Error showing while doing make in build folder
I am currently have ROS melodic on Ubuntu Mate for pi. Pi model - Raspberry pi 3 B+ Model. On doing cmake .. and make in the build folder, I am getting the following error:
~/Desktop/UAV-communication-relay-master/UAV_Mission_Control_Program/build$ make
[ 0%] Built target _uav_control_generate_messages_check_deps_datalink_send
[ 0%] Built target std_msgs_generate_messages_py
[ 0%] Built target _uav_control_generate_messages_check_deps_DFrame
[ 0%] Built target _uav_control_generate_messages_check_deps_channel_stat
[ 15%] Built target uav_control_generate_messages_py
[ 15%] Built target std_msgs_generate_messages_nodejs
[ 15%] Built target rosgraph_msgs_generate_messages_eus
[ 15%] Built target rosgraph_msgs_generate_messages_cpp
[ 15%] Built target std_msgs_generate_messages_lisp
[ 15%] Built target roscpp_generate_messages_lisp
[ 15%] Built target roscpp_generate_messages_cpp
[ 15%] Built target roscpp_generate_messages_eus
[ 15%] Built target std_msgs_generate_messages_eus
[ 15%] Built target std_msgs_generate_messages_cpp
[ 15%] Built target rosgraph_msgs_generate_messages_py
[ 15%] Built target rosgraph_msgs_generate_messages_nodejs
[ 25%] Built target uav_control_generate_messages_cpp
[ 25%] Built target roscpp_generate_messages_py
[ 37%] Built target uav_control_generate_messages_eus
[ 46%] Built target uav_control_generate_messages_lisp
[ 46%] Built target roscpp_generate_messages_nodejs
[ 56%] Built target uav_control_generate_messages_nodejs
[ 56%] Built target rosgraph_msgs_generate_messages_lisp
[ 62%] Built target verify_port_assignment
[ 65%] Building CXX object CMakeFiles/cmd.dir/src/cmd.cpp.o
/home/arushi/Desktop/UAV-communication-relay-master/UAV_Mission_Control_Program/src/cmd.cpp: In function ‘void gcs_callback(uav_control::DFrame)’:
/home/arushi/Desktop/UAV-communication-relay-master/UAV_Mission_Control_Program/src/cmd.cpp:386:30: error: ‘mavros_msgs::SetMode::Response {aka struct mavros_msgs::SetModeResponse_<std::allocator<void> >}’ has no member named ‘success’
if(sss.response.success){
^~~~~~~
CMakeFiles/cmd.dir/build.make:62: recipe for target 'CMakeFiles/cmd.dir/src/cmd.cpp.o' failed
make[2]: *** [CMakeFiles/cmd.dir/src/cmd.cpp.o] Error 1
CMakeFiles/Makefile2:142: recipe for target 'CMakeFiles/cmd.dir/all' failed
make[1]: *** [CMakeFiles/cmd.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Below is the cmd.cpp file. Also I have installed mavros in the src folder.
