The ros2 interface of the compiled custom message cannot be used

[pengCheng]

Recently I am trying to communicate with ROS2 using customized messages. I have customized message packages and they work well in ROS2. First of all, I use the message type communication that comes with the ROS2 interface in the official installation package. It works. Then, I try to compile the ROS2 interface myself, and it also works. Finally, I start to compile the ROS2 interface with customized messages. It can be compiled successfully. , But it doesn't work. In coppeliasim, it shows that the customized message type is not supported. I checked the libraries that my compiled ROS2 interface depends on, and I did not find the library generated by the customized message, but during the compilation process, it was clearly found, so I don’t now I know which step I made a mistake, I hope you can help me. Here is some of my information
OS version: Ubuntu 18.04
ROS2 version: dashing
coppeliasim: 4.0.0
customized message: hand_message,ur_message
Error message in coppeliasim:

Code: Select all

ROS2 interface was found. 
Lua runtime error: [string "CUSTOMIZATION SCRIPT Ros2Interface"]:15: Unsupported message type 'hand_message/msg/HandPosition'. Please edit and recompile ROS2Interface plugin. (simROS2.subscribe @ 'ROS2Interface' plugin)
--> Customization script temporarily disabled.
stack traceback:
    [C]: in function 'subscribe'
    [string "CUSTOMIZATION SCRIPT Ros2Interface"]:15: in function 
--> Customization script temporarily disabled. 

Check the library linked to the ROS2 interface:

Code: Select all

ldd libsimExtROS2Interface.so
	linux-vdso.so.1 (0x00007fff6f3a1000)
	libdiagnostic_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_cpp.so (0x00007f5efd93c000)
	liblifecycle_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_cpp.so (0x00007f5efd735000)
	libmap_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libmap_msgs__rosidl_typesupport_cpp.so (0x00007f5efd52c000)
	libnav_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libnav_msgs__rosidl_typesupport_cpp.so (0x00007f5efd326000)
	libpendulum_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libpendulum_msgs__rosidl_typesupport_cpp.so (0x00007f5efd123000)
	libshape_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libshape_msgs__rosidl_typesupport_cpp.so (0x00007f5efcf20000)
	libsensor_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libsensor_msgs__rosidl_typesupport_cpp.so (0x00007f5efcd14000)
	librclcpp.so => /opt/ros/dashing/lib/librclcpp.so (0x00007f5efc9cf000)
	librcl.so => /opt/ros/dashing/lib/librcl.so (0x00007f5efc7a1000)
	librcutils.so => /opt/ros/dashing/lib/librcutils.so (0x00007f5efc58f000)
	librosgraph_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/librosgraph_msgs__rosidl_typesupport_cpp.so (0x00007f5efc38d000)
	libtf2_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_cpp.so (0x00007f5efc186000)
	libvisualization_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_cpp.so (0x00007f5efbf80000)
	libgeometry_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_cpp.so (0x00007f5efbd74000)
	libtrajectory_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_cpp.so (0x00007f5efbb70000)
	libstd_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_cpp.so (0x00007f5efb964000)
	libbuiltin_interfaces__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so (0x00007f5efb761000)
	libunique_identifier_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so (0x00007f5efb55f000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f5efb1d6000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f5efafbe000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f5efabcd000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f5efe864000)
	librosidl_typesupport_cpp.so => /opt/ros/dashing/lib/librosidl_typesupport_cpp.so (0x00007f5efa9c8000)
	librcl_interfaces__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/librcl_interfaces__rosidl_typesupport_cpp.so (0x00007f5efa7bc000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f5efa59d000)
	librmw_implementation.so => /opt/ros/dashing/lib/librmw_implementation.so (0x00007f5efa394000)
	librmw.so => /opt/ros/dashing/lib/librmw.so (0x00007f5efa18f000)
	librcl_yaml_param_parser.so => /opt/ros/dashing/lib/librcl_yaml_param_parser.so (0x00007f5ef9f89000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f5ef9beb000)
	librcl_interfaces__rosidl_typesupport_c.so => /opt/ros/dashing/lib/librcl_interfaces__rosidl_typesupport_c.so (0x00007f5ef99e1000)
	librcl_interfaces__rosidl_generator_c.so => /opt/ros/dashing/lib/librcl_interfaces__rosidl_generator_c.so (0x00007f5ef97d1000)
	librosidl_generator_c.so => /opt/ros/dashing/lib/librosidl_generator_c.so (0x00007f5ef95ca000)
	librcl_logging_noop.so => /opt/ros/dashing/lib/librcl_logging_noop.so (0x00007f5ef93c8000)
	libaction_msgs__rosidl_typesupport_cpp.so => /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_cpp.so (0x00007f5ef91c4000)
	libPocoFoundation.so.50 => /usr/lib/libPocoFoundation.so.50 (0x00007f5ef8e1b000)
	libyaml.so => /opt/ros/dashing/lib/libyaml.so (0x00007f5ef8bfd000)
	librosidl_typesupport_c.so => /opt/ros/dashing/lib/librosidl_typesupport_c.so (0x00007f5ef89f8000)
	libbuiltin_interfaces__rosidl_generator_c.so => /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_generator_c.so (0x00007f5ef87f5000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f5ef85f1000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f5ef83e9000)
	libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f5ef8177000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f5ef7f5a000)

