legged_messages, which I've built before unitree_legged_real, is not seen by ROS for some reason. Actually, as you can see, the message type is installed:
Hello, I am trying to connect A1 to ROS (Noetic) (and I also want to simulate A1 in Gazebo later). I've done the following:
[ 85%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.o
[ 85%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o
[ 87%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.o
[ 89%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o
[ 92%] Built target lcm_server_3_2
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:225:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘commVersion’
225 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:226:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘robotID’
226 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::LowState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd&, UNITREE_LEGGED_SDK::LowCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:250:27: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘commVersion’
250 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:251:23: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘robotID’
251 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:252:18: error: cannot convert ‘unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
252 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:258:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
258 | lcm.led[i].r = ros.led[i].r;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:259:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
259 | lcm.led[i].g = ros.led[i].g;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:260:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
260 | lcm.led[i].b = ros.led[i].b;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:274:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘commVersion’
274 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:275:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘robotID’
275 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::HighState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/position_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:280:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardSpeed’
280 | ros.forwardSpeed = lcm.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:281:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sideSpeed’
281 | ros.sideSpeed = lcm.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:282:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘rotateSpeed’
282 | ros.rotateSpeed = lcm.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:284:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘updownSpeed’
284 | ros.updownSpeed = lcm.updownSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:285:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardPosition’
285 | ros.forwardPosition = lcm.forwardPosition;
| ^~~~~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:286:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sidePosition’
286 | ros.sidePosition = lcm.sidePosition;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:297:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘tick’
297 | ros.tick = lcm.tick;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd&, UNITREE_LEGGED_SDK::HighCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:310:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘commVersion’
310 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:311:23: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘robotID’
311 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:312:18: error: cannot convert ‘unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
312 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:315:28: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
315 | lcm.forwardSpeed = ros.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:316:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘sideSpeed’
316 | lcm.sideSpeed = ros.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:317:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
317 | lcm.rotateSpeed = ros.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:320:19: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
320 | lcm.yaw = ros.yaw;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:321:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
321 | lcm.pitch = ros.pitch;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:322:20: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘roll’
322 | lcm.roll = ros.roll;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:330:32: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘AppRemote’
330 | lcm.AppRemote[i] = ros.AppRemote[i];
| ^~~~~~~~~
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:225:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘commVersion’
225 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:226:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘robotID’
226 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::LowState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd&, UNITREE_LEGGED_SDK::LowCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:250:27: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘commVersion’
250 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:251:23: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘robotID’
251 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:252:18: error: cannot convert ‘unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
252 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:258:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
258 | lcm.led[i].r = ros.led[i].r;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:259:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
259 | lcm.led[i].g = ros.led[i].g;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:260:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
260 | lcm.led[i].b = ros.led[i].b;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:274:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘commVersion’
274 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:275:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘robotID’
275 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::HighState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/velocity_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:280:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardSpeed’
280 | ros.forwardSpeed = lcm.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:281:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sideSpeed’
281 | ros.sideSpeed = lcm.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:282:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘rotateSpeed’
282 | ros.rotateSpeed = lcm.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:284:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘updownSpeed’
284 | ros.updownSpeed = lcm.updownSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:285:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardPosition’
285 | ros.forwardPosition = lcm.forwardPosition;
| ^~~~~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:286:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sidePosition’
286 | ros.sidePosition = lcm.sidePosition;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:297:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘tick’
297 | ros.tick = lcm.tick;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd&, UNITREE_LEGGED_SDK::HighCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:310:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘commVersion’
310 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:311:23: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘robotID’
311 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:312:18: error: cannot convert ‘unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