#include "unistd.h"
#include "stdio.h"
#include "sys/types.h"
#include "sys/stat.h"
#include "errno.h"
#include "fcntl.h"
#include "pthread.h"
#include "string.h"
#include "termios.h"
#include "stdint.h"
#include "math.h"
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Int32.h"
#include "mavlink2.0/common/mavlink.h"
#include "sysid.h"
#include <uav_control/DFrame.h>
#include <uav_control/datalink_send.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/Point.h>
#include <mavros_msgs/SetMode.h>
#include <mavros_msgs/State.h>
#include <mavros_msgs/PositionTarget.h>
#include <mavros_msgs/CommandInt.h>
#include <mavros_msgs/CommandLong.h>
#include <mavros_msgs/CommandTOL.h>
#include <mavros_msgs/CommandBool.h>
#include <mavros_msgs/StreamRate.h>
#include <mavros_msgs/BatteryStatus.h>
#include <mavros_msgs/Mavlink.h>
/**
* subscriber callbacks
*/
void gcs_callback(const uav_control::DFrame msg);
void state_callback(const mavros_msgs::State msg);
void mavlink_callback(const mavros_msgs::Mavlink msg);
/**
* List of valid commands
*/
static const int cmd_num = 7;
static const char* cmd_list[7] = {
"takeoff", // 0 (action)
"land", // 1 (action)
"goto", // 2 go to a specific GPS location (action)
"mission_start", // 3 (action)
"mission_abort", // 4 (action)
"rtl", // 5 return to launch (action)
"arm" // 6 arm/disarm the aircraft
};
/**
* command execution status flag
* avoid execution of contradicting commands (i.e. landing during takeoff)
*/
static int cmd_current;
static bool cmd_running;
static bool rtl_running;
// current heading
static uint16_t heading;
ros::ServiceClient client_sendack;
ros::ServiceClient client_arm;
ros::ServiceClient client_takeoff;
ros::ServiceClient client_land;
ros::ServiceClient client_cmdlong;
ros::ServiceClient client_setmode;
ros::Publisher pub_setpoint_raw_local_ned;
/**
* current uav state
*/
mavros_msgs::State state;
/**
* system id
*/
const uint8_t sysid = SYSID;
int main(int argc, char **argv)
{
ros::init(argc, argv, "gcs_monitor");
ros::NodeHandle n;
cmd_current = -1;
cmd_running = false;
rtl_running = false;
state.connected = true;
state.armed = false;
state.guided = false;
heading = 0;
/**
* subscribes to msgs from GCS
*/
ros::Subscriber sub_gcs = n.subscribe("/uav_control/datalink_in_ch1", 10, gcs_callback);
ros::Subscriber sub_state = n.subscribe("/mavros/state", 3, state_callback);
ros::Subscriber sub_mavlink = n.subscribe("/mavlink/from", 5, mavlink_callback);
pub_setpoint_raw_local_ned = n.advertise<mavros_msgs::PositionTarget>("/mavros/setpoint_raw/local", 10);
// initialize service
client_sendack = n.serviceClient<uav_control::datalink_send>("datalink_send_ch1");
client_arm = n.serviceClient<mavros_msgs::CommandBool>("/mavros/cmd/arming");
client_takeoff = n.serviceClient<mavros_msgs::CommandTOL>("/mavros/cmd/takeoff");
client_land = n.serviceClient<mavros_msgs::CommandTOL>("/mavros/cmd/land");
client_cmdlong = n.serviceClient<mavros_msgs::CommandLong>("/mavros/cmd/command");
client_setmode = n.serviceClient<mavros_msgs::SetMode>("/mavros/set_mode");
ros::MultiThreadedSpinner spinner(2);
spinner.spin();
return 0;
}
/**
* @brief update the current arming / disarming state of the uav
*/
void state_callback(const mavros_msgs::State msg){
state = msg;
}
/**
* @brief callback function, mavlink msg from uav
*/
void mavlink_callback(const mavros_msgs::Mavlink rmsg)
{
// get current heading
if(rmsg.msgid == 74){
int64_t payload64[33];
std::copy(rmsg.payload64.begin(), rmsg.payload64.end(), payload64);
float * fff = (float*)payload64;
uint16_t * uuu = (uint16_t*)(fff+4);
memcpy(&heading, uuu, 2); // heading
}
}
/**
* @brief Analyze msgs received from GCS
* definition of msg_id, please refer to msg_id.txt
*/
void gcs_callback(const uav_control::DFrame msg)
{
// do work only when the msg is actually targeted at us
if(msg.target_id == SYSID){
uint8_t msg_id = msg.payload[0];
// emergency message, take care!
