Colcon build issue

[hcrane2093]

Hi

I am trying to build these packages on ROS2 humble for my dissertation at university.

Despite being able to do this with other robot packages such as the Franka Emika Robot packages, the Humble packages using this repo seem to fail every time.

The main errors I keep getting back are like this and I do not understand them. It looks like Chat GPT 03-mini-high does not know what to do either...

Please let me know if you could help.

Thanks

hc@hc-OMEN-Transcend-Gaming-Laptop-14-fb0xxx:~/ur_ws$ colcon build --symlink-install
Starting >>> ur_dashboard_msgs
Starting >>> ur_moveit_config
Finished <<< ur_moveit_config [0.61s]                                                               
Finished <<< ur_dashboard_msgs [7.75s]                     
Starting >>> ur_controllers
--- stderr: ur_controllers                              
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp: In member function ‘virtual controller_interface::CallbackReturn ur_controllers::URConfigurationController::on_activate(const rclcpp_lifecycle::State&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp:97:30: error: cannot convert ‘ur_controllers::URConfigurationController::on_activate(const rclcpp_lifecycle::State&)::<lambda(std::shared_ptr<ur_controllers::VersionInformation>)>’ to ‘const std::shared_ptr<ur_controllers::VersionInformation>&’
   97 |   robot_software_version_.set([this](const std::shared_ptr<VersionInformation> ptr) {
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   98 |     ptr->major = state_interfaces_[StateInterfaces::ROBOT_VERSION_MAJOR].get_value();
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |     ptr->minor = state_interfaces_[StateInterfaces::ROBOT_VERSION_MINOR].get_value();
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  100 |     ptr->build = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUILD].get_value();
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  101 |     ptr->bugfix = state_interfaces_[StateInterfaces::ROBOT_VERSION_BUGFIX].get_value();
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  102 |   });
      |   ~~                          
In file included from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp:47,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp:41:
/opt/ros/humble/include/realtime_tools/realtime_tools/realtime_box.hpp:51:22: note:   initializing argument 1 of ‘void realtime_tools::RealtimeBox<T>::set(const T&) [with T = std::shared_ptr<ur_controllers::VersionInformation>]’
   51 |   void set(const T & value)
      |            ~~~~~~~~~~^~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp: In member function ‘bool ur_controllers::URConfigurationController::getRobotSoftwareVersion(ur_msgs::srv::GetRobotSoftwareVersion_Request_<std::allocator<void> >::SharedPtr, ur_msgs::srv::GetRobotSoftwareVersion_Response_<std::allocator<void> >::SharedPtr)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp:117:34: error: ‘class realtime_tools::RealtimeBox<std::shared_ptr<ur_controllers::VersionInformation> >’ has no member named ‘try_get’
  117 |   return robot_software_version_.try_get([resp](const std::shared_ptr<VersionInformation> ptr) {
      |                                  ^~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp: In member function ‘virtual controller_interface::CallbackReturn ur_controllers::PassthroughTrajectoryController::on_deactivate(const rclcpp_lifecycle::State&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:212:49: error: could not convert ‘(&((ur_controllers::PassthroughTrajectoryController*)this)->ur_controllers::PassthroughTrajectoryController::abort_command_interface_.std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >::operator->()->std::reference_wrapper<hardware_interface::LoanedCommandInterface>::get())->hardware_interface::LoanedCommandInterface::set_value(1.0e+0)’ from ‘void’ to ‘bool’
  212 |   if (!abort_command_interface_->get().set_value(1.0)) {
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
      |                                                 |
      |                                                 void
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:212:49: error: in argument to unary !
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp: In member function ‘virtual controller_interface::return_type ur_controllers::PassthroughTrajectoryController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:256:68: error: void value not ignored as it ought to be
  256 |       write_success &= transfer_command_interface_->get().set_value(TRANSFER_STATE_WAITING_FOR_POINT);
      |                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:265:77: error: void value not ignored as it ought to be
  265 |         write_success &= time_from_start_command_interface_->get().set_value(
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  266 |             duration_to_double(active_joint_traj_.points[current_index_].time_from_start));
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:273:64: error: void value not ignored as it ought to be
  273 |           write_success &= command_interfaces_[i * 3].set_value(
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  274 |               active_joint_traj_.points[current_index_].positions[joint_mapping->at(joint_names_internal->at(i))]);
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:277:70: error: void value not ignored as it ought to be
  277 |             write_success &= command_interfaces_[i * 3 + 1].set_value(
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  278 |                 active_joint_traj_.points[current_index_].velocities[joint_mapping->at(joint_names_internal->at(i))]);
      |                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:280:72: error: void value not ignored as it ought to be
  280 |               write_success &= command_interfaces_[i * 3 + 2].set_value(
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  281 |                   active_joint_traj_.points[current_index_]
      |                   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~             
  282 |                       .accelerations[joint_mapping->at(joint_names_internal->at(i))]);
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:284:72: error: void value not ignored as it ought to be
  284 |               write_success &= command_interfaces_[i * 3 + 2].set_value(NO_VAL);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:287:70: error: void value not ignored as it ought to be
  287 |             write_success &= command_interfaces_[i * 3 + 1].set_value(NO_VAL);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/passthrough_trajectory_controller.cpp:288:70: error: void value not ignored as it ought to be
  288 |             write_success &= command_interfaces_[i * 3 + 2].set_value(NO_VAL);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
ue(1.0);
      |                                                                                            ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp: In member function ‘bool ur_controllers::GPIOController::setPayload(ur_msgs::srv::SetPayload_Request_<std::allocator<void> >::SharedPtr, ur_msgs::srv::SetPayload_Response_<std::allocator<void> >::SharedPtr)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:519:102: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  519 |   std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
