ros2_control packages for ROBOTIS Dynamixel

Overview

dynamixel_control

The ros2_control implementation for any kind of ROBOTIS Dynamixel robots.

  • dynamixel_hardware: the SystemInterface implementation for the multiple ROBOTIS Dynamixel servos.
  • open_manipulator_x_robot: the reference implementation of the ros2_control robot using ROBOTIS OpenManipulator-X.

The dynamixel_hardware package is hopefully compatible any configuration of ROBOTIS Dynamixel servos thanks to the ros2_control's flexible architecture.

Set up

First install ROS 2 Foxy on Ubuntu 20.04. Then follow the instruction below.

$ source /opt/ros/foxy/setup.bash
$ mkdir -p ~/ros/foxy && cd ~/ros/foxy
$ git clone https://github.com/youtalk/dynamixel_control.git src
$ vcs import src < src/dynamixel_control.repos
$ rosdep install --from-paths src --ignore-src -r -y
$ colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
$ . install/setup.bash

Demo with real ROBOTIS OpenManipulator-X

Configure Dynamixel motor parameters

Update the usb_port, baud_rate, and joint_ids parameters on open_manipulator_x_robot/urdf/open_manipulator_x.ros2_control.xacro to correctly communicate with Dynamixel motors. The use_dummy parameter is required if you don't have a real OpenManipulator-X.

Note that joint_ids parameters must be splited by ,.

<hardware>
  <plugin>dynamixel_hardware/DynamixelHardware</plugin>
  <param name="usb_port">/dev/ttyUSB0</param>
  <param name="baud_rate">1000000</param>
  <param name="joint_ids">11,12,13,14,15</param>
  <!-- <param name="use_dummy">true</param> -->
</hardware>
  • Terminal 1

Launch the ros2_control manager for the OpenManipulator-X.

$ ros2 launch open_manipulator_x_robot open_manipulator_x_robot.launch.py
  • Terminal 2

Start the joint_trajectory_controller and send a /joint_trajectory_controller/follow_joint_trajectory goal to move the OpenManipulator-X.

$ ros2 control switch_controllers --start-controllers joint_trajectory_controller
$ ros2 control list_controllers
$ ros2 control list_hardware_interfaces
$ ros2 action send_goal /joint_trajectory_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory -f "{
  trajectory: {
    joint_names: [joint1, joint2, joint3, joint4, gripper],
    points: [
      { positions: [0.1, 0.1, 0.1, 0.1, 0.01], time_from_start: { sec: 2 } },
      { positions: [-0.1, -0.1, -0.1, -0.1, -0.01], time_from_start: { sec: 4 } },
      { positions: [0, 0, 0, 0, 0], time_from_start: { sec: 6 } }
    ]
  }
}"

dynamixel_control: the ros2_control implementation for any kind of ROBOTIS Dynamixel robots

Demo with dummy ROBOTIS OpenManipulator-X

The use_dummy parameter is required if you use the dummy OpenManipulator-X.

diff --git a/open_manipulator_x_robot/urdf/open_manipulator_x.ros2_control.xacro b/open_manipulator_x_robot/urdf/open_manipulator_x.ros2_control.xacro
index c6cdb74..111846d 100644
--- a/open_manipulator_x_robot/urdf/open_manipulator_x.ros2_control.xacro
+++ b/open_manipulator_x_robot/urdf/open_manipulator_x.ros2_control.xacro
@@ -9,7 +9,7 @@
         <param name="usb_port">/dev/ttyUSB0</param>
         <param name="baud_rate">1000000</param>
         <param name="joint_ids">11,12,13,14,15</param>
-        <!-- <param name="use_dummy">true</param> -->
+        <param name="use_dummy">true</param>
       </hardware>
       <joint name="joint1">
         <command_interface name="position"/>

Then follow the same instruction of the real robot one.

Note that the dummy implementation has no interpolation so far. If you sent a joint message, the robot would move directly to the joints without interpolation.