if(msg_id == 1){
}
/**
* command from GCS
*/
if(msg_id == 2){
int i = 0;
/**
* look for command
*/
i = msg.payload[1];
// construct common parts of cmd reply
uav_control::datalink_send reply;
reply.request.source_id = sysid;
reply.request.target_id = GCS_ID;
reply.request.route = 2;
reply.request.payload[0] = 3;
/**
* execute command
*/
int cmd_prev = cmd_current;
cmd_current = i;
// take_off
if(i==0){
ROS_INFO("takeoff command received");
float target_alt;
memcpy(&target_alt, &(msg.payload[2]), sizeof(float));
ROS_INFO("target altitude: %f", target_alt);
mavros_msgs::CommandTOL sss;
sss.request.min_pitch = 0; // ignored by copter
sss.request.yaw = 0; // ignored by copter
sss.request.latitude = 0; // ignored by copter
sss.request.longitude = 0; // ignored by copter
sss.request.altitude = target_alt;
// send takeoff command to uav
if(client_takeoff.call(sss))
if(sss.response.success){
ROS_INFO("takeoff cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 0; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
else{
ROS_INFO("takeoff cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 0; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
}
// land
else if(i==1){
ROS_INFO("land command received");
mavros_msgs::CommandTOL sss;
// land where it is
sss.request.min_pitch = 0;
sss.request.yaw = 0;
sss.request.latitude = 0;
sss.request.longitude = 0;
sss.request.altitude = 0;
// send land command to uav
if(client_land.call(sss))
if(sss.response.success){
ROS_INFO("land cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 1; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code;
reply.request.len = 4;
}
else{
// end execution if cmd is rejected
ROS_INFO("land cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 1; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
}
client_sendack.call(reply);
}
// goto
else if(i==2){
ROS_INFO("goto command received");
double x, y, z, vx, vy, vz;
// frame of reference: MAV_FRAME_LOCAL_NED
memcpy(&x, &(msg.payload[2]), sizeof(double));
memcpy(&y, &(msg.payload[10]), sizeof(double));
memcpy(&z, &(msg.payload[18]), sizeof(double));
memcpy(&vx, &(msg.payload[26]), sizeof(double));
memcpy(&vy, &(msg.payload[34]), sizeof(double));
memcpy(&vz, &(msg.payload[42]), sizeof(double));
ROS_INFO("x: %f, y: %f, z: %f, vx: %f, vy: %f, vz: %f", x, y, z, vx, vy, vz);
mavros_msgs::PositionTarget sss;
sss.type_mask = 64+128+256;
sss.position.x = x;
sss.position.y = y;
sss.position.z = z;
sss.velocity.x = vx;
sss.velocity.y = vy;
sss.velocity.z = vz;
// publish this msg to send a the cmd to uav via mavros
pub_setpoint_raw_local_ned.publish(sss);
}
// mission_start
else if(i==3){
}
// mission_abort
else if(i==4){
}
// rtl
else if(i==5){
ROS_INFO("rtl (return to launch) command received");
mavros_msgs::CommandLong sss;
sss.request.broadcast = false;
sss.request.command = MAV_CMD_NAV_RETURN_TO_LAUNCH;
sss.request.confirmation = 0;
// no param needed for RTL command
sss.request.param1 = 0; sss.request.param2 = 0;
sss.request.param3 = 0; sss.request.param4 = 0;
sss.request.param5 = 0; sss.request.param6 = 0;
sss.request.param7 = 0;
// send rtl command to uav
if(client_cmdlong.call(sss))
if(sss.response.success){
ROS_INFO("rtl cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 5; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
else{
// end execution if cmd is rejected
ROS_INFO("rtl cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 5; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
goto end_of_execution;
}
}
// arm
else if(i==6){
ROS_INFO("arm command received");
mavros_msgs::CommandBool sss;
if(msg.payload[2]=='T')
sss.request.value = true;
else
sss.request.value = false;
if(client_arm.call(sss))
if(sss.response.success){
ROS_INFO("action %s success: %d", (msg.payload[5]=='T')?"arm":"disarm", (int)sss.response.result);
