- Hardware Setting)
- real-time kernal.md
Before you usingFranka FCI, youMUSTset upreal-time kernalfirst, becausereal-time kernalwill make sure that the rate of control reaches 1kHz without delay. see more details inreal-time kernal.md - libfranka
- franka-interface (current markdown)
- frankapy
https://github.com/iamlab-cmu/franka-interface https://iamlab-cmu.github.io/franka-interface/index.html
conda create -n manipulation python=3.8 -y
conda activate manipulation
conda install numpy pip -y
cd ~/Franka
git clone --recurse-submodules https://github.com/ChangerC77/franka-interface.git
cd franka-interface
bash ./bash_scripts/clone_libfranka.sh 6
修改内容：第18行，将git commit 改为0.15.0
sudo vim ./bash_scripts/clone_libfranka.sh
firmware_version=$1
valid_version=true
case $firmware_version in
2)
commit=5ca631e
;;
3)
commit=80197c6
;;
4)
commit=f1f46fb
;;
5)
commit=83e931c
;;
6)
commit=0.15.0
;;
*)
valid_version=false
echo "Please enter your robot's firmware version as 2, 3, 4, 5, or 6."
;;
esac
if [ "$valid_version" = true ] ; then
rm -rf libfranka
git clone https://github.com/frankaemika/libfranka.git
cd libfranka
git checkout $commit
git submodule update --init --recursive
fi
In addition, if you are using a Franka Research 3, you should go to the following file (franka-interface/include/franka-interface/termination_handler/termination_handler.h) and comment lines 97 and 98 and uncomment lines 102 and 103:
sudo vim franka-interface/include/franka-interface/termination_handler/termination_handler.h
// Franka Panda Joint Limits from https://frankaemika.github.io/docs/control_parameters.html
const std::array<double, 7> max_joint_limits_ = std::array<double, 7>{2.88, 1.75, 2.88, -0.06, 2.88, 3.74, 2.88};
const std::array<double, 7> min_joint_limits_ = std::array<double, 7>{-2.88, -1.75, -2.88, -3.06, -2.88, -0.0025, -2.88};
// Comment the 2 lines above and uncomment the 2 lines below if you are using a Franka Research 3
// Franka Research 3 Joint Limits from https://frankaemika.github.io/docs/control_parameters.html
// const std::array<double, 7> max_joint_limits_ = std::array<double, 7>{2.73, 1.77, 2.88, -0.14, 2.79, 4.5, 3.0};
// const std::array<double, 7> min_joint_limits_ = std::array<double, 7>{-2.73, -1.77, -2.88, -3.03, -2.79, 0.53, -3.0};bash ./bash_scripts/make_libfranka.sh
if you meet this case, that means your cpu not support this real-time kernal, you should use updated version
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: program_options -- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: filesystem system thread CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message): Could NOT find Protobuf (missing: Protobuf_INCLUDE_DIR) Call Stack (most recent call first): /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE) /usr/share/cmake-3.16/Modules/FindProtobuf.cmake:624 (FIND_PACKAGE_HANDLE_STANDARD_ARGS) franka-interface/CMakeLists.txt:21 (find_package) -- Configuring incomplete, errors occurred! See also "/home/tars/Franka/franka-interface/libfranka/CMakeFiles/CMakeOutput.log". See also "/home/tars/Franka/franka-interface/libfranka/CMakeFiles/CMakeError.log". Error: could not load cache
这个错误的关键在于它提示找不到 Protobuf 库，具体是 Protobuf_INCLUDE_DIR。这通常是因为 Protobuf 没有正确安装，或者 CMake 配置无法找到安装的 Protobuf 路径。
- install Protobuf
sudo apt-get update
sudo apt-get install -y protobuf-compiler libprotobuf-dev
If you use the franka research 3, you should follow the additional commands:
cd libfranka/build
sudo make install
cd ../../catkin_ws/src/
git clone https://github.com/frankaemika/franka_ros.git
cd franka_ros
git checkout 0.10.0
cd ../../../
bash ./bash_scripts/make_franka_interface.sh
-- Found Boost: /home/robotics/miniconda3/envs/manipulation/lib/cmake/Boost-1.86.0/BoostConfig.cmake (found version "1.86.0") found components: program_options
-- Found Boost: /home/robotics/miniconda3/envs/manipulation/lib/cmake/Boost-1.86.0/BoostConfig.cmake (found version "1.86.0") found components: filesystem system thread
-- Configuring done
CMake Warning at CMakeLists.txt:24 (add_executable):
Cannot generate a safe runtime search path for target franka_interface
because files in some directories may conflict with libraries in implicit
directories:
runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
/home/robotics/miniconda3/envs/manipulation/lib
Some of these libraries may not be found correctly.
