Catkin_make error

[goktugh]

Hi,
I am getting these errors when I try to compile with catkin_make, Has anyone experienced this problem before ?

My VESC firmware is 4.1 and Hw: 4.10

Building CXX object morph_hw/CMakeFiles/robot.dir/src/robot.cpp.o [ 70%] Building CXX object morph_hw/CMakeFiles/robot.dir/src/morph_hw.cpp.o In file included from /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.h:4:0, from /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.cpp:1: /home/ubuntu/catkin_ws/src/morph_hw/src/wheel_driver.h:18:74: error: ‘disp_pos_mode’ has not been declared wheel_driver(std::string port, ros::NodeHandle nh, std::string name, disp_pos_mode rotor_position_mode); ^ In file included from /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.h:4:0, from /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:1: /home/ubuntu/catkin_ws/src/morph_hw/src/wheel_driver.h:18:74: error: ‘disp_pos_mode’ has not been declared heel_driver(std::string port, ros::NodeHandle nh, std::string name, disp_pos_mo ^ In file included from /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.cpp:1:0: /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.h:15:199: error: ‘disp_pos_mode’ has not been declared MORPH_HW(std::string right_wheel_port, std::string left_wheel_port, double right_wheel_correction_factor, double left_wheel_correction_factor, double tacho_pulses_per_revolution, int motor_poles, disp_pos_mode rotor_position_source, ros::NodeHandle nh); ^ In file included from /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:1:0: /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.h:15:199: error: ‘disp_pos_mode’ has not been declared ection_factor, double tacho_pulses_per_revolution, int motor_poles, disp_pos_mo ^ /home/ubuntu/catkin_ws/src/morph_hw/src/morph_hw.cpp:10:179: error: ‘disp_pos_mode’ has not been declared MORPH_HW::MORPH_HW(std::string right_wheel_port, std::string left_wheel_port, double right_wheel_ikv, double left_wheel_ikv, double tacho_pulses_per_revolution, int motor_poles, disp_pos_mode rotor_position_source, ros::NodeHandle nh) : ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp: In function ‘int main(int, char**)’: /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:63:3: error: ‘disp_pos_mode’ was not declared in this scope disp_pos_mode mode = DISP_POS_MODE_NONE; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:66:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_INDUCTANCE; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:66:14: error: ‘DISP_POS_MODE_INDUCTANCE’ was not declared in this scope mode = DISP_POS_MODE_INDUCTANCE; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:68:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_OBSERVER; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:68:14: error: ‘DISP_POS_MODE_OBSERVER’ was not declared in this scope mode = DISP_POS_MODE_OBSERVER; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:70:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_ENCODER; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:70:14: error: ‘DISP_POS_MODE_ENCODER’ was not declared in this scope mode = DISP_POS_MODE_ENCODER; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:72:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_PID_POS; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:72:14: error: ‘DISP_POS_MODE_PID_POS’ was not declared in this scope mode = DISP_POS_MODE_PID_POS; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:74:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_PID_POS_ERROR; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:74:14: error: ‘DISP_POS_MODE_PID_POS_ERROR’ was not declared in this scope mode = DISP_POS_MODE_PID_POS_ERROR; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:76:7: error: ‘mode’ was not declared in this scope mode = DISP_POS_MODE_ENCODER_OBSERVER_ERROR; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:76:14: error: ‘DISP_POS_MODE_ENCODER_OBSERVER_ERROR’ was not declared in this scope mode = DISP_POS_MODE_ENCODER_OBSERVER_ERROR; ^ /home/ubuntu/catkin_ws/src/morph_hw/src/robot.cpp:82:135: error: ‘mode’ was not declared in this scope wheel_ikv, left_wheel_ikv, tacho_pulses_per_revolution, motor_poles, mode, nh); ^ morph_hw/CMakeFiles/robot.dir/build.make:62: recipe for target 'morph_hw/CMakeFiles/robot.dir/src/robot.cpp.o' failed make[2]: *** [morph_hw/CMakeFiles/robot.dir/src/robot.cpp.o] Error 1 make[2]: *** Waiting for unfinished jobs.... morph_hw/CMakeFiles/robot.dir/build.make:86: recipe for target 'morph_hw/CMakeFiles/robot.dir/src/morph_hw.cpp.o' failed make[2]: *** [morph_hw/CMakeFiles/robot.dir/src/morph_hw.cpp.o] Error 1 CMakeFiles/Makefile2:5119: recipe for target 'morph_hw/CMakeFiles/robot.dir/all' failed make[1]: *** [morph_hw/CMakeFiles/robot.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j2" failed

[roaldlemmens]

Hi and thank you for your interest in the project! I have not had this issue before. Just today I did a fresh checkout and compile on ROS Kinetic without any issue. It seems the compiler is not able to find the enum which is defined in datatypes.h of the vesc_driver package. So it looks like the vesc git submodule is not checked out or somehow not found by the compiler.
Can you check? And otherwise perhaps you can specify more about your situation (Ubuntu version, ROS version, branch used).

[goktugh]

Hi
Thank you for your reply and you did great works and I also would like to contribute to the project as far as I can.
I' am using raspberry pi and Ubuntu directly doesn't support raspberry pi or I didn't find so ı find Ubiquity Robotics as far as ı know it's based on ubuntu. And also Ros kinetic comes already installed.
But I wanna make a fresh start and I will try on a computer.
for making sure everything is clear;
which VESC driver should I use? (Could you share a link?)
My vesc hw version is 4.10 so which firmware should I upload? I mean which vesc fw is supporting your ros library?
lastly, what is ubuntu version and ros you are using now?

Regards