reply.request.payload[1] = 6; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 10;
}
else{
ROS_INFO("action %s failed: %d", (msg.payload[5]=='T')?"arm":"disarm", (int)sss.response.result);
reply.request.payload[1] = 6; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 10;
}
ros::Duration(0.1).sleep();
client_sendack.call(reply);
}
// set mode
else if(i==7){
ROS_INFO("setmode command received");
mavros_msgs::SetMode sss;
sss.request.base_mode = 0;
ROS_INFO("mode %d", (int)msg.payload[2]);
if(msg.payload[2] == 0 )
sss.request.custom_mode = "STABILIZE";
else if(msg.payload[2] == 2 )
sss.request.custom_mode = "ALT_HOLD";
else if(msg.payload[2] == 3 )
sss.request.custom_mode = "AUTO";
else if(msg.payload[2] == 4 )
sss.request.custom_mode = "GUIDED";
else if(msg.payload[2] == 5 )
sss.request.custom_mode = "LOITER";
else if(msg.payload[2] == 6 )
sss.request.custom_mode = "RTL";
else if(msg.payload[2] == 9 )
sss.request.custom_mode = "LAND";
else if(msg.payload[2] == 16 )
sss.request.custom_mode = "POSHOLD";
else
sss.request.custom_mode = "";
if(client_setmode.call(sss))
if(sss.response.success){
ROS_INFO("set mode success");
reply.request.payload[1] = 7; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.len = 3;
}
else{
ROS_INFO("set mode failed");
reply.request.payload[1] = 7; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.len = 3;
}
client_sendack.call(reply);
}
// request home location
else if(i==8){
ROS_INFO("gethome command received");
mavros_msgs::CommandLong sss;
sss.request.broadcast = false;
sss.request.command = MAV_CMD_GET_HOME_POSITION; // request home location
sss.request.confirmation = 0;
// no param needed
sss.request.param1 = 0; sss.request.param2 = 0;
sss.request.param3 = 0; sss.request.param4 = 0;
sss.request.param5 = 0; sss.request.param6 = 0;
sss.request.param7 = 0;
// send MAV_CMD_GET_HOME_POSITION to uav
if(client_cmdlong.call(sss))
if(sss.response.success){
ROS_INFO("gethome cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 8; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
else{
// end execution if cmd is rejected
ROS_INFO("gethome cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 8; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
}
// set home location to current location
else if(i==9){
ROS_INFO("sethome command received");
mavros_msgs::CommandLong sss;
sss.request.broadcast = false;
sss.request.command = MAV_CMD_DO_SET_HOME; // set (update) home location
sss.request.confirmation = 0;
sss.request.param1 = 1; // 1: set current location as home
sss.request.param2 = 0;
sss.request.param3 = 0; sss.request.param4 = 0;
sss.request.param5 = 0; sss.request.param6 = 0;
sss.request.param7 = 0;
// send MAV_CMD_GET_HOME_POSITION to uav
if(client_cmdlong.call(sss))
if(sss.response.success){
ROS_INFO("sethome cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 9; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
else{
// cmd is rejected
ROS_INFO("sethome cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 9; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
}
// set yaw angle
else if(i==10){
ROS_INFO("turn command received");
mavros_msgs::CommandLong sss;
sss.request.broadcast = false;
sss.request.command = MAV_CMD_CONDITION_YAW; // set yaw angle
sss.request.confirmation = 0;
// useless params
sss.request.param2 = 0; sss.request.param5 = 0;
sss.request.param6 = 0; sss.request.param7 = 0;
/* direction of turning
* 0: absolute (0~360, 0 = north)
* 1: cw
* 2: ccw
*/
int8_t direction = msg.payload[2];
// number of degrees to turn
uint16_t deg;
memcpy(°, &(msg.payload[3]), sizeof(uint16_t));
if(direction == 0){
sss.request.param4 = 0; // abs
}
else if(direction == 1){
sss.request.param4 = 1; // CW
sss.request.param3 = 1;
}
else if(direction == 2){
sss.request.param4 = 1; // CCW
sss.request.param3 = -1;
