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error: ‘ur_msgs::SetPayload::Request {aka struct ur_msgs::SetPayloadRequest_<std::allocator<void> >}’ has no member named ‘center_of_gravity’

It is likely you are using an old version of a dependency (in this case: ur_msgs).

See UniversalRobots/Universal_Robots_ROS_Driver#235.

error: ‘ur_msgs::SetPayload::Request {aka struct ur_msgs::SetPayloadRequest_<std::allocator<void> >}’ has no member named ‘center_of_gravity’

It is likely you are using an old version of a dependency (in this case: ur_msgs).

See UniversalRobots/Universal_Robots_ROS_Driver#235.

Note btw: development focuses on Bionic+Melodic and newer.

Xenial+Kinetic are not necessarily actively tested, so there is a chance this will stop working.