Hello,
we bought the Unitree Go2 EDU Version with the extension pack/Nvidia Orin Nano 8 GB.
We already have access to the qre_go2 repository and can build it on the Nvidia Orin. However, when we tried uilding the humble branch on a host computer with Ubuntu 22.04 and ROS 2 Humble, we got the following error:
colcon build
Starting >>> cmake_modules
Starting >>> open_manipulator_msgs
Starting >>> dynamixel_hardware
Starting >>> go2_srvs
Starting >>> unitree_api
Starting >>> unitree_go
Starting >>> go2_description
Starting >>> go2_bringup
Starting >>> go2_control
Starting >>> go2_depth_camera
Starting >>> go2_gazebo_classic
Starting >>> go2_joystick
Starting >>> go2_livox
Starting >>> go2_manipulation
Starting >>> go2_navigation
Starting >>> go2_viz
Finished <<< cmake_modules [0.60s]
Finished <<< go2_control [0.60s]
Starting >>> robotis_manipulator
Starting >>> livox_ros_driver2
Finished <<< go2_livox [0.62s]
Finished <<< go2_depth_camera [0.64s]
Finished <<< go2_description [0.65s]
Starting >>> go2_moveit
Finished <<< go2_navigation [0.65s]
Finished <<< go2_viz [0.66s]
--- stderr: dynamixel_hardware
In file included from /home/user/repos/qre_go2/src/third_party/moveit/dynamixel_hardware-foxy/dynamixel_hardware/src/dynamixel_hardware.cpp:15:
/home/user/repos/qre_go2/src/third_party/moveit/dynamixel_hardware-foxy/dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp:20:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory
20 | #include <hardware_interface/base_interface.hpp>
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
gmake[2]: *** [CMakeFiles/dynamixel_hardware.dir/build.make:76: CMakeFiles/dynamixel_hardware.dir/src/dynamixel_hardware.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:137: CMakeFiles/dynamixel_hardware.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< dynamixel_hardware [0.91s, exited with code 2]
Aborted <<< go2_gazebo_classic [0.89s]
Aborted <<< go2_moveit [0.27s]
Aborted <<< go2_joystick [1.05s]
Aborted <<< robotis_manipulator [0.47s]
Aborted <<< go2_bringup [1.10s]
Aborted <<< go2_srvs [1.18s]
Aborted <<< go2_manipulation [1.16s]
Aborted <<< open_manipulator_msgs [1.40s]
Aborted <<< unitree_api [1.44s]
Aborted <<< unitree_go [1.47s]
Aborted <<< livox_ros_driver2 [1.82s]
Summary: 7 packages finished [2.67s]
1 package failed: dynamixel_hardware
11 packages aborted: go2_bringup go2_gazebo_classic go2_joystick go2_manipulation go2_moveit go2_srvs livox_ros_driver2 open_manipulator_msgs robotis_manipulator unitree_api unitree_go
2 packages had stderr output: dynamixel_hardware livox_ros_driver2
8 packages not processed
Some first bugfixes I looked for regarding the dynamixel_hardware didn’t work. Any idea on why this happens?
Kind regards