}
sss.request.param1 = (float)deg;
ROS_INFO("angle: %f", (float)deg);
// send MAV_CMD_GET_HOME_POSITION to uav
if(client_cmdlong.call(sss))
if(sss.response.success){
ROS_INFO("turn cmd accepted: %d", (int)sss.response.result);
reply.request.payload[1] = 10; // cmd_id
reply.request.payload[2] = 'T'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
else{
// cmd is rejected
ROS_INFO("turn cmd rejected: %d", (int)sss.response.result);
reply.request.payload[1] = 10; // cmd_id
reply.request.payload[2] = 'F'; // T = success, F = fail
reply.request.payload[3] = sss.response.result; // return code
reply.request.len = 4;
client_sendack.call(reply);
}
}
// move forward at current heading
else if(i==12){
ROS_INFO("received setpoint_raw cmd");
float vel;
memcpy(&vel, &(msg.payload[2]), sizeof(float)); // valocity given in m/s
mavros_msgs::PositionTarget sss;
sss.type_mask = 0b0000111111000111;
sss.velocity.x = vel * cos(heading * 3.14159 / 180);
sss.velocity.y = vel * sin(heading * 3.14159 / 180);
sss.velocity.z = 0;
// publish this msg to send a the cmd to uav via mavros
pub_setpoint_raw_local_ned.publish(sss);
}
// invalid cmd
else{
}
end_of_execution:
cmd_current = -1;
}
}
}
And here is mavros_msg file
# Common type for Take Off and Landing
float32 min_pitch # used by takeoff
float32 yaw
float32 latitude
float32 longitude
float32 altitude
---
bool success
uint8 result
Asked by Arushi on 2019-06-11 03:52:19 UTC
Comments
It looks like you're trying to build https://github.com/YifanJiangPolyU/UAV-communication-relay . In the future, if you're trying to build an open-source repository, please include a link to the repository in your question.
Asked by ahendrix on 2019-06-11 10:32:13 UTC
Apologies for the same. I didn't know. Will be careful from now onwards.
Asked by Arushi on 2019-06-11 11:28:42 UTC
It looks like that code was written against an old version of the mavros_msgs package. You should try to upgrade all of the code, but it looks like there's a lot to upgrade. I suggest you pay attention the the line numbers in the error message to make sure that you're fixing the correct line of code for each error.
Asked by ahendrix on 2019-06-11 12:38:33 UTC
Yes. But the success class member is present in the mavros_msgs file. Then why it is showing error? How can I upgrade to remove this error, I am stuck on it from the past few days.
Asked by Arushi on 2019-06-11 21:56:29 UTC
Which file?
Asked by ahendrix on 2019-06-12 00:03:40 UTC
CommandTOL file which I have attached in the question. The mavros_msgs file that cmd.cpp is using.
Asked by Arushi on 2019-06-12 01:18:04 UTC
It looks like this code is expecting the SetMode.srv in mavros_msgs to have a
successfield, but it hasmode_sentinstead.Asked by ahendrix on 2019-06-12 03:21:25 UTC
Okay. I should either change the mode_sent to success or success in other files to mode_sent?
Asked by Arushi on 2019-06-12 03:51:16 UTC
If I change success--> mode_sent the error is in commandTOL file and in SetMode.srv when changing mode_sent-->success
Asked by Arushi on 2019-06-12 06:56:05 UTC
You should change only the uses of the SetMode service from success to mode_sent, and leave the other uses of success alone.
Asked by ahendrix on 2019-06-12 12:14:56 UTC
This success parameter, the one showing error in the question is giving error in both ways. It is used by both the services. If I change the success parameter here to mode_sent, it shows error and if I don't then also it shows error.
Asked by Arushi on 2019-06-12 23:04:56 UTC
Each service has different parameters. You need to change only the lines of code when the service type is SetMode.
Asked by ahendrix on 2019-06-12 23:11:33 UTC
Thank you so much for the help! The error got solved by changing success-> mode_sent on line 386.
Asked by Arushi on 2019-06-12 23:36:25 UTC