CMake Warning at franka-interface/CMakeLists.txt:30 (add_library):
Cannot generate a safe runtime search path for target franka-interface
because files in some directories may conflict with libraries in implicit
directories:
runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
/home/robotics/miniconda3/envs/manipulation/lib
Some of these libraries may not be found correctly.
-- Generating done
-- Build files have been written to: /home/robotics/Franka/franka-interface/build
[ 3%] Built target franka-interface-common
[ 10%] Built target proto
[ 27%] Built target franka
[ 28%] Built target examples_common
[ 30%] Built target print_joint_poses
[ 32%] Built target vacuum_object
[ 33%] Built target grasp_object
[ 35%] Built target echo_robot_state
[ 36%] Built target force_control
[ 37%] Built target generate_elbow_motion
[ 38%] Built target communication_test
[ 40%] Built target joint_point_to_point_motion
[ 41%] Built target cartesian_impedance_control
[ 42%] Built target motion_with_control
[ 44%] Built target generate_joint_velocity_motion
[ 45%] Built target generate_cartesian_velocity_motion
[ 47%] Built target generate_cartesian_pose_motion
[ 48%] Built target joint_impedance_control
[ 49%] Built target generate_joint_position_motion
[ 51%] Built target generate_consecutive_motions
[ 99%] Built target franka-interface
[ 99%] Linking CXX executable franka_interface
/usr/bin/ld: /home/robotics/miniconda3/envs/manipulation/lib/libboost_program_options.so.1.86.0: undefined reference to `std::ios_base_library_init()@GLIBCXX_3.4.32'
/usr/bin/ld: /home/robotics/miniconda3/envs/manipulation/lib/libboost_program_options.so.1.86.0: undefined reference to `std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_replace_cold(char*, unsigned long, char const*, unsigned long, unsigned long)@GLIBCXX_3.4.31'
/usr/bin/ld: /home/robotics/miniconda3/envs/manipulation/lib/libboost_program_options.so.1.86.0: undefined reference to `std::__throw_bad_array_new_length()@GLIBCXX_3.4.29'
/usr/bin/ld: /home/robotics/miniconda3/envs/manipulation/lib/libboost_program_options.so.1.86.0: undefined reference to `std::__cxx11::basic_string<wchar_t, std::char_traits<wchar_t>, std::allocator<wchar_t> >::_M_replace_cold(wchar_t*, unsigned long, wchar_t const*, unsigned long, unsigned long)@GLIBCXX_3.4.31'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/franka_interface.dir/build.make:96：franka_interface] 错误 1
make[1]: *** [CMakeFiles/Makefile2:234：CMakeFiles/franka_interface.dir/all] 错误 2
make: *** [Makefile:152：all] 错误 2
从错误信息来看，链接器报错的原因是 Boost 库（libboost_program_options.so.1.86.0）依赖的 GLIBCXX 版本与系统的标准库版本（libstdc++）不匹配。具体问题是，Boost 库需要的符号（如 std::__cxx11::basic_string 和 std::ios_base_library_init）在当前的 libstdc++ 中不存在。 这是一个常见的 ABI（Application Binary Interface）兼容性问题，通常是因为编译器或标准库版本不一致导致的。
运行以下命令，检查当前系统的 libstdc++ 版本是否支持所需的符号：
strings /usr/lib/x86_64-linux-gnu/libstdc++.so.6 | grep GLIBCXX
查看是否包含 GLIBCXX_3.4.29、GLIBCXX_3.4.31和GLIBCXX_3.4.32。
- 如果这些版本缺失，则需要更新
libstdc++。 - 如果这些版本已存在，则可能是链接过程未正确使用系统的
libstdc++。 发现不包含，需要更新
如果系统中的 libstdc++ 版本过低，可以尝试升级。以下是升级步骤：
sudo apt update
sudo apt install libstdc++6
如果你的系统不支持更高版本的 libstdc++（例如在旧版 Ubuntu 上），可以手动下载并安装更高版本：
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install libstdc++6
再次运行以下命令，验证升级成功：
strings /usr/lib/x86_64-linux-gnu/libstdc++.so.6 | grep GLIBCXX
ros noetic需要的empy版本为3.3.4
conda activate manipulation
pip install catkin-tools empy==3.3.4
bash ./bash_scripts/make_catkin.sh
output
Profile: default
Extending: [cached] /opt/ros/noetic
Workspace: /home/robotics/Franka/franka-interface/catkin_ws