      |                                                                                                      ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:521:110: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  521 |   std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_MASS].set_value(static_cast<double>(req->mass));
      |                                                                                                              ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:522:105: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  522 |   std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_X].set_value(req->center_of_gravity.x);
      |                                                                                                         ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:523:105: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  523 |   std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_Y].set_value(req->center_of_gravity.y);
      |                                                                                                         ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:524:105: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  524 |   std::ignore = command_interfaces_[CommandInterfaces::PAYLOAD_COG_Z].set_value(req->center_of_gravity.z);
      |                                                                                                         ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp: In member function ‘bool ur_controllers::GPIOController::zeroFTSensor(std_srvs::srv::Trigger_Request_<std::allocator<void> >::SharedPtr, std_srvs::srv::Trigger_Response_<std::allocator<void> >::SharedPtr)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:548:108: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  548 |   std::ignore = command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_ASYNC_SUCCESS].set_value(ASYNC_WAITING);
      |                                                                                                            ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:550:88: error: no match for ‘operator=’ (operand types are ‘const std::_Swallow_assign’ and ‘void’)
  550 |   std::ignore = command_interfaces_[CommandInterfaces::ZERO_FTSENSOR_CMD].set_value(1.0);
      |                                                                                        ^
In file included from /usr/include/c++/11/bits/unique_ptr.h:37,
                 from /usr/include/c++/11/memory:76,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/gpio_controller.hpp:41,
                 from /home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/gpio_controller.cpp:38:
/usr/include/c++/11/tuple:1779:7: note: candidate: ‘template<class _Tp> constexpr const std::_Swallow_assign& std::_Swallow_assign::operator=(const _Tp&) const’
 1779 |       operator=(const _Tp&) const
      |       ^~~~~~~~
/usr/include/c++/11/tuple:1779:7: note:   template argument deduction/substitution failed:
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(const std::_Swallow_assign&)’
 1775 |   struct _Swallow_assign
      |          ^~~~~~~~~~~~~~~
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘const std::_Swallow_assign&’
/usr/include/c++/11/tuple:1775:10: note: candidate: ‘constexpr std::_Swallow_assign& std::_Swallow_assign::operator=(std::_Swallow_assign&&)’
/usr/include/c++/11/tuple:1775:10: note:   no known conversion for argument 1 from ‘void’ to ‘std::_Swallow_assign&&’
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp: In member function ‘virtual controller_interface::CallbackReturn ur_controllers::FreedriveModeController::on_activate(const rclcpp_lifecycle::State&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:156:53: error: could not convert ‘(&((ur_controllers::FreedriveModeController*)this)->ur_controllers::FreedriveModeController::abort_command_interface_.std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >::operator->()->std::reference_wrapper<hardware_interface::LoanedCommandInterface>::get())->hardware_interface::LoanedCommandInterface::set_value(0.0)’ from ‘void’ to ‘bool’
  156 |       if (!abort_command_interface_->get().set_value(0.0)) {
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
      |                                                     |
      |                                                     void
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:156:53: error: in argument to unary !
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp: In member function ‘virtual controller_interface::CallbackReturn ur_controllers::FreedriveModeController::on_cleanup(const rclcpp_lifecycle::State&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:172:49: error: could not convert ‘(&((ur_controllers::FreedriveModeController*)this)->ur_controllers::FreedriveModeController::abort_command_interface_.std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface> >::operator->()->std::reference_wrapper<hardware_interface::LoanedCommandInterface>::get())->hardware_interface::LoanedCommandInterface::set_value(1.0e+0)’ from ‘void’ to ‘bool’
  172 |   if (!abort_command_interface_->get().set_value(1.0)) {
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
      |                                                 |
      |                                                 void
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:172:49: error: in argument to unary !
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp: In member function ‘virtual controller_interface::return_type ur_controllers::FreedriveModeController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:212:68: error: void value not ignored as it ought to be
  212 |         write_success &= enable_command_interface_->get().set_value(1.0);
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:214:75: error: void value not ignored as it ought to be
  214 |         write_success &= async_success_command_interface_->get().set_value(ASYNC_WAITING);
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:221:65: error: void value not ignored as it ought to be
  221 |       write_success &= abort_command_interface_->get().set_value(1.0);
      |                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/home/hc/ur_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/freedrive_mode_controller.cpp:223:73: error: void value not ignored as it ought to be
  223 |       write_success &= async_success_command_interface_->get().set_value(ASYNC_WAITING);
      |                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:90: CMakeFiles/ur_controllers.dir/src/scaled_joint_trajectory_controller.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:146: CMakeFiles/ur_controllers.dir/src/passthrough_trajectory_controller.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:76: CMakeFiles/ur_controllers.dir/src/force_mode_controller.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:132: CMakeFiles/ur_controllers.dir/src/gpio_controller.cpp.o] Error 1
gmake[2]: *** [CMakeFiles/ur_controllers.dir/build.make:118: CMakeFiles/ur_controllers.dir/src/freedrive_mode_controller.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:380: CMakeFiles/ur_controllers.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< ur_controllers [6.20s, exited with code 2]
                                 