Comments
  • support for ros2 galactic

    support for ros2 galactic

    Hallo on building with ros2-galatic i am getting this error:

    cmds: source /opt/ros/galactic/setup.bash mkdir -p ~/ros/galactic && cd ~/ros/galactic git clone https://github.com/youtalk/dynamixel_control.git src vcs import src < src/dynamixel_control.repos rosdep install --from-paths src --ignore-src -r -y colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON . install/setup.bash

    error: ` fatal error: hardware_interface/base_interface.hpp: No such file or directory 20 | #include <hardware_interface/base_interface.hpp> | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [CMakeFiles/dynamixel_hardware.dir/build.make:63: CMakeFiles/dynamixel_hardware.dir/src/dynamixel_hardware.cpp.o] Error 1 make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/dynamixel_hardware.dir/all] Error 2 make: *** [Makefile:141: all] Error 2

    Failed <<< dynamixel_hardware [22.0s, exited with code 2] `

    opened by 3mrrrx 6
  • Adding back in ros_ign_gazebo and ign_ros2_control dependency

    Adding back in ros_ign_gazebo and ign_ros2_control dependency

    Addresses: https://github.com/youtalk/dynamixel_control/pull/35#issuecomment-1280696915

    But don't call find_package from within in CMakeLists.txt. They are only used in URDF, so a find_package should't be necessary.

    Signed-off-by: Kenji Brameld [email protected]

    opened by ijnek 3
  • Add missing dependencies

    Add missing dependencies

    This adds rclcpp_lifecycle and lifecycle_msgs as dependencies. When I compiled ROS2 Galactic from source, the build for dynamixel_control failed, complaining about these. (Not sure why, but when ROS2 is installed from packages on Ubuntu, the build is fine without these.)

    opened by pdenes 3
  • Can this hardware library be used with wheeled robot?

    Can this hardware library be used with wheeled robot?

    First of all, pretty awesome library. I tried to use this lib for a wheeled robot with foxy + ros2_control and standard diff_drive_controller but had some issues with it. Can this be used with wheeled robot in Velocity control mode or will it have to be modified to work with it? And what changes you would suggest. Thanks.

    opened by robofoundry 3
  • Transfer repository from youtalk to dynamixel-community

    Transfer repository from youtalk to dynamixel-community

    Hi @ijnek and @ROBOTIS-Will Thank you for discussing releasing dynamixel_hardware package on ROSCon 2022. It was so exciting.

    • [x] 1. Separate this repository into two repositories: dynamixel_hardware and dyanamixel_hardware_examples to resolve https://github.com/youtalk/dynamixel_control/issues/36
    • [x] 2. Transfer their repositories to a new organization dynamixel_community.
    • [x] 3. Make release repositories dynamixel_hardware-release and dyanamixel_hardware_examples-release on the organization.
    • [x] 4. Release dynamixel_hardware package first!

    What do you think? I want to add you to the organization's co-owners.

    opened by youtalk 2
  • Splitting out examples to a separate repository?

    Splitting out examples to a separate repository?

    The pantilt_bot_description and open_manipulator_x_description example packages are great, but I think it would be better split them out into a separate repository for two reasons.

    1. When building from source, I often use rosdep to install package dependencies. If I want to use the dynamixel_hardware package only, I still have to clone the other two packages add an AMENT_IGNORE file to the example packages to prevent unnecessary dependencies getting installed (eg. realsense2_description is not available in rolling) and getting built. If the repositories were separate, I wouldn't have to do this.
    2. When releasing the package, bloom will usually release all packages in the repository together. I'm not sure if you intend to release pantilt_bot_description and open_manipulator_x_description. The version numbers of all package numbers must be increased together.

