Error compiling Universal_Robots_ROS_Driver/ur_robot_driver/src/hardware_interface.cpp

[fglaurent]

Summary

Your issue may already be reported!
Please search on the issue track before creating one.

Introduction to the issue

Versions

• ROS Driver version: Noetic
• Affected Robot Software Version(s):
• Affected Robot Hardware Version(s):
• Robot Serial Number:
• UR+ product(s) installed:
• URCaps Software version(s):

Impact

What is the impact of the issue. Try to describe it well enough, in order for us to prioritise the issues.
I followed the instructions to installed the UR driver on my computer running with Ubuntu 20.04 and Ros Noetic. Getting to the building part, when i do "catkin_make", some errors shows up in the 'hardware_interface.cpp' file;

‘ur_msgs::SetPayload::Request’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator >’} has no member named ‘mass’
‘ur_msgs::SetPayload::Request’ {aka ‘struct ur_msgs::SetPayloadRequest_<std::allocator >’} has no member named 'center_of_gravitiy’

I checked in the SetPayload.h, SetPayloadRequest.h and in the SetPayloadResponse.h file and there is indeed no member called 'mass' and 'center of gravity'.

What can i do to make it right ?

Issue details

This part is important in order to clarify the severity of the issue.

Use Case and Setup

What does the setup look like and what are the objectives?

Project status at point of discovered

When did you first observe the issue?

• Before I started?
• In first couple of tries?
• In normal use?
• etc...

Steps to Reproduce

Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.

Expected Behavior

What did you expect and why?

Actual Behavior

What did you observe? If possible please attach relevant information.

Workaround Suggestion

If a workaround has been found, you are welcome to share.

[urrsk]

@fglaurent The ur_msgs changed at some point the topic name on payload to mass. My quess is that you most likely have an old version of ur_msgs library on your computer.
Maybe this issue can help op out: #488

[fglaurent]

@urrsk Thanks for your help ! I looked into it and I found a solution

[fmauch]

@fglaurent could you maybe post what your solution was? That might help future readers of this thread. Also, if it is solved, feel free to close this issue :-)

[fglaurent]

Yes. All I did was create another catkin workspace to download the ur_driver on