Find libraries at compile time:

Code: Select all

Starting >>> sim_ros2_interface
Re-run cmake no build system arguments
-- Found ament_cmake: 0.7.4 (/opt/ros/dashing/share/ament_cmake/cmake)
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Override CMake install command with custom implementation using symlinks instead of copying resources
-- Found ament_cmake_ros: 0.7.0 (/opt/ros/dashing/share/ament_cmake_ros/cmake)
-- Found actionlib_msgs: 0.7.0 (/opt/ros/dashing/share/actionlib_msgs/cmake)
-- Found rosidl_adapter: 0.7.9 (/opt/ros/dashing/share/rosidl_adapter/cmake)
-- Found action_msgs: 0.7.4 (/opt/ros/dashing/share/action_msgs/cmake)
-- Found diagnostic_msgs: 0.7.0 (/opt/ros/dashing/share/diagnostic_msgs/cmake)
-- Found gazebo_msgs: 3.3.5 (/opt/ros/dashing/share/gazebo_msgs/cmake)
-- Found lifecycle_msgs: 0.7.4 (/opt/ros/dashing/share/lifecycle_msgs/cmake)
-- Found map_msgs: 2.0.2 (/opt/ros/dashing/share/map_msgs/cmake)
-- Found pendulum_msgs: 0.7.9 (/opt/ros/dashing/share/pendulum_msgs/cmake)
-- Found rosgraph_msgs: 0.7.4 (/opt/ros/dashing/share/rosgraph_msgs/cmake)
-- Found shape_msgs: 0.7.0 (/opt/ros/dashing/share/shape_msgs/cmake)
-- Found stereo_msgs: 0.7.0 (/opt/ros/dashing/share/stereo_msgs/cmake)
-- Found tf2_geometry_msgs: 0.11.6 (/opt/ros/dashing/share/tf2_geometry_msgs/cmake)
-- Found rmw_implementation_cmake: 0.7.2 (/opt/ros/dashing/share/rmw_implementation_cmake/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found visualization_msgs: 0.7.0 (/opt/ros/dashing/share/visualization_msgs/cmake)
-- Found hand_message: 0.0.0 (/home/pc/Documents/RHCS/ws_ros2/install/hand_message/share/hand_message/cmake)
-- Found ur_message: 0.0.0 (/home/pc/Documents/RHCS/ws_ros2/install/ur_message/share/ur_message/cmake)
-- CoppeliaSim: LIBPLUGIN_DIR: /home/pc/vrep/programming/libPlugin.
-- CoppeliaSim: COPPELIASIM_ROOT_DIR: /home/pc/vrep.
-- Found CoppeliaSim installation at /home/pc/vrep.
-- Checking CoppeliaSim header version...
-- CoppeliaSim headers version 4.0.0 rev4               
-- Adding simStubsGen command...
-- Found ament_lint_auto: 0.7.11 (/opt/ros/dashing/share/ament_lint_auto/cmake)
-- Added test 'copyright' to check for copyright in CMake / C / C++ / Python code
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
-- Configured cppcheck include dirs: /home/pc/ws_vrep/src/sim_ros2_interface/include;/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface;/home/pc/ws_vrep/src/sim_ros2_interface/external;$<BUILD_INTERFACE:/home/pc/ws_vrep/src/sim_ros2_interface/include>

[fferri]

Please build with this command:

Code: Select all

VERBOSE=1 MAKEFLAGS=-j1 colcon build --symlink-install --event-handlers console_direct+ --parallel-workers 1 --cmake-clean-first

and post the output so we can see the output of the generator.