    I don't know if I can get around to doing this, but want to hear your thoughts @youtalk.

    opened by ijnek 2
  • fix 'CallbackReturn' does not name a type

    fix 'CallbackReturn' does not name a type

    Building on rolling, (and perhaps humble too), the following error shows up:

    /home/ijnek/tmp_workspaces/dynamixel_control_ws/src/dynamixel_control/dynamixel_hardware/src/dynamixel_hardware.cpp:51:1: error: ‘CallbackReturn’ does not name a type
       51 | CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo & info)
          | ^~~~~~~~~~~~~~
    

    This change fixes this error.

    opened by ijnek 2
  • Port #30 to rolling branch

    Port #30 to rolling branch

    Changes merged in #30 should be ported to rolling branch. Do you want me to open a PR, or do you have Mergify enabled?

    Originally posted by @ijnek in https://github.com/youtalk/dynamixel_control/issues/30#issuecomment-1256823214

    opened by ijnek 1
  • Fix unused parameter warning

    Fix unused parameter warning

    Fixes the following warning. This change should be applied to all active distributions, and not just rolling.

    --- stderr: dynamixel_hardware                                                                  
    /workspaces/dev_containers_ros2/galactic/galactic-desktop/quasor_ws/src/dynamixel_control/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual CallbackReturn dynamixel_hardware::DynamixelHardware::on_activate(const rclcpp_lifecycle::State&)’:
    /workspaces/dev_containers_ros2/galactic/galactic-desktop/quasor_ws/src/dynamixel_control/dynamixel_hardware/src/dynamixel_hardware.cpp:219:79: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
      219 | CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & previous_state)
          |                                               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    /workspaces/dev_containers_ros2/galactic/galactic-desktop/quasor_ws/src/dynamixel_control/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual CallbackReturn dynamixel_hardware::DynamixelHardware::on_deactivate(const rclcpp_lifecycle::State&)’:
    /workspaces/dev_containers_ros2/galactic/galactic-desktop/quasor_ws/src/dynamixel_control/dynamixel_hardware/src/dynamixel_hardware.cpp:236:81: warning: unused parameter ‘previous_state’ [-Wunused-parameter]
      236 | CallbackReturn DynamixelHardware::on_deactivate(const rclcpp_lifecycle::State & previous_state)
          |                                                 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
    ---
    
    opened by ijnek 1
  • Use ignition instead of gazebo

    Use ignition instead of gazebo

    This PR replaces gazebo with ignition. The exact changes are listed below.

    • gazebo_ros -> ros_ign_gazebo
    • gazebo_ros2_control -> ign_ros2_control
    • gazebo_ros2_control/GazeboSystem -> ign_ros2_control/IgnitionSystem
    • <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control"> -> <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
    opened by ijnek 1
  • change spawner.py calls to spawner

    change spawner.py calls to spawner

    In https://github.com/ros-controls/ros2_control/pull/453, spawner.py was deprecated and replaced by spawner. This PR simply replaces all the calls in the launch files.

    opened by ijnek 1
  • No gripper movement

    No gripper movement

    Hi,

    I am using your code to test my Dynamixel openmanipulator arm. I am able to move the arm except for the gripper. I have checked all the settings including the ID numbers of the motor via Dynamixel Wizard. I can move the gripper motor via the Wizard tool so I can confirm that the motor is not an issue. Could you suggest what I can do to troubleshoot this issue.

    Thanks, Ajay

    opened by ajaysonar 2
  • Adding CI

    Adding CI

    Hi @youtalk , I'd like to create a new PR adding CI in. Do you have preferences for industrial_ci vs action-ros-ci, or another? My preference would be action-ros-ci, but would be happy to work with any tool you're comfortable with.

    opened by ijnek 1
  • rosdep fails on ROS 2 Rolling

    rosdep fails on ROS 2 Rolling

    [email protected]:~/tmp_workspaces/dynamixel_control_ws$ rosdep install --from-paths src --ignore-src -r -y
    ERROR: the following packages/stacks could not have their rosdep keys resolved
    to system dependencies:
    pantilt_bot_description: Cannot locate rosdep definition for [realsense2_description]
    Continuing to install resolvable dependencies...
    #All required rosdeps installed successfully
    

    Installation instructions' rosdep fails because the realsense2_description package isn't available in rolling. I've opened a ticket against IntelRealSense/realsense-ros to request for a release in rolling, which should solve this issue.

    opened by ijnek 1
  • Could you recommend me  please .