-------------------------------------------------------------------------------------
Build Space: [exists] /home/robotics/Franka/franka-interface/catkin_ws/build
Devel Space: [exists] /home/robotics/Franka/franka-interface/catkin_ws/devel
Install Space: [unused] /home/robotics/Franka/franka-interface/catkin_ws/install
Log Space: [exists] /home/robotics/Franka/franka-interface/catkin_ws/logs
Source Space: [exists] /home/robotics/Franka/franka-interface/catkin_ws/src
DESTDIR: [unused] None
-------------------------------------------------------------------------------------
Devel Space Layout: linked
Install Space Layout: None
-------------------------------------------------------------------------------------
Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False
-------------------------------------------------------------------------------------
Buildlisted Packages: None
Skiplisted Packages: None
-------------------------------------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------------------------------------
[build] Found 10 packages in 0.0 seconds.
[build] Updating package table.
Starting >>> franka_description
Starting >>> franka_gripper
Starting >>> franka_interface_msgs
Starting >>> franka_msgs
Finished <<< franka_description [ 0.1 seconds ]
Starting >>> franka_visualization
Finished <<< franka_interface_msgs [ 0.7 seconds ]
Starting >>> franka_ros_interface
Finished <<< franka_msgs [ 0.6 seconds ]
Starting >>> franka_hw
Finished <<< franka_visualization [ 0.5 seconds ]
Finished <<< franka_gripper [ 0.9 seconds ]
Finished <<< franka_ros_interface [ 0.4 seconds ]
Finished <<< franka_hw [ 0.3 seconds ]
Starting >>> franka_control
Finished <<< franka_control [ 0.3 seconds ]
Starting >>> franka_example_controllers
Finished <<< franka_example_controllers [ 0.4 seconds ]
Starting >>> franka_ros
Finished <<< franka_ros [ 1.1 seconds ]
[build] Summary: All 10 packages succeeded!
[build] Ignored: None.
[build] Warnings: None.
[build] Abandoned: None.
[build] Failed: None.
[build] Runtime: 3.1 seconds total.
[build] Note: Workspace packages have changed, please re-source setup files to use them.
直接pip install empy装的，版本与noetic所需要的3.3.4不符合
rrors << franka_interface_msgs:make /home/robotics/Franka/franka-interface/catkin_ws/logs/franka_interface_msgs/build.make.000.log
Traceback (most recent call last):
File "/opt/ros/noetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 49, in <module>
genmsg.template_tools.generate_from_command_line_options(
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 213, in generate_from_command_line_options
generate_from_file(argv[1], options.package, options.outdir, options.emdir, options.includepath, msg_template_dict, srv_template_dict)
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 154, in generate_from_file
_generate_msg_from_file(input_file, output_dir, template_dir, search_path, package_name, msg_template_dict)
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 93, in _generate_msg_from_file
_generate_from_spec(input_file,
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 77, in _generate_from_spec
interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
AttributeError: module 'em' has no attribute 'RAW_OPT'
make[2]: *** [CMakeFiles/franka_interface_msgs_generate_messages_cpp.dir/build.make:77：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_interface_msgs/include/franka_interface_msgs/Errors.h] 错误 1
make[2]: *** 正在删除文件“/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_interface_msgs/include/franka_interface_msgs/Errors.h”
make[2]: *** 正在等待未完成的任务....
