Compiling XL branch

[mrunaljsarvaiya]

I have a dynamixel XL430-W250 and ran into issues compiling this package (branch: XL). Is this expected or is that branch tested with the appropriate dynamixels?

[dogoepp]

Firstly, we have not had all variants of XL actuators, so we have not had the possibility to check that the library behaves as expected with all models. As far as I remember, we did not test for XL430-W250. Once we get the compilation to work, I would welcome feedback from you with your actuators.

Currently, the XL branch is incomplete. @PedroDesRobots should be able to tell us whether it should nonetheless work and under which conditions.

In the meantime, would you mind to share the compilation errors ? I might be able to help with this information alone, as I currently lack the setup to test the code.

[mrunaljsarvaiya]

Here are the errors I get when I build my catkin workspace with dynamixel_control_hw branch XL and libdynamixel branch master
(Seems like get_current_positions_XL and get_current_speed_XL are not defined )

/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In member function ‘virtual void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&)’:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_positions_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:101: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                     ^
In file included from /home/mrunal/catkin_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:38:0:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_speed_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:97: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                 ^
In file included from /home/mrunal/catkin_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:38:0:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In member function ‘virtual void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&)’:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_positions_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:101: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                     ^
In file included from /home/mrunal/catkin_ws/src/dynamixel_control_hw/src/dynamixel_control.cpp:38:0:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_speed_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:97: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                 ^
In file included from /home/mrunal/catkin_ws/src/dynamixel_control_hw/src/hardware_interface.cpp:2:0:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp: In member function ‘virtual void dynamixel::DynamixelHardwareInterface<Protocol>::read(const ros::Time&, const ros::Duration&)’:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_positions_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:287:101: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                     ^
In file included from /home/mrunal/catkin_ws/src/dynamixel_control_hw/src/hardware_interface.cpp:2:0:
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:72: error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_speed_XL’
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                        ^
/home/mrunal/catkin_ws/src/dynamixel_control_hw/include/dynamixel_control_hw/hardware_interface.hpp:313:97: error: expected primary-expression before ‘>’ token
         _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28
                                                                                                 ^
dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/build.make:62: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/src/hardware_interface.cpp.o' failed
make[2]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/src/hardware_interface.cpp.o] Error 1
CMakeFiles/Makefile2:42621: recipe for target 'dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/all' failed
make[1]: *** [dynamixel_control_hw/CMakeFiles/dynamixel_hw.dir/all] Error 2

Edit : code block formatting instead of inline code

[dogoepp]

This is quite an unexpected error. Indeed, I do not expect these functions to exist, and cannot find them anyway anywhere in the libdynamixel. It might be on a branch that has not been pushed online. We will have to wait for @PedroDesRobots to be back.

Anyway, as far as I can read, the XL branch is hacky : the actuator model is hard-coded in the read function. I therefore expect it to having been published only for backup, or as preliminary work.

[PedroDesRobots]

Hi @mrunaljsarvaiya,

You should install libdynamixel on branch dev.
Let me know if it works with that one.

[mrunaljsarvaiya]

@PedroDesRobots I'm on the dev branch on libdynamixel and XL branch on dynamixel_control_hw. When I run catkin_make I still get errors related to the functions below
error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_positions_XL’ _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_positions_XL<id_t>(_ids_vector)); //servos::Mx28

error: ‘class dynamixel::servos::Xl320’ has no member named ‘get_current_speed_XL’ _dynamixel_controller.send(std::make_shared<servos::Xl320>(0)->get_current_speed_XL<id_t>(_ids_vector)); //servos::Mx28