    Could you recommend me please .

    Could you recommend me please , I want to read present_input_voltage form dynamixel but i don't know main file for ros node and code for read . i need some guide

    opened by pannatorn6395 2
  • Releasing this package

    Releasing this package

    Hi @youtalk , thanks for developing and maintaining this package. I remember at ROSCon JP (I was there), you mentioned some things preventing you releasing this package.

    I'd like to know what the roadblockers currently are, prevnting this package from being released into ROS 2? The obvious one I can think of is ROBOTIS-GIT/dynamixel-workbench missing releases for ROS2. Are there any others?

    opened by ijnek 2
  • failing to compile

    failing to compile

    I'm having trouble getting dynamixel_control to compile. Below is a dockerfile for reproducibility. The error I get is

    #0 6.315 --- stderr: dynamixel_workbench_toolbox
    #0 6.315 /ros2_ws/src/dynamixel-workbench-ros2/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp: In member function ‘bool DynamixelDriver::readRegister(uint8_t, uint16_t, uint16_t, uint32_t*, const char**)’:
    #0 6.315 /ros2_ws/src/dynamixel-workbench-ros2/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp:776:11: warning: ISO C++ forbids variable length array ‘data_read’ [-Wvla]
    #0 6.315   776 |   uint8_t data_read[length];
    #0 6.315       |           ^~~~~~~~~
    #0 6.315 /ros2_ws/src/dynamixel-workbench-ros2/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp: In member function ‘bool DynamixelDriver::syncWrite(uint8_t, uint8_t*, uint8_t, int32_t*, uint8_t, const char**)’:
    #0 6.315 /ros2_ws/src/dynamixel-workbench-ros2/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_driver.cpp:1012:11: warning: ISO C++ forbids variable length array ‘multi_parameter’ [-Wvla]
    #0 6.315  1012 |   uint8_t multi_parameter[4*data_num_for_each_id];
    #0 6.315       |           ^~~~~~~~~~~~~~~
    #0 6.315 ---
    #0 6.316 Finished <<< dynamixel_workbench_toolbox [3.09s]
    #0 6.321 Starting >>> dynamixel_hardware
    #0 6.336 Starting >>> dynamixel_workbench
    #0 7.692 Finished <<< dynamixel_sdk_custom_interfaces [6.74s]
    #0 7.693 Starting >>> dynamixel_sdk_examples
    #0 7.828 Finished <<< dynamixel_workbench [1.49s]
    #0 13.12 --- stderr: dynamixel_hardware
    #0 13.12 In file included from /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:15:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:66:3: error: ‘CallbackReturn’ does not name a type
    #0 13.12    66 |   CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
    #0 13.12       |   ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:75:3: error: ‘CallbackReturn’ does not name a type
    #0 13.12    75 |   CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
    #0 13.12       |   ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:78:3: error: ‘CallbackReturn’ does not name a type
    #0 13.12    78 |   CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
    #0 13.12       |   ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:51:1: error: ‘CallbackReturn’ does not name a type
    #0 13.12    51 | CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo & info)
    #0 13.12       | ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual std::vector<hardware_interface::StateInterface> dynamixel_hardware::DynamixelHardware::export_state_interfaces()’:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:193:24: error: ‘info_’ was not declared in this scope
    #0 13.12   193 |   for (uint i = 0; i < info_.joints.size(); i++) {
    #0 13.12       |                        ^~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual std::vector<hardware_interface::CommandInterface> dynamixel_hardware::DynamixelHardware::export_command_interfaces()’:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:209:24: error: ‘info_’ was not declared in this scope
    #0 13.12   209 |   for (uint i = 0; i < info_.joints.size(); i++) {
    #0 13.12       |                        ^~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: At global scope:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:219:1: error: ‘CallbackReturn’ does not name a type
    #0 13.12   219 | CallbackReturn DynamixelHardware::on_activate(const rclcpp_lifecycle::State & previous_state)
    #0 13.12       | ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:236:1: error: ‘CallbackReturn’ does not name a type
    #0 13.12   236 | CallbackReturn DynamixelHardware::on_deactivate(const rclcpp_lifecycle::State & previous_state)
    #0 13.12       | ^~~~~~~~~~~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual hardware_interface::return_type dynamixel_hardware::DynamixelHardware::read()’:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:248:28: error: ‘info_’ was not declared in this scope
    #0 13.12   248 |   std::vector<uint8_t> ids(info_.joints.size(), 0);