312 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:315:28: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
315 | lcm.forwardSpeed = ros.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:316:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘sideSpeed’
316 | lcm.sideSpeed = ros.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:317:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
317 | lcm.rotateSpeed = ros.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:320:19: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
320 | lcm.yaw = ros.yaw;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:321:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
321 | lcm.pitch = ros.pitch;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:322:20: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘roll’
322 | lcm.roll = ros.roll;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:330:32: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘AppRemote’
330 | lcm.AppRemote[i] = ros.AppRemote[i];
| ^~~~~~~~~
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:225:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘commVersion’
225 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:12:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::LowState ToRos(UNITREE_LEGGED_SDK::LowState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:225:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘commVersion’
225 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:226:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘robotID’
226 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:226:9: error: ‘unitree_legged_msgs::LowState’ {aka ‘struct unitree_legged_msgs::LowState_<std::allocator<void> >’} has no member named ‘robotID’
226 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::LowState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
227 | ros.SN = lcm.SN;
| ^~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::LowState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
227 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:12:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:227:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
227 | ros.SN = lcm.SN;
| ^~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd&, UNITREE_LEGGED_SDK::LowCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:250:27: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘commVersion’
250 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:251:23: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘robotID’
251 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:252:18: error: cannot convert ‘unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
252 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:12:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::LowCmd ToLcm(unitree_legged_msgs::LowCmd&, UNITREE_LEGGED_SDK::LowCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:250:27: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘commVersion’
250 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:251:23: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘robotID’
251 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:252:18: error: cannot convert ‘unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
252 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::LowCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:258:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
258 | lcm.led[i].r = ros.led[i].r;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:259:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
259 | lcm.led[i].g = ros.led[i].g;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:260:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
260 | lcm.led[i].b = ros.led[i].b;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:258:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
258 | lcm.led[i].r = ros.led[i].r;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:259:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
259 | lcm.led[i].g = ros.led[i].g;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:260:28: error: ‘unitree_legged_msgs::LowCmd’ {aka ‘struct unitree_legged_msgs::LowCmd_<std::allocator<void> >’} has no member named ‘led’
260 | lcm.led[i].b = ros.led[i].b;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:274:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘commVersion’
274 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:275:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘robotID’
275 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::HighState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
276 | ros.SN = lcm.SN;
| ^~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘unitree_legged_msgs::HighState ToRos(UNITREE_LEGGED_SDK::HighState&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:274:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘commVersion’
274 | ros.commVersion = lcm.commVersion;
| ^~~~~~~~~~~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:275:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘robotID’
275 | ros.robotID = lcm.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: error: no match for ‘operator=’ (operand types are ‘unitree_legged_msgs::HighState_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} and ‘uint32_t’ {aka ‘unsigned int’})
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:6:
/usr/include/boost/array.hpp:172:21: note: candidate: ‘template<class T2> boost::array<T, N>& boost::array<T, N>::operator=(const boost::array<T2, N>&) [with T2 = T2; T = unsigned int; long unsigned int N = 2]’
172 | array<T,N>& operator= (const array<T2,N>& rhs) {
| ^~~~~~~~
/usr/include/boost/array.hpp:172:21: note: template argument deduction/substitution failed:
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:12:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:276:18: note: mismatched types ‘const boost::array<T2, 2>’ and ‘uint32_t’ {aka ‘unsigned int’}
276 | ros.SN = lcm.SN;
| ^~
In file included from /opt/ros/noetic/include/ros/message.h:38,
from /opt/ros/noetic/include/ros/publisher.h:33,
from /opt/ros/noetic/include/ros/node_handle.h:32,
from /opt/ros/noetic/include/ros/ros.h:45,
from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:6:
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(const boost::array<unsigned int, 2>&)’
61 | class array {
| ^~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘const boost::array<unsigned int, 2>&’
/usr/include/boost/array.hpp:61:11: note: candidate: ‘boost::array<unsigned int, 2>& boost::array<unsigned int, 2>::operator=(boost::array<unsigned int, 2>&&)’
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:13:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:280:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardSpeed’
280 | ros.forwardSpeed = lcm.forwardSpeed;
| ^~~~~~~~~~~~
/usr/include/boost/array.hpp:61:11: note: no known conversion for argument 1 from ‘uint32_t’ {aka ‘unsigned int’} to ‘boost::array<unsigned int, 2>&&’
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:281:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sideSpeed’
281 | ros.sideSpeed = lcm.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:282:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘rotateSpeed’
282 | ros.rotateSpeed = lcm.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:284:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘updownSpeed’
284 | ros.updownSpeed = lcm.updownSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:285:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardPosition’
285 | ros.forwardPosition = lcm.forwardPosition;
| ^~~~~~~~~~~~~~~
In file included from /home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/torque_mode.cpp:12:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:280:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardSpeed’
