utecrobotics / robotiq Goto Github PK

/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp: In destructor ‘virtual gazebo::MimicJointPlugin::~MimicJointPlugin()’:
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:50:3: error: ‘DisconnectWorldUpdateBegin’ is not a member of ‘gazebo::event::Events’
   event::Events::DisconnectWorldUpdateBegin(this->updateConnection);
   ^
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp: In member function ‘void gazebo::MimicJointPlugin::UpdateChild()’:
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:170:39: error: ‘class gazebo::physics::World’ has no member named ‘GetPhysicsEngine’
   static ros::Duration period(world_->GetPhysicsEngine()->GetMaxStepSize());
                                       ^
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:173:26: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’
   double angle = joint_->GetAngle(0).Radian()*multiplier_+offset_;
                          ^
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:175:30: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’
   if(abs(angle-mimic_joint_->GetAngle(0).Radian())>=sensitiveness_)
                              ^
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:179:32: error: ‘class gazebo::physics::Joint’ has no member named ‘GetAngle’
       double a = mimic_joint_->GetAngle(0).Radian();
                                ^
/home/lxu9/moveit_ws/src/ur/robotiq_gripper/robotiq/robotiq_gazebo/src/mimic_joint_plugin.cpp:183:31: error: ‘gazebo::math’ has not been declared
       double effort = gazebo::math::clamp(pid_.computeCommand(error, period), -max_effort_, max_effort_);
                               ^
ur/robotiq_gripper/robotiq/robotiq_gazebo/CMakeFiles/gazebo_mimic_joint_plugin.dir/build.make:62: recipe for target 'ur/robotiq_gripper/robotiq/robotiq_gazebo/CMakeFiles/gazebo_mimic_joint_plugin.dir/src/mimic_joint_plugin.cpp.o' failed
make[2]: *** [ur/robotiq_gripper/robotiq/robotiq_gazebo/CMakeFiles/gazebo_mimic_joint_plugin.dir/src/mimic_joint_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:1624: recipe for target 'ur/robotiq_gripper/robotiq/robotiq_gazebo/CMakeFiles/gazebo_mimic_joint_plugin.dir/all' failed
make[1]: *** [ur/robotiq_gripper/robotiq/robotiq_gazebo/CMakeFiles/gazebo_mimic_joint_plugin.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....