    #0 13.12       |                            ^~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘virtual hardware_interface::return_type dynamixel_hardware::DynamixelHardware::write()’:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:301:28: error: ‘info_’ was not declared in this scope
    #0 13.12   301 |   std::vector<uint8_t> ids(info_.joints.size(), 0);
    #0 13.12       |                            ^~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp: In member function ‘hardware_interface::return_type dynamixel_hardware::DynamixelHardware::enable_torque(bool)’:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:346:26: error: ‘info_’ was not declared in this scope
    #0 13.12   346 |     for (uint i = 0; i < info_.joints.size(); ++i) {
    #0 13.12       |                          ^~~~~
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:355:26: error: ‘info_’ was not declared in this scope
    #0 13.12   355 |     for (uint i = 0; i < info_.joints.size(); ++i) {
    #0 13.12       |                          ^~~~~
    #0 13.12 In file included from /opt/ros/foxy/include/class_loader/class_loader_core.hpp:57,
    #0 13.12                  from /opt/ros/foxy/include/class_loader/class_loader.hpp:55,
    #0 13.12                  from /opt/ros/foxy/include/pluginlib/class_list_macros.hpp:40,
    #0 13.12                  from /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:431:
    #0 13.12 /opt/ros/foxy/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = dynamixel_hardware::DynamixelHardware; B = hardware_interface::SystemInterface]’:
    #0 13.12 /opt/ros/foxy/include/class_loader/meta_object.hpp:216:7:   required from here
    #0 13.12 /opt/ros/foxy/include/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘dynamixel_hardware::DynamixelHardware’
    #0 13.12   218 |     return new C;
    #0 13.12       |            ^~~~~
    #0 13.12 In file included from /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:15:
    #0 13.12 /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:59:7: note:   because the following virtual functions are pure within ‘dynamixel_hardware::DynamixelHardware’:
    #0 13.12    59 | class DynamixelHardware
    #0 13.12       |       ^~~~~~~~~~~~~~~~~
    #0 13.12 In file included from /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:22,
    #0 13.12                  from /ros2_ws/src/dynamixel_control-1a1e6ef0cec860e0d44d25e910d269af89ab41c4/dynamixel_hardware/src/dynamixel_hardware.cpp:15:
    #0 13.12 /opt/ros/foxy/include/hardware_interface/system_interface.hpp:48:23: note: 	‘virtual hardware_interface::return_type hardware_interface::SystemInterface::configure(const hardware_interface::HardwareInfo&)’
    #0 13.12    48 |   virtual return_type configure(const HardwareInfo & system_info) = 0;
    #0 13.12       |                       ^~~~~~~~~
    #0 13.12 /opt/ros/foxy/include/hardware_interface/system_interface.hpp:116:23: note: 	‘virtual hardware_interface::return_type hardware_interface::SystemInterface::start()’
    #0 13.12   116 |   virtual return_type start() = 0;
    #0 13.12       |                       ^~~~~
    #0 13.12 /opt/ros/foxy/include/hardware_interface/system_interface.hpp:122:23: note: 	‘virtual hardware_interface::return_type hardware_interface::SystemInterface::stop()’
    #0 13.12   122 |   virtual return_type stop() = 0;
    #0 13.12       |                       ^~~~
    #0 13.12 /opt/ros/foxy/include/hardware_interface/system_interface.hpp:128:23: note: 	‘virtual std::string hardware_interface::SystemInterface::get_name() const’
    #0 13.12   128 |   virtual std::string get_name() const = 0;
    #0 13.12       |                       ^~~~~~~~
    #0 13.12 /opt/ros/foxy/include/hardware_interface/system_interface.hpp:134:18: note: 	‘virtual hardware_interface::status hardware_interface::SystemInterface::get_status() const’
    #0 13.12   134 |   virtual status get_status() const = 0;
    #0 13.12       |                  ^~~~~~~~~~
    #0 13.12 make[2]: *** [CMakeFiles/dynamixel_hardware.dir/build.make:63: CMakeFiles/dynamixel_hardware.dir/src/dynamixel_hardware.cpp.o] Error 1
    #0 13.12 make[1]: *** [CMakeFiles/Makefile2:78: CMakeFiles/dynamixel_hardware.dir/all] Error 2
    #0 13.12 make: *** [Makefile:141: all] Error 2
    #0 13.12 ---
    #0 13.12 Failed   <<< dynamixel_hardware [6.80s, exited with code 2]
    #0 18.16 Aborted  <<< dynamixel_sdk_examples [10.5s]
    #0 23.98 Aborted  <<< dynamixel_workbench_msgs [23.0s]
    #0 24.02 
    #0 24.02 Summary: 4 packages finished [23.3s]
    #0 24.02   1 package failed: dynamixel_hardware
    #0 24.02   2 packages aborted: dynamixel_sdk_examples dynamixel_workbench_msgs
    #0 24.02   2 packages had stderr output: dynamixel_hardware dynamixel_workbench_toolbox
    #0 24.02   2 packages not processed
    ------
    failed to solve: executor failed running [/bin/bash -c source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install]: exit code: 2
    