Traceback (most recent call last):
File "/opt/ros/noetic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py", line 49, in <module>
genmsg.template_tools.generate_from_command_line_options(
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 213, in generate_from_command_line_options
generate_from_file(argv[1], options.package, options.outdir, options.emdir, options.includepath, msg_template_dict, srv_template_dict)
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 154, in generate_from_file
_generate_msg_from_file(input_file, output_dir, template_dir, search_path, package_name, msg_template_dict)
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 93, in _generate_msg_from_file
_generate_from_spec(input_file,
File "/opt/ros/noetic/lib/python3/dist-packages/genmsg/template_tools.py", line 77, in _generate_from_spec
interpreter = em.Interpreter(output=ofile, globals=g, options={em.RAW_OPT:True,em.BUFFERED_OPT:True})
AttributeError: module 'em' has no attribute 'RAW_OPT'
make[2]: *** [CMakeFiles/franka_interface_msgs_generate_messages_cpp.dir/build.make:84：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_interface_msgs/include/franka_interface_msgs/FrankaInterfaceStatus.h] 错误 1
make[2]: *** 正在删除文件“/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_interface_msgs/include/franka_interface_msgs/FrankaInterfaceStatus.h”
make[1]: *** [CMakeFiles/Makefile2:1550：CMakeFiles/franka_interface_msgs_generate_messages_cpp.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make: *** [Makefile:141：all] 错误 2
/home/robotics/Franka/franka-interface/catkin_ws/logs/franka_example_controllers/build.make.000.log
Traceback (most recent call last):
File "/home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_example_controllers/cfg/compliance_param.cfg", line 4, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/init.py", line 38, in <module>
import roslib
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/init.py", line 50, in <module>
from roslib.launcher import load_manifest # noqa: F401
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ModuleNotFoundError: No module named 'rospkg'
Traceback (most recent call last):
File "/home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_example_controllers/cfg/teleop_gripper_param.cfg", line 4, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/init.py", line 38, in <module>
import roslib
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/init.py", line 50, in <module>
from roslib.launcher import load_manifest # noqa: F401
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ModuleNotFoundError: No module named 'rospkg'
make[2]: *** [CMakeFiles/franka_example_controllers_gencfg.dir/build.make:72：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_example_controllers/include/franka_example_controllers/compliance_paramConfig.h] 错误 1
make[2]: *** 正在等待未完成的任务....
Traceback (most recent call last):
File "/home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_example_controllers/cfg/teleop_param.cfg", line 4, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/init.py", line 38, in <module>
import roslib
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/init.py", line 50, in <module>
from roslib.launcher import load_manifest # noqa: F401
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ModuleNotFoundError: No module named 'rospkg'
make[2]: *** [CMakeFiles/franka_example_controllers_gencfg.dir/build.make:144：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_example_controllers/include/franka_example_controllers/teleop_gripper_paramConfig.h] 错误 1
make[2]: *** [CMakeFiles/franka_example_controllers_gencfg.dir/build.make:126：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_example_controllers/include/franka_example_controllers/teleop_paramConfig.h] 错误 1
Traceback (most recent call last):
File "/home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_example_controllers/cfg/dual_arm_compliance_param.cfg", line 4, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/init.py", line 38, in <module>
import roslib
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/init.py", line 50, in <module>
from roslib.launcher import load_manifest # noqa: F401
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ModuleNotFoundError: No module named 'rospkg'
make[2]: *** [CMakeFiles/franka_example_controllers_gencfg.dir/build.make:108：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_example_controllers/include/franka_example_controllers/dual_arm_compliance_paramConfig.h] 错误 1
Traceback (most recent call last):
File "/home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_example_controllers/cfg/desired_mass_param.cfg", line 4, in <module>
from dynamic_reconfigure.parameter_generator_catkin import *
File "/opt/ros/noetic/lib/python3/dist-packages/dynamic_reconfigure/init.py", line 38, in <module>
import roslib
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/init.py", line 50, in <module>
from roslib.launcher import load_manifest # noqa: F401
File "/opt/ros/noetic/lib/python3/dist-packages/roslib/launcher.py", line 42, in <module>
import rospkg
ModuleNotFoundError: No module named 'rospkg'
make[2]: *** [CMakeFiles/franka_example_controllers_gencfg.dir/build.make:90：/home/robotics/Franka/franka-interface/catkin_ws/devel/.private/franka_example_controllers/include/franka_example_controllers/desired_mass_paramConfig.h] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2873：CMakeFiles/franka_example_controllers_gencfg.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
make: *** [Makefile:141：all] 错误 2
这是由于 缺少 rospkg Python 模块 导致的。rospkg 是 ROS Python 工具链的一部分，用于支持动态重配置（dynamic_reconfigure）等功能。
pip3 install rospkg
sudo apt install python3-rosdep python3-catkin-tools python3-rosinstall python3-rosinstall-generator python3-wstool python3-empy python3-rospkg-modules python3-rospy
这里是因为ros gazebo支持的protobuf和安装的版本不匹配
需要在src中把gazebo的package删掉
/usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:195,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h: At global scope:
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:55:46: error: ‘FieldMetadata’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘AnyMetadata’?
