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Error: no matching function for call to ‘std::vector<double>::back(double&) I am writing a node to move my rob

Need help with code I am trying to figure out how to write the code needed to take the angular Y value from my topic /sh

You're right Per Edwardsson I for got the semicolon, I fixed the post.

Need help with code I am trying to figure out how to write the code needed to take the angular Y value from my topic /sh

Need help with code I am trying to figure out how to write the code needed to take the angular Y value from my topic /sh

Need help with coding I am trying to figure out how to write the code needed to take the angular Y value from my topic /

Need help with coding I am trying to figure out how to write the code needed to take the angular Y value from my topic /

I figured it out. I needed to launch Rviz with Gazebo in order to load the controllers, use sim time and update the pyth

Unable to get Rviz to display robot I have been working on a robot of my own design and I have it working with hardware

XmlRpc in ROS2 A package I'm working on converting to Ros2 uses XmlRpc to take a bunch of servo parameters from a global

Question about how Ros2 builds packages I am re-writing a ros1 package for ros2 and had a question about how ros2 builds

I am trying to use a parameter node to store all the params that define a robot using the guide HERE.

The examples show are for only one param, how would you do set it up for multiple params? Do I really have to do all those lines of code for each param?

class TestGetGlobalParam : public rclcpp::Node
{
public:
    TestGetGlobalParam() : Node("test_get_global_param")
    {
        parameters_client = 
            std::make_shared<rclcpp::AsyncParametersClient>(this, "/global_parameter_server");

            parameters_client->wait_for_service();
            auto parameters_future = parameters_client->get_parameters(
                {"my_global_param"},
                std::bind(&TestGetGlobalParam::callbackGlobalParam, this, std::placeholders::_1));
        }
        void callbackGlobalParam(std::shared_future<std::vector<rclcpp::Parameter>> future)
        {
            auto result = future.get();
            auto param = result.at(0);
            RCLCPP_INFO(this->get_logger(), "Got global param: %s", param.as_string().c_str());
        }
private:
    std::shared_ptr<rclcpp::AsyncParametersClient> parameters_client;
};

While I know ROS2 is trying to get away from global params, but for the project I have envisioned it's the best way I can think of. I am trying to write a set of packages for legged robots (3 or 4 dof, and 4, 6 or 8 legs) where the user defines their robot via YAML and the code sets up the low level controller for IK, gait, etc.

thanks jacobperron, the ROS2 documentation is even worse than the ROS1 version. given what you told me and what the demo

exampe of using AsyncParametersClient for multiple params I am trying to use a parameter node to store all the params th

I figured it out, my cmake was fine my includes were pointing to the actual msg name not the name of the generated .hpp.

thanks schornak, that did it now I just need to figure out why my custom msgs aren't generating a .hpp EDIT: they are be

I am trying to build a controller node for a robot in ROS2 foxy and CMake is kicking my ass. When I try to add a library none of the msgs/srvs work either my custom one or a built in such as std_msgs

Here is the type of error I get from the console, it's pretty much the same for all the msgs/srvs:

colcon build --packages-select legged_robot_controller
Starting >>> legged_robot_controller
--- stderr: legged_robot_controller                             
In file included from /home/robdome/ros2_ws/src/legged_robot_controller/src/control.cpp:31:
/home/robdome/ros2_ws/src/legged_robot_controller/include/legged_robot_controller/control.hpp:38:10: fatal error: std_srvs/srv/Empty.hpp: No such file or directory
   38 | #include <std_srvs/srv/Empty.hpp>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/control.dir/build.make:63: CMakeFiles/control.dir/src/control.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:107: CMakeFiles/control.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
---
Failed   <<< legged_robot_controller [5.58s, exited with code 2]

Summary: 0 packages finished [6.01s]
  1 package failed: legged_robot_controller
  1 package had stderr output: legged_robot_controller

Here is my CMakeLists:

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(legged_robot_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(dynamixel_sdk REQUIRED)

add_library( control src/control.cpp )
ament_target_dependencies( control
        rclcpp
        tf2_ros
        std_srvs
        std_msgs
        geometry_msgs
        nav_msgs
        sensor_msgs
        legged_robot_msgs_generate_messages_cpp
        )

include_directories(
        include/${PROJECT_NAME}
)

install(DIRECTORY include/${PROJECT_NAME}
        DESTINATION include/${PROJECT_NAME}
        )

ament_export_include_directories(include)
ament_export_dependencies(rclcpp geometry_msgs sensor_msgs std_srvs std_msgs legged_robot_msgs 

tf2_ros)

ament_package()

I've spent that last day or so trying to figure it out on my own to no avail, I apologize if I'm doing something stupid I'm new to ROS and don't have a whole lot of C++ experience.

thanks schornak, that did it now I just need to figure out why my custom msgs aren't generating a .hpp

Not sure if you've tried this but the ROS wiki has some tutorials. I used them to create a URDF for this While the exp

Unable to get any msgs/srvs to work in CMakeLists I am trying to build a controller node for a robot in ROS2 foxy and CM