup. Removing the build did not fix it. Instead, I had to re-source the /opt/ros/melodic/setup.bash after installing ur_msgs so that ROS had the correct view of packages etc. After doing this, it built correctly.

[ilariagi]

ROS Melodic, not working for me either building together ur_modern_driver and universal_robot packages. I got this error
error: ‘ur_msgs::SetPayloadRequest {aka struct ur_msgs::SetPayloadRequest_<std::allocator >}’ has no member named ‘payload’
return (resp.success = commander_.setPayload(req.payload));

[fmauch]

@ilariagi Please don't dig out old issues. Especially, if they don't connect to the repository. Neither ur_modern_driver, nor universal_robot nor ur_msgs are part of this repo. If you have problems compiling the ur_modern_driver please check it there.

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Edit: Corresponding issue: ros-industrial-attic/ur_modern_driver#383