55 | static const ::google::protobuf::internal::FieldMetadata field_metadata[];
| ^~~~~~~~~~~~~
| AnyMetadata
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:56:46: error: ‘SerializationTable’ in namespace ‘google::protobuf::internal’ does not name a type
56 | static const ::google::protobuf::internal::SerializationTable serialization_table[];
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:195,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:192:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
192 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:122:20: error: ‘ignition::msgs::Visual_V* ignition::msgs::Visual_V::New() const’ marked ‘final’, but is not virtual
122 | inline Visual_V* New() const final {
| ^~~
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:129:8: error: ‘void ignition::msgs::Visual_V::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
129 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:137:8: error: ‘bool ignition::msgs::Visual_V::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream*)’ marked ‘final’, but is not virtual
137 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:139:8: error: ‘void ignition::msgs::Visual_V::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’ marked ‘final’, but is not virtual
139 | void SerializeWithCachedSizes(
| ^~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/visual_v.pb.h:141:30: error: ‘google::protobuf::uint8* ignition::msgs::Visual_V::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
141 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:197,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:55:46: error: ‘FieldMetadata’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘AnyMetadata’?
55 | static const ::google::protobuf::internal::FieldMetadata field_metadata[];
| ^~~~~~~~~~~~~
| AnyMetadata
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:56:46: error: ‘SerializationTable’ in namespace ‘google::protobuf::internal’ does not name a type
56 | static const ::google::protobuf::internal::SerializationTable serialization_table[];
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:197,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:198:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
198 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:122:16: error: ‘ignition::msgs::Wind* ignition::msgs::Wind::New() const’ marked ‘final’, but is not virtual
122 | inline Wind* New() const final {
| ^~~
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:129:8: error: ‘void ignition::msgs::Wind::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
129 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:137:8: error: ‘bool ignition::msgs::Wind::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream*)’ marked ‘final’, but is not virtual
137 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:139:8: error: ‘void ignition::msgs::Wind::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’ marked ‘final’, but is not virtual
139 | void SerializeWithCachedSizes(
| ^~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wind.pb.h:141:30: error: ‘google::protobuf::uint8* ignition::msgs::Wind::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
141 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:198,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:54:46: error: ‘FieldMetadata’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘AnyMetadata’?
54 | static const ::google::protobuf::internal::FieldMetadata field_metadata[];
| ^~~~~~~~~~~~~
| AnyMetadata
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:55:46: error: ‘SerializationTable’ in namespace ‘google::protobuf::internal’ does not name a type
55 | static const ::google::protobuf::internal::SerializationTable serialization_table[];
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:198,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:205:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
205 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:121:24: error: ‘ignition::msgs::WirelessNode* ignition::msgs::WirelessNode::New() const’ marked ‘final’, but is not virtual
121 | inline WirelessNode* New() const final {
| ^~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:128:8: error: ‘void ignition::msgs::WirelessNode::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
128 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:136:8: error: ‘bool ignition::msgs::WirelessNode::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream*)’ marked ‘final’, but is not virtual
136 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:138:8: error: ‘void ignition::msgs::WirelessNode::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’ marked ‘final’, but is not virtual
138 | void SerializeWithCachedSizes(
| ^~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:140:30: error: ‘google::protobuf::uint8* ignition::msgs::WirelessNode::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
140 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::clear_essid()’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:274:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ClearToEmptyNoArena’; did you mean ‘ClearToEmpty’?
274 | essid_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~~~~~~
| ClearToEmpty
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘const string& ignition::msgs::WirelessNode::essid() const’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:278:17: error: ‘const struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘GetNoArena’
278 | return essid_.GetNoArena();
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::set_essid(const string&)’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:282:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
282 | essid_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::set_essid(std::string&&)’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:288:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
288 | essid_.SetNoArena(
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::set_essid(const char*)’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:296:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
296 | essid_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::set_essid(const char*, size_t)’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:301:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
301 | essid_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(),
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘std::string* ignition::msgs::WirelessNode::mutable_essid()’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:308:17: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘MutableNoArena’
308 | return essid_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘std::string* ignition::msgs::WirelessNode::release_essid()’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:313:17: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ReleaseNoArena’
313 | return essid_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h: In member function ‘void ignition::msgs::WirelessNode::set_allocated_essid(std::string*)’:
/usr/include/ignition/msgs5/ignition/msgs/wireless_node.pb.h:321:10: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetAllocatedNoArena’; did you mean ‘SetAllocated’?