280 | ros.forwardSpeed = lcm.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:286:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sidePosition’
286 | ros.sidePosition = lcm.sidePosition;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:281:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sideSpeed’
281 | ros.sideSpeed = lcm.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:282:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘rotateSpeed’
282 | ros.rotateSpeed = lcm.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:284:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘updownSpeed’
284 | ros.updownSpeed = lcm.updownSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:285:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘forwardPosition’
285 | ros.forwardPosition = lcm.forwardPosition;
| ^~~~~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:297:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘tick’
297 | ros.tick = lcm.tick;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:286:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘sidePosition’
286 | ros.sidePosition = lcm.sidePosition;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:297:9: error: ‘unitree_legged_msgs::HighState’ {aka ‘struct unitree_legged_msgs::HighState_<std::allocator<void> >’} has no member named ‘tick’
297 | ros.tick = lcm.tick;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd&, UNITREE_LEGGED_SDK::HighCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:310:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘commVersion’
310 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:311:23: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘robotID’
311 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:312:18: error: cannot convert ‘unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
312 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:315:28: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
315 | lcm.forwardSpeed = ros.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:316:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘sideSpeed’
316 | lcm.sideSpeed = ros.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:317:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
317 | lcm.rotateSpeed = ros.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h: In function ‘UNITREE_LEGGED_SDK::HighCmd ToLcm(unitree_legged_msgs::HighCmd&, UNITREE_LEGGED_SDK::HighCmd)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:310:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘commVersion’
310 | lcm.commVersion = ros.commVersion;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:320:19: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
320 | lcm.yaw = ros.yaw;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:321:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
321 | lcm.pitch = ros.pitch;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:311:23: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘robotID’
311 | lcm.robotID = ros.robotID;
| ^~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:322:20: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘roll’
322 | lcm.roll = ros.roll;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:312:18: error: cannot convert ‘unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type’ {aka ‘boost::array<unsigned int, 2>’} to ‘uint32_t’ {aka ‘unsigned int’} in assignment
312 | lcm.SN = ros.SN;
| ~~~~^~
| |
| unitree_legged_msgs::HighCmd_<std::allocator<void> >::_SN_type {aka boost::array<unsigned int, 2>}
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:315:28: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
315 | lcm.forwardSpeed = ros.forwardSpeed;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:316:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘sideSpeed’
316 | lcm.sideSpeed = ros.sideSpeed;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:317:27: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
317 | lcm.rotateSpeed = ros.rotateSpeed;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:330:32: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘AppRemote’
330 | lcm.AppRemote[i] = ros.AppRemote[i];
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:320:19: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
320 | lcm.yaw = ros.yaw;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:321:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
321 | lcm.pitch = ros.pitch;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:322:20: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘roll’
322 | lcm.roll = ros.roll;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/include/convert.h:330:32: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘AppRemote’
330 | lcm.AppRemote[i] = ros.AppRemote[i];
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp: In function ‘int mainHelper(int, char**, TLCM&)’:
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:61:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
61 | SendHighROS.forwardSpeed = 0.0f;
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:62:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘sideSpeed’
62 | SendHighROS.sideSpeed = 0.0f;
| ^~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:63:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
63 | SendHighROS.rotateSpeed = 0.0f;
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:67:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘roll’
67 | SendHighROS.roll = 0;
| ^~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:68:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
68 | SendHighROS.pitch = 0;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:69:21: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
69 | SendHighROS.yaw = 0;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:78:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘pitch’
78 | SendHighROS.pitch = 0.3f;
| ^~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:83:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘yaw’
83 | SendHighROS.yaw = 0.2f;
| ^~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:107:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
107 | SendHighROS.forwardSpeed = 0.1f; // -1 ~ +1
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:112:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘forwardSpeed’
112 | SendHighROS.forwardSpeed = -0.2f; // -1 ~ +1
| ^~~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:117:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
117 | SendHighROS.rotateSpeed = 0.1f; // turn
| ^~~~~~~~~~~
/home/staycoolish/catkin_ws/src/unitree_ros_to_real/unitree_legged_real/src/exe/walk_mode.cpp:122:25: error: ‘unitree_legged_msgs::HighCmd’ {aka ‘struct unitree_legged_msgs::HighCmd_<std::allocator<void> >’} has no member named ‘rotateSpeed’
122 | SendHighROS.rotateSpeed = -0.1f; // turn
| ^~~~~~~~~~~
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make:63: unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1916: unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/build.make:63: unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o] Error 1
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/velocity_lcm.dir/build.make:63: unitree_ros_to_real/unitree_legged_real/CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.o] Error 1
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make:63: unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1694: unitree_ros_to_real/unitree_legged_real/CMakeFiles/velocity_lcm.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:2161: unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:1804: unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed
I appreciate any help. If there is any tutorial on this, I would like to check it as well. I tried everything (in bashrc., all the variables are defined, which are:
What is wrong is a mystery to me. Thank you.