unitreerobotics / unitree_ros Goto Github PK

$ rosrun xacro xacro robot.xacro > robot.urdf
Undefined substitution argument DEBUG
when processing file: robot.xacro

<!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
   <xacro:if value="$(arg DEBUG)">
       <link name="world"/>
       <joint name="base_static_joint" type="fixed">
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <parent link="world"/>
           <child link="base"/>
       </joint>
   </xacro:if> 

boost_signalsConfig.cmake
boost_signals-config.cmake

[urdf_spawner-4] process has died [pid 17950, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause __name:=urdf_spawner __log:=/home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4.log].
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4*.log

... logging to /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/roslaunch-Office-17909.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://Office:37841/

SUMMARY
========

PARAMETERS
 * /gazebo/enable_ros_network: True
 * /laikago_gazebo/FL_calf_controller/joint: FL_calf_joint
 * /laikago_gazebo/FL_calf_controller/pid/d: 8.0
 * /laikago_gazebo/FL_calf_controller/pid/i: 0.0
 * /laikago_gazebo/FL_calf_controller/pid/p: 300.0
 * /laikago_gazebo/FL_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/FL_hip_controller/joint: FL_hip_joint
 * /laikago_gazebo/FL_hip_controller/pid/d: 5.0
 * /laikago_gazebo/FL_hip_controller/pid/i: 0.0
 * /laikago_gazebo/FL_hip_controller/pid/p: 100.0
 * /laikago_gazebo/FL_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/FL_thigh_controller/joint: FL_thigh_joint
 * /laikago_gazebo/FL_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/FL_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/FL_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/FL_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_calf_controller/joint: FR_calf_joint
 * /laikago_gazebo/FR_calf_controller/pid/d: 8.0
 * /laikago_gazebo/FR_calf_controller/pid/i: 0.0
 * /laikago_gazebo/FR_calf_controller/pid/p: 300.0
 * /laikago_gazebo/FR_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_hip_controller/joint: FR_hip_joint
 * /laikago_gazebo/FR_hip_controller/pid/d: 5.0
 * /laikago_gazebo/FR_hip_controller/pid/i: 0.0
 * /laikago_gazebo/FR_hip_controller/pid/p: 100.0
 * /laikago_gazebo/FR_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/FR_thigh_controller/joint: FR_thigh_joint
 * /laikago_gazebo/FR_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/FR_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/FR_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/FR_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_calf_controller/joint: RL_calf_joint
 * /laikago_gazebo/RL_calf_controller/pid/d: 8.0
 * /laikago_gazebo/RL_calf_controller/pid/i: 0.0
 * /laikago_gazebo/RL_calf_controller/pid/p: 300.0
 * /laikago_gazebo/RL_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_hip_controller/joint: RL_hip_joint
 * /laikago_gazebo/RL_hip_controller/pid/d: 5.0
 * /laikago_gazebo/RL_hip_controller/pid/i: 0.0
 * /laikago_gazebo/RL_hip_controller/pid/p: 100.0
 * /laikago_gazebo/RL_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/RL_thigh_controller/joint: RL_thigh_joint
 * /laikago_gazebo/RL_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/RL_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/RL_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/RL_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_calf_controller/joint: RR_calf_joint
 * /laikago_gazebo/RR_calf_controller/pid/d: 8.0
 * /laikago_gazebo/RR_calf_controller/pid/i: 0.0
 * /laikago_gazebo/RR_calf_controller/pid/p: 300.0
 * /laikago_gazebo/RR_calf_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_hip_controller/joint: RR_hip_joint
 * /laikago_gazebo/RR_hip_controller/pid/d: 5.0
 * /laikago_gazebo/RR_hip_controller/pid/i: 0.0
 * /laikago_gazebo/RR_hip_controller/pid/p: 100.0
 * /laikago_gazebo/RR_hip_controller/type: unitree_legged_co...
 * /laikago_gazebo/RR_thigh_controller/joint: RR_thigh_joint
 * /laikago_gazebo/RR_thigh_controller/pid/d: 8.0
 * /laikago_gazebo/RR_thigh_controller/pid/i: 0.0
 * /laikago_gazebo/RR_thigh_controller/pid/p: 300.0
 * /laikago_gazebo/RR_thigh_controller/type: unitree_legged_co...
 * /laikago_gazebo/joint_state_controller/publish_rate: 1000
 * /laikago_gazebo/joint_state_controller/type: joint_state_contr...
 * /robot_description: <?xml version="1....
 * /robot_name: laikago
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /use_sim_time: True

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    urdf_spawner (gazebo_ros/spawn_model)
  /laikago_gazebo/
    controller_spawner (controller_manager/spawner)

