[ros-users] help about Coding a realtime Cartesian controller with KDL

[hjieboy85]

hi everyone,

Now I try this tutorial Coding a realtime Cartesian controller with
KDL(http://www.ros.org/wiki/pr2_mechanism/Tutorials/Coding%20a%20realtime%20Cartesian%20controller%20with%20KDL),
but when I compiled the source code, it always gives me these errors:
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:
In member function ‘virtual bool
my_controller_ns::MyCartControllerClass::init(pr2_mechanism_model::RobotState*,
ros::NodeHandle&)’:
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:45:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:46:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:47:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:48:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:49:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:
In member function ‘virtual void
my_controller_ns::MyCartControllerClass::starting()’:
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:67:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getJointPositions’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:
In member function ‘virtual void
my_controller_ns::MyCartControllerClass::update()’:
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:88:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getJointPositions’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:89:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getJointVelocities’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:98:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:121:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘getNumOfJoints’
/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/src/my_cart_controller_file.cpp:129:
error: ‘class pr2_mechanism_model::Chain’ has no member named
‘setJointEfforts’
make[3]: ***
[CMakeFiles/my_controller_lib.dir/src/my_cart_controller_file.o] Error 1
make[3]: *** Waiting for unfinished jobs....
make[3]: Leaving directory
`/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/build'
make[2]: *** [CMakeFiles/my_controller_lib.dir/all] Error 2
make[2]: Leaving directory
`/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory
`/home/cob/ros/ros-tutorials/ros_pkg_tutorials/my_controller_pkg/build'
make: *** [all] Error 2
Does anybody know how to solve this problem?
Thank you in advance!

Joe
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