tf2_examples: basic example using the tf2 package for coordinate system's transformations.
project2_solution: program that uses tf to describe the poses between a robot, its camera and an object.
marker_publisher: used in project2_solution to visualize the transformations. It's invoked by project2_solution.
project3: packages that analyze the forward dynamics of a Kuka LBR iiwa arm.
project4/cartesian_control: also with the package robot_sim from project3, uses the differential kinematics of the Kuka LBR iiwa robot arm.
project5: In order for the robot end-effector to reach a desired pose without collisions with any obstacles present in its environment it's necessary to implement motion planning. In this project is used a Rapidly-exploring Random Tree (RRT) motion planner for the same 7-jointed robot arm of the previous lectures.
I am using ROS kinetic and I cloned the projects for the purpose of testing. When doing catkin_make the terminal showed the following errors that are related to robot_sim package.
/home/roar/catkin_ws/src/utils/kuka_lwr/robot_sim/src/robot_sim_bringup.cpp: In function ‘int main(int, char**)’:
/home/roar/catkin_ws/src/utils/kuka_lwr/robot_sim/src/robot_sim_bringup.cpp:49:20: error: ISO C++ forbids declaration of ‘it’ with no type [-fpermissive]
for (auto const &it : model.joints_)
^
/home/roar/catkin_ws/src/utils/kuka_lwr/robot_sim/src/robot_sim_bringup.cpp:49:25: warning: range-based ‘for’ loops only available with -std=c++11 or -std=gnu++11
for (auto const &it : model.joints_)
^
/home/roar/catkin_ws/src/utils/kuka_lwr/robot_sim/src/robot_sim_bringup.cpp:51:12: error: request for member ‘second’ in ‘it’, which is of non-class type ‘const int’
if (it.second->type != urdf::Joint::FIXED)
^
/home/roar/catkin_ws/src/utils/kuka_lwr/robot_sim/src/robot_sim_bringup.cpp:53:19: error: request for member ‘first’ in ‘it’, which is of non-class type ‘const int’
name_map[it.first]=i;
^
utils/kuka_lwr/robot_sim/CMakeFiles/robot_sim_bringup.dir/build.make:62: recipe for target 'utils/kuka_lwr/robot_sim/CMakeFiles/robot_sim_bringup.dir/src/robot_sim_bringup.cpp.o' failed
make[2]: *** [utils/kuka_lwr/robot_sim/CMakeFiles/robot_sim_bringup.dir/src/robot_sim_bringup.cpp.o] Error 1
CMakeFiles/Makefile2:18667: recipe for target 'utils/kuka_lwr/robot_sim/CMakeFiles/robot_sim_bringup.dir/all' failed
make[1]: *** [utils/kuka_lwr/robot_sim/CMakeFiles/robot_sim_bringup.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
Is there anyway to fix this problem? Thanks for your help.
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