auto-starting new master
process[master]: started with pid [17922]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 00c0cee8-9aef-11ec-976c-103d1c3e9504
process[rosout-1]: started with pid [17933]
started core service [/rosout]
process[gazebo-2]: started with pid [17940]
process[gazebo_gui-3]: started with pid [17945]
process[urdf_spawner-4]: started with pid [17950]
process[laikago_gazebo/controller_spawner-5]: started with pid [17951]
process[robot_state_publisher-6]: started with pid [17952]
[ INFO] [1646311185.155471846]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646311185.157043612]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1646311185.160730852]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1646311185.162966871]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting...
[INFO] [1646311185.184220, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
Traceback (most recent call last):
  File "/opt/ros/melodic/lib/gazebo_ros/spawn_model", line 34, in <module>
    from tf.transformations import quaternion_from_euler
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/__init__.py", line 30, in <module>
    from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/__init__.py", line 39, in <module>
    from .buffer_interface import *
  File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in <module>
    import roslib; roslib.load_manifest('tf2_ros')
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self)
  File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 414, in parse_manifest_file
    _static_rosdep_view = init_rospack_interface()
  File "/usr/lib/python2.7/dist-packages/rosdep2/rospack.py", line 60, in init_rospack_interface
    lookup = _get_default_RosdepLookup(Options())
  File "/usr/lib/python2.7/dist-packages/rosdep2/main.py", line 136, in _get_default_RosdepLookup
    verbose=options.verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 609, in create_default
    sources = load_cached_sources_list(sources_cache_dir=sources_cache_dir, verbose=verbose)
  File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 566, in load_cached_sources_list
    raise CachePermissionError('Failed to write cache file: ' + str(e))
rosdep2.core.CachePermissionError: Failed to write cache file: [Errno 13] Permission denied: '/home/xinyu/.ros/rosdep/sources.cache/index'
[urdf_spawner-4] process has died [pid 17950, exit code 1, cmd /opt/ros/melodic/lib/gazebo_ros/spawn_model -urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause __name:=urdf_spawner __log:=/home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4.log].
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/urdf_spawner-4*.log
[ INFO] [1646311185.992605882]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1646311186.003600256]: Physics dynamic reconfigure ready.
[WARN] [1646311215.255998, 0.000000]: Controller Spawner couldn't find the expected controller_manager ROS interface.
[laikago_gazebo/controller_spawner-5] process has finished cleanly
log file: /home/xinyu/.ros/log/00c0cee8-9aef-11ec-976c-103d1c3e9504/laikago_gazebo-controller_spawner-5*.log

[ 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

source /opt/ros/melodic/setup.bash
source /usr/share/gazebo-8/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
# 3_1, 3_2
export UNITREE_SDK_VERSION=3_2
export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
export ALIENGO_SDK_PATH=~/aliengo_sdk
# amd64, arm32, arm64
export UNITREE_PLATFORM="amd64"

git clone https://github.com/unitreerobotics/unitree_legged_sdk
cd unitree_legged_sdk
mkdir build
cd build
cmake ..
make

git clone https://github.com/unitreerobotics/aliengo_sdk
cd aliengo_sdk
mkdir build
cd build
cmake ..
make

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/unitreerobotics/unitree_ros
cd ..
catkin build

source /opt/ros/melodic/setup.bash
source /usr/share/gazebo-9/setup.sh
source ~/catkin_ws/devel/setup.bash
export ROS_PACKAGE_PATH=~/catkin_ws:${ROS_PACKAGE_PATH}
export GAZEBO_PLUGIN_PATH=~/catkin_ws/devel/lib:${GAZEBO_PLUGIN_PATH}
export LD_LIBRARY_PATH=~/catkin_ws/devel/lib:${LD_LIBRARY_PATH}
export UNITREE_LEGGED_SDK_PATH=~/unitree_legged_sdk
export ALIENGO_SDK_PATH=~/aliengo_sdk
export UNITREE_PLATFORM="amd64"

make[2]: *** No rule to make target 'CMakeFiles/lcm_server_3_1.dir/build'.  Stop.
make[1]: *** [CMakeFiles/lcm_server_3_1.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target 'CMakeFiles/lcm_server_3_2.dir/build'.  Stop.
make[1]: *** [CMakeFiles/lcm_server_3_2.dir/all] Error 2
/home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/walk_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/walk_lcm.dir/all] Error 2
/home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/velocity_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/velocity_lcm.dir/src/exe/velocity_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/velocity_lcm.dir/all] Error 2
/home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/torque_mode.cpp:12:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/torque_lcm.dir/src/exe/torque_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/torque_lcm.dir/all] Error 2
/home/mbs/catkin_ws/src/unitree_ros/unitree_legged_real/src/exe/position_mode.cpp:13:10: fatal error: unitree_legged_sdk/unitree_legged_sdk.h: No such file or directory
 #include "unitree_legged_sdk/unitree_legged_sdk.h"
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o] Error 1
make[1]: *** [CMakeFiles/position_lcm.dir/all] Error 2
make: *** [all] Error 2
cd /home/mbs/catkin_ws/build/unitree_legged_real; catkin build --get-env unitree_legged_real | catkin env -si  /usr/bin/make --jobserver-fds=6,7 -j; cd -

rosPC:~$ printenv | grep "UNITREE"
UNITREE_PLATFORM=amd64
UNITREE_LEGGED_SDK_PATH=/home/mbs/unitree_legged_sdk

unitree_legged_msgsConfig.cmake
unitree_legged_msgs-config.cmake

[ 82%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/src/exe/walk_mode.cpp.o
[ 83%] Building CXX object unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/src/exe/position_mode.cpp.o
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/torque_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2697: unitree_ros_to_real/unitree_legged_real/CMakeFiles/torque_lcm.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 85%] Linking CXX executable /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/walk_lcm
[ 86%] Linking CXX executable /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/position_lcm
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/position_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2753: unitree_ros_to_real/unitree_legged_real/CMakeFiles/position_lcm.dir/all] Error 2
/usr/bin/ld: skipping incompatible /home/parallels/capstone/capstone_ws/src/unitree_legged_sdk/lib/libunitree_legged_sdk_amd64.so when searching for -lunitree_legged_sdk_amd64
/usr/bin/ld: cannot find -lunitree_legged_sdk_amd64
collect2: error: ld returned 1 exit status
make[2]: *** [unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/build.make:101: /home/parallels/capstone/capstone_ws/devel/lib/unitree_legged_real/walk_lcm] Error 1
make[1]: *** [CMakeFiles/Makefile2:2641: unitree_ros_to_real/unitree_legged_real/CMakeFiles/walk_lcm.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j4 -l4" failed