321 | essid_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), essid);
| ^~~~~~~~~~~~~~~~~~~
| SetAllocated
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:199,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h: At global scope:
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:55:46: error: ‘FieldMetadata’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘AnyMetadata’?
55 | static const ::google::protobuf::internal::FieldMetadata field_metadata[];
| ^~~~~~~~~~~~~
| AnyMetadata
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:56:46: error: ‘SerializationTable’ in namespace ‘google::protobuf::internal’ does not name a type
56 | static const ::google::protobuf::internal::SerializationTable serialization_table[];
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:199,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:192:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
192 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:122:25: error: ‘ignition::msgs::WirelessNodes* ignition::msgs::WirelessNodes::New() const’ marked ‘final’, but is not virtual
122 | inline WirelessNodes* New() const final {
| ^~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:129:8: error: ‘void ignition::msgs::WirelessNodes::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
129 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:137:8: error: ‘bool ignition::msgs::WirelessNodes::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream*)’ marked ‘final’, but is not virtual
137 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:139:8: error: ‘void ignition::msgs::WirelessNodes::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’ marked ‘final’, but is not virtual
139 | void SerializeWithCachedSizes(
| ^~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/wireless_nodes.pb.h:141:30: error: ‘google::protobuf::uint8* ignition::msgs::WirelessNodes::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
141 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:201,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:54:46: error: ‘FieldMetadata’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘AnyMetadata’?
54 | static const ::google::protobuf::internal::FieldMetadata field_metadata[];
| ^~~~~~~~~~~~~
| AnyMetadata
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:55:46: error: ‘SerializationTable’ in namespace ‘google::protobuf::internal’ does not name a type
55 | static const ::google::protobuf::internal::SerializationTable serialization_table[];
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/include/ignition/msgs5/ignition/msgs/MessageTypes.hh:201,
from /usr/include/ignition/msgs5/ignition/msgs/Utility.hh:33,
from /usr/include/ignition/msgs5/ignition/msgs.hh:29,
from /usr/include/ignition/transport8/gz/transport/Node.hh:33,
from /usr/include/ignition/transport8/ignition/transport/Node.hh:18,
from /usr/include/gazebo-11/gazebo/physics/Entity.hh:25,
from /usr/include/gazebo-11/gazebo/physics/Model.hh:30,
from /usr/include/gazebo-11/gazebo/physics/Actor.hh:30,
from /usr/include/gazebo-11/gazebo/physics/physics.hh:2,
from /opt/ros/noetic/include/gazebo_ros_control/robot_hw_sim.h:45,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/include/franka_gazebo/franka_hw_sim.h:12,
from /home/robotics/Franka/franka-interface/catkin_ws/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:6:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:225:33: error: ‘InternalMetadataWithArena’ in namespace ‘google::protobuf::internal’ does not name a type; did you mean ‘InternalMetadata’?
225 | ::google::protobuf::internal::InternalMetadataWithArena internal_metadata;
| ^~~~~~~~~~~~~~~~~~~~~~~~~
| InternalMetadata
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:121:23: error: ‘ignition::msgs::WorldModify* ignition::msgs::WorldModify::New() const’ marked ‘final’, but is not virtual
121 | inline WorldModify* New() const final {
| ^~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:128:8: error: ‘void ignition::msgs::WorldModify::CopyFrom(const google::protobuf::Message&)’ marked ‘final’, but is not virtual
128 | void CopyFrom(const ::google::protobuf::Message& from) final;
| ^~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:136:8: error: ‘bool ignition::msgs::WorldModify::MergePartialFromCodedStream(google::protobuf::io::CodedInputStream*)’ marked ‘final’, but is not virtual
136 | bool MergePartialFromCodedStream(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:138:8: error: ‘void ignition::msgs::WorldModify::SerializeWithCachedSizes(google::protobuf::io::CodedOutputStream*) const’ marked ‘final’, but is not virtual
138 | void SerializeWithCachedSizes(
| ^~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:140:30: error: ‘google::protobuf::uint8* ignition::msgs::WorldModify::InternalSerializeWithCachedSizesToArray(bool, google::protobuf::uint8*) const’ marked ‘final’, but is not virtual
140 | ::google::protobuf::uint8* InternalSerializeWithCachedSizesToArray(
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::clear_world_name()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:296:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ClearToEmptyNoArena’; did you mean ‘ClearToEmpty’?
