wubble arm kinematics constraint ware fails to build

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I'm trying to build the wubble arm_kinematics_constraint_aware node from the UA-ros _pkg but i get the following error

>     [ rosmake ] Last 40 linesbble_arm_kinematics_constraint_aware:
> 10.2 sec ]                                                                                                           [ 1 Active 63/64 Complete ]
> {-------------------------------------------------------------------------------   /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:
> In member function ‘void
> wubble_arm_kinematics::WubbleArmIKConstraintAware::initialPoseCheck(const
> KDL::JntArray&, const KDL::Frame&,
> motion_planning_msgs::ArmNavigationErrorCodes&)’:
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:273:
> error: ‘class
> planning_environment::PlanningMonitor’
> has no member named ‘getFrameId’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:311:
> error: ‘Link’ is not a member of
> ‘planning_models::KinematicModel’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:311:
> error: ‘end_effector_link’ was not
> declared in this scope  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:311:
> error: ‘class
> planning_models::KinematicModel’ has
> no member named ‘getLink’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:321:
> error: ‘class
> planning_models::KinematicModel’ has
> no member named ‘lock’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:323:
> error: ‘class
> planning_environment::PlanningMonitor’
> has no member named
> ‘setJointStateAndComputeTransforms’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:333:
> error: no matching function for call
> to
> ‘collision_space::EnvironmentModel::updateRobotModel()’
> /opt/ros/diamondback/stacks/motion_planning_common/collision_space/include/collision_space/environment.h:166:
> note: candidates are: virtual void
> collision_space::EnvironmentModel::updateRobotModel(const
> planning_models::KinematicState*)  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:360:
> error: ‘class
> planning_models::KinematicModel’ has
> no member named ‘unlock’  
> /opt/ros/diamondback/stacks/motion_planning_common/planning_environment/include/planning_environment/monitors/collision_space_monitor.h:
> In member function ‘bool
> wubble_arm_kinematics::WubbleArmIKConstraintAware::setupCollisionEnvironment()’:
> /opt/ros/diamondback/stacks/motion_planning_common/planning_environment/include/planning_environment/monitors/collision_space_monitor.h:344:
> error: ‘bool
> planning_environment::CollisionSpaceMonitor::use_collision_map_’
> is protected  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:407:
> error: within this context  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:415:
> error: ‘class
> planning_models::KinematicModel’ has
> no member named ‘hasGroup’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: ‘Joint’ is not a member of
> ‘planning_models::KinematicModel’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: ‘Joint’ is not a member of
> ‘planning_models::KinematicModel’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: template argument 1 is invalid 
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: template argument 2 is invalid 
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: invalid type in declaration
> before ‘=’ token  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:426:
> error: ‘class
> planning_models::KinematicModel’ has
> no member named ‘getGroup’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:428:
> error: request for member ‘size’ in
> ‘p_joints’, which is of non-class type
> ‘int’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:430:
> error: invalid types ‘int[unsigned
> int]’ for array subscript  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:438:
> error: ‘Link’ is not a member of
> ‘planning_models::KinematicModel’  
> /home/peter/ros/ua-ros-pkg/arrg/ua_controllers/wubble_arm_kinematics_constraint_aware/src/wubble_arm_kinematics_constraint_aware.cpp:438:
> error: ‘end_effector_link’ was ...