    dockerfile
    FROM ros:foxy
    
    # use bash instead of sh
    SHELL ["/bin/bash", "-c"]
    ENV DEBIAN_FRONTEND=noninteractive
    
    # update system
    RUN apt-get update && apt-get upgrade --yes
    RUN apt-get install -y \
        wget \
        ros-foxy-ros2-control \
        ros-foxy-ros2-controllers \
        && rm -rf /var/lib/apt/lists/*
    
    # create workspace
    RUN mkdir -p /ros2_ws/src
    WORKDIR /ros2_ws
    
    # download ROS packages
    RUN wget -c https://github.com/ROBOTIS-GIT/DynamixelSDK/archive/refs/tags/3.7.60.tar.gz -O - | tar -xz -C /ros2_ws/src
    RUN wget -c https://github.com/ROBOTIS-GIT/dynamixel-workbench/archive/ros2.tar.gz -O - | tar -xz -C /ros2_ws/src
    RUN wget -c https://github.com/ROBOTIS-GIT/dynamixel-workbench-msgs/archive/ros2.tar.gz -O - | tar -xz -C /ros2_ws/src
    RUN wget -c https://github.com/youtalk/dynamixel_control/archive/1a1e6ef0cec860e0d44d25e910d269af89ab41c4.tar.gz -O - | tar -xz -C /ros2_ws/src
    
    
    RUN apt-get update \
        && rosdep install --from-paths src --ignore-src -r -y \
        && rm -rf /var/lib/apt/lists/*
    
    # build ROS packages and allow non-compiled
    # sources to be edited without rebuild
    RUN source /opt/ros/$ROS_DISTRO/setup.bash && colcon build --symlink-install
    
    # add packages to path
    RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
    RUN echo "source /ros2_ws/install/setup.bash" >> ~/.bashrc
    

    run using docker build .

    opened by patrickwasp 1
Owner
Yutaka Kondo
I'm always thinking about what people and robots can do together.
Yutaka Kondo
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