296 | world_name_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~~~~~~
| ClearToEmpty
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘const string& ignition::msgs::WorldModify::world_name() const’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:300:22: error: ‘const struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘GetNoArena’
300 | return world_name_.GetNoArena();
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_world_name(const string&)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:304:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
304 | world_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_world_name(std::string&&)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:310:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
310 | world_name_.SetNoArena(
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_world_name(const char*)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:318:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
318 | world_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_world_name(const char*, size_t)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:323:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
323 | world_name_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(),
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘std::string* ignition::msgs::WorldModify::mutable_world_name()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:330:22: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘MutableNoArena’
330 | return world_name_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘std::string* ignition::msgs::WorldModify::release_world_name()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:335:22: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ReleaseNoArena’
335 | return world_name_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_allocated_world_name(std::string*)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:343:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetAllocatedNoArena’; did you mean ‘SetAllocated’?
343 | world_name_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), world_name);
| ^~~~~~~~~~~~~~~~~~~
| SetAllocated
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::clear_cloned_uri()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:391:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ClearToEmptyNoArena’; did you mean ‘ClearToEmpty’?
391 | cloned_uri_.ClearToEmptyNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~~~~~~
| ClearToEmpty
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘const string& ignition::msgs::WorldModify::cloned_uri() const’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:395:22: error: ‘const struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘GetNoArena’
395 | return cloned_uri_.GetNoArena();
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_cloned_uri(const string&)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:399:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
399 | cloned_uri_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), value);
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_cloned_uri(std::string&&)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:405:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
405 | cloned_uri_.SetNoArena(
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_cloned_uri(const char*)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:413:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
413 | cloned_uri_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), ::std::string(value));
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_cloned_uri(const char*, size_t)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:418:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetNoArena’
418 | cloned_uri_.SetNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(),
| ^~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘std::string* ignition::msgs::WorldModify::mutable_cloned_uri()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:425:22: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘MutableNoArena’
425 | return cloned_uri_.MutableNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘std::string* ignition::msgs::WorldModify::release_cloned_uri()’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:430:22: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘ReleaseNoArena’
430 | return cloned_uri_.ReleaseNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited());
| ^~~~~~~~~~~~~~
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h: In member function ‘void ignition::msgs::WorldModify::set_allocated_cloned_uri(std::string*)’:
/usr/include/ignition/msgs5/ignition/msgs/world_modify.pb.h:438:15: error: ‘struct google::protobuf::internal::ArenaStringPtr’ has no member named ‘SetAllocatedNoArena’; did you mean ‘SetAllocated’?
438 | cloned_uri_.SetAllocatedNoArena(&::google::protobuf::internal::GetEmptyStringAlreadyInited(), cloned_uri);
| ^~~~~~~~~~~~~~~~~~~
| SetAllocated
make[2]: *** [CMakeFiles/franka_hw_sim.dir/build.make:76：CMakeFiles/franka_hw_sim.dir/src/joint.cpp.o] 错误 1
make[2]: *** [CMakeFiles/franka_hw_sim.dir/build.make:63：CMakeFiles/franka_hw_sim.dir/src/franka_hw_sim.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1992：CMakeFiles/franka_hw_sim.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
sudo vim ~/.zshrc
Add the following lines to the end of your ~/.zshrc file:
source $HOME/miniconda3/envs/manipulation/franka/bin/activate source $HOME/Franka/franka-interface/catkin_ws/devel/setup.zsh –extend
save the file and then
source ~/.zshrc
sudo vim ~/.bshrc
Add the following lines to the end of your ~/.bashrc file:
source $HOME/miniconda3/envs/manipulation/franka/bin/activate source $HOME/Franka/franka-interface/catkin_ws/devel/setup.bash –extend
save the file and then
source ~/.bshrc