Errors when building in Galactic

[DaniGarciaLopez]

Hi!

I've tried to build the package in galactic and it throws the following errors:

/mppic/include/mppi/impl/Controller.hpp:12:6: error: ‘void mppi::Controller<T, Model>::configure(const std::shared_ptr<rclcpp_lifecycle::LifecycleNode>&, std::string, const std::shared_ptr<tf2_ros::Buffer>&, const std::shared_ptr<nav2_costmap_2d::Costmap2DROS>&) [with T = float; Model = xt::xtensor_container<xt::uvector<float, xsimd::aligned_allocator<float, 16> >, 2, xt::layout_type::row_major, xt::xtensor_expression_tag>(const xt::xtensor_container<xt::uvector<float, xsimd::aligned_allocator<float, 16> >, 2, xt::layout_type::row_major, xt::xtensor_expression_tag>&); std::string = std::__cxx11::basic_string<char>]’ marked ‘final’, but is not virtual
   12 | void Controller<T, Model>::configure(

/mppic/include/mppi/impl/Controller.hpp:57:3: error: ‘geometry_msgs::msg::TwistStamped mppi::Controller<T, Model>::computeVelocityCommands(const PoseStamped&, const Twist&) [with T = float; Model = xt::xtensor_container<xt::uvector<float, xsimd::aligned_allocator<float, 16> >, 2, xt::layout_type::row_major, xt::xtensor_expression_tag>(const xt::xtensor_container<xt::uvector<float, xsimd::aligned_allocator<float, 16> >, 2, xt::layout_type::row_major, xt::xtensor_expression_tag>&); geometry_msgs::msg::TwistStamped = geometry_msgs::msg::TwistStamped_<std::allocator<void> >; geometry_msgs::msg::PoseStamped = geometry_msgs::msg::PoseStamped_<std::allocator<void> >; geometry_msgs::msg::Twist = geometry_msgs::msg::Twist_<std::allocator<void> >]’ marked ‘final’, but is not virtual
   57 |   Controller<T, Model>::computeVelocityCommands(

/opt/ros/galactic/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = mppi::Controller<float>; B = nav2_core::Controller]’:
/opt/ros/galactic/include/class_loader/meta_object.hpp:216:7:   required from here
/opt/ros/galactic/include/class_loader/meta_object.hpp:218:12: error: invalid new-expression of abstract class type ‘mppi::Controller<float>’
  218 |     return new C;

Thanks!

[artofnothingness]

@DaniGarciaLopez Hi!
Error caused by Controller API change in galactic Nav2 release.
In configure method there will be weak_ptr instead of shared_ptr, and Controller now has argument goal checker.

This controller was developed and tested for the foxy release. But surely it can be easily extended for galactic by making some minor updates.
There are some other bullets on the road map for this controller, but surely extending to galactic is on the way too.

[artofnothingness]

I created a foxy branch for current implementation, and as soon as I finish galactic version, i'll create a branch for it

[DaniGarciaLopez]

Thanks for the explanation Alex. I checked the roadmap and looks promising. Looking forward to the galactic branch!

[artofnothingness]

[[ Deprecated ]]
See artofnothingness/mppic#1