Summary: 2 packages finished [14.1s]
  1 package failed: ur_controllers
  1 package had stderr output: ur_controllers
  3 packages not processed
hc@hc-OMEN-Transcend-Gaming-Laptop-14-fb0xxx:~/ur_ws$     // gpio_command_interfaces_.emplace_back(hardware_interface::CommandInterface(
    //   "speed_scaling", "target_speed_fraction_cmd", &target_speed_scaling_factor_));
    // cmd_interfaces.emplace_back(gpio_command_interfaces_[0]);

---- please help again

[urfeex]

Thank you for reaching out. The output looks as if you are trying to build the main branch on Humble. When using ROS Humble, please use the humble branch.

[hcrane2093]

Hi urfeex

Thanks so much for for getting back to me! I really appreciate the help. I have now managed to connect to my UR5e and the joint positions are communicating with ROS2 and being shown in Rviz.

However, I cannot make any of the examples work in the documentation. I keep getting errors when I run the launch files and when trying to run other activities as a node on a separate terminal. I also need to integrate an end effector, D345i camera and subsequent vision system into the ROS package. Would you know where are the best places to learn to do this?

Its probably a long shot but do you have any time for a zoom call to discuss these issues or if there are any other resources beyond the ROS2 driver documentation and the ROS2 humble documentation?

Have a great week!

Best

Harrison

[urfeex]

Glad to hear, you got something working. Without any log output, we cannot really help you with the errors you seem to be facing.

Please understand, that I cannot give individual help regarding ROS usage. We do have an example to setup a custom workcell in our Rolling documentation. A humble version is pending, but the concepts should be the same. For the current status of the humble version please see UniversalRobots/Universal_Robots_ROS2_Tutorials#11.

[hcrane2093]

Thanks very much for that advice I will have a look at both of those options!!

H

[urfeex]

Closing this as the initial question has been resolved from what this looks like. Feel free to comment / reopen if you disagree.