ROS-i ABB Unable to access some members of industrial_msgs/CmdJointTrajectory

edit

Dear all,

I am basically trying to subscribe to the rostopic which broadcast the sensor_msgs/JointState and then call the /joint_path_command service to move the ABB robot in robot studio simulation. Hence, Whenever there is new joint positions in that topic, I will call /joint_path_command to mvoe the robot accordingly.

I have managed to receive the joint states from the rostopic. However, I have encountered problem when trying to create industrial_msgs/CmdJointTrajectory message which is required for the /joint_path_command service.

void chatterCallback(const sensor_msgs::JointState::ConstPtr &msg)
{
  for(int i = 0; i<msg->position.size(); i++)
  {
    posi.push_back(msg->position.at(i));
  }

  for(int i = 0; i<msg->velocity.size(); i++)
  {
    velo.push_back(msg->velocity.at(i));
  }  

  for(int i = 0; i<6; i++)
  {
    acc.push_back(0.0);
  }

  for(int i = 0; i<msg->effort.size(); i++)
  {
    eff.push_back(msg->effort.at(i));
  }

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<industrial_msgs::CmdJointTrajectory>("joint_path_command");
  industrial_msgs:CmdJointTrajectory srv;
  srv.request.trajectory.header = msg->header;
  srv.request.trajectory.joint_names = jointnames;
  srv.request.trajectory.points.positions = posi;
  srv.velocities = velo;
  srv.accelerations = acc;
  srv.effort = eff;

  //  srv.request.trajectory.points = srvvv;

  //  srv.time_from_start = ros::Time::now();

  if(client.call(srv))
  {
    ROS_INFO("hoolay");
  }
}

above is my program that tries to call the joint_path_command service with the information gathered from a sensor_msg/JointState msg.

Below is the compilation result

[100%] [100%] Built target add_two_ints_client
Built target add_two_ints_server
/home/colin/catkin_ws/src/armpost_listener/src/listen_armpost.cpp: In function 'void chatterCallback(const ConstPtr&)':
/home/colin/catkin_ws/src/armpost_listener/src/listen_armpost.cpp:66:33: error: 'trajectory_msgs::JointTrajectory_<std::allocator<void> >::_points_type' has no member named 'positions'

srv.request.trajectory.points.positions = posi;


/home/colin/catkin_ws/src/armpost_listener/src/listen_armpost.cpp:67:33: error: 'trajectory_msgs::JointTrajectory_<std::allocator<void> >::_points_type' has no member named 'velocities'

   srv.request.trajectory.points.velocities = velo;
                                 ^

/home/colin/catkin_ws/src/armpost_listener/src/listen_armpost.cpp:68:33: error: 'trajectory_msgs::JointTrajectory_<std::allocator<void> >::_points_type' has no member named 'accelerations'

   srv.request.trajectory.points.accelerations = acc;
                                 ^
/home/colin/catkin_ws/src/armpost_listener/src/listen_armpost.cpp:69:33: error: 'trajectory_msgs::JointTrajectory_<std::allocator<void> >::_points_type' has no member named 'effort'

   srv.request.trajectory.points.effort = eff;
                                 ^
make[2]: *** [armpost_listener/CMakeFiles/listen_armpost.dir/src/listen_armpost.cpp.o] Error 1

make[1]: *** [armpost_listener/CMakeFiles/listen_armpost.dir/all] Error 2

make: *** [all] Error 2

Invoking "make -j8 -l8" failed

As you can see, The compiler does not recognize the members of the points struct within trajectory/points (positions, velocities, effort, accelerations) of the industrial_msgs/CmdJointTrajectory when it is clearly stated in the rossrv show(shown below)

colin@Colin-GF:~$ rossrv show industrial_msgs/CmdJointTrajectory
trajectory_msgs/JointTrajectory trajectory
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  string[] joint_names
  trajectory_msgs/JointTrajectoryPoint[] points
    float64[] positions
    float64[] velocities
    float64[] accelerations
    float64[] effort
    duration time_from_start
---
industrial_msgs/ServiceReturnCode code
  int8 SUCCESS=1
  int8 FAILURE=-1
  int8 val

Am I doing something wrong? Any help will be greatly appreciated!

Thank you!