Unable to build "moveit_task_constructor_capabilities" package.

[chwu-rwth]

Description

Unable to build the package: moveit_task_constructor_capabilities

Your environment

• ROS Distro: [Humble]
• OS Version: Ubuntu 22.04
• Source: git clone https://github.com/ros-planning/moveit2_tutorials -b main --depth 1

Steps to reproduce

Was following the instructions from the documentation page: https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html
Up until : colcon build --mixin release

Expected behaviour

Summary : X packages finished

Console output

/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In member function ‘bool move_group::ExecuteTaskSolutionCapability::constructMotionPlan(const Solution&, plan_execution::ExecutableMotionPlan&)’:
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:145:14: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
145 | plan.plan_components.reserve(solution.sub_trajectory.size());
|
| plan_components_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:149:22: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
149 | plan.plan_components.emplace_back();
|
| plan_components_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:150:72: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
150 | plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
|
| plan_components_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:154:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description_’?
154 | exec_traj.description = description;
|
| description_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:171:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
171 | exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
|
| trajectory_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:172:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
172 | exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
|
| trajectory_
/home/student/ws_moveit/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:175:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘effect_on_success’; did you mean ‘effect_on_success_’?
175 | exec_traj.effect_on_success = [this, sub_traj,
|
| effect_on_success_
gmake[2]: *** [CMakeFiles/moveit_task_constructor_capabilities.dir/build.make:76: CMakeFiles/moveit_task_constructor_capabilities.dir/src/execute_task_solution_capability.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/moveit_task_constructor_capabilities.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
Failed <<< moveit_task_constructor_capabilities [13.2s, exited with code 2]

[FlorianHou]

Same issue. But there is no such problem under the ROS Iron. I also feel very confused.

[alphalambdaepsilonxi]

I fixed the issue in Humble doing exacetly what the compiler suggested to do. You just have to add _ at exactly the places where the compiler asks you to do that. You just need to modify one file the execute_task_solution_capabilities.cpp
Good luck!

[FlorianHou]

I fixed the issue in Humble doing exacetly what the compiler suggested to do. You just have to add _ at exactly the places where the compiler asks you to do that. You just need to modify one file the execute_task_solution_capabilities.cpp Good luck!

Thx~😊

[sea-bass]

Should be fixed on the humble branch now thanks to #722

[anikk94]

When building with moveit2 tutorials, I got the same build errors, made the corrections @FlorianHou mentioned and moved on. I want to push these changes to the ros2 branch which is what is used in the tutorials (by vcs import). Are there any specific rules to making the pull request?
#719