[pengCheng]

Dear fferrl:
Thanks for your reply, I ran the command you said and the result is as follows. I checked the output and it says that my message type is bad, but in ROS2, my message works fine. At the end of the article I add the definition of my message. By the way, what I cloned is not the latest simExtROS2Interface. The commit for my cloned version is eb915708e923b591be0e7a57efdf8b3e8e2dd2dd.

the output:

Code: Select all

pc@pc:~/ws_vrep$ export COPPELIASIM_ROOT_DIR=~/vrep
pc@pc:~/ws_vrep$ VERBOSE=1 MAKEFLAGS=-j1 colcon build --symlink-install --event-handlers console_direct+ --parallel-workers 1 --cmake-clean-first
Starting >>> sim_ros2_interface
Re-run cmake no build system arguments
-- The C compiler identification is GNU 7.5.0           
-- The CXX compiler identification is GNU 7.5.0         
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works   
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done                 
-- Detecting C compile features
-- Detecting C compile features - done                  
-- Check for working CXX compiler: /usr/bin/c++         
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done               
-- Detecting CXX compile features
-- Detecting CXX compile features - done                
-- Found ament_cmake: 0.7.4 (/opt/ros/dashing/share/ament_cmake/cmake)
-- Found PythonInterp: /usr/bin/python3 (found suitable version "3.6.9", minimum required is "3") 
-- Using PYTHON_EXECUTABLE: /usr/bin/python3
-- Override CMake install command with custom implementation using symlinks instead of copying resources
-- Found ament_cmake_ros: 0.7.0 (/opt/ros/dashing/share/ament_cmake_ros/cmake)
-- Found actionlib_msgs: 0.7.0 (/opt/ros/dashing/share/actionlib_msgs/cmake)
-- Found rosidl_adapter: 0.7.9 (/opt/ros/dashing/share/rosidl_adapter/cmake)
-- Found action_msgs: 0.7.4 (/opt/ros/dashing/share/action_msgs/cmake)
-- Found diagnostic_msgs: 0.7.0 (/opt/ros/dashing/share/diagnostic_msgs/cmake)
-- Found gazebo_msgs: 3.3.5 (/opt/ros/dashing/share/gazebo_msgs/cmake)
-- Found lifecycle_msgs: 0.7.4 (/opt/ros/dashing/share/lifecycle_msgs/cmake)
-- Found map_msgs: 2.0.2 (/opt/ros/dashing/share/map_msgs/cmake)
-- Found pendulum_msgs: 0.7.9 (/opt/ros/dashing/share/pendulum_msgs/cmake)
-- Found rosgraph_msgs: 0.7.4 (/opt/ros/dashing/share/rosgraph_msgs/cmake)
-- Found shape_msgs: 0.7.0 (/opt/ros/dashing/share/shape_msgs/cmake)
-- Found stereo_msgs: 0.7.0 (/opt/ros/dashing/share/stereo_msgs/cmake)
-- Found tf2_geometry_msgs: 0.11.6 (/opt/ros/dashing/share/tf2_geometry_msgs/cmake)
-- Found rmw_implementation_cmake: 0.7.2 (/opt/ros/dashing/share/rmw_implementation_cmake/cmake)
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Looking for pthread.h
-- Looking for pthread.h - found                        
-- Looking for pthread_create
-- Looking for pthread_create - not found               
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found        
-- Found Threads: TRUE  
-- Found visualization_msgs: 0.7.0 (/opt/ros/dashing/share/visualization_msgs/cmake)
-- Found hand_message: 0.0.0 (/home/pc/ws_vrep/install/hand_message/share/hand_message/cmake)
-- Found ur_message: 0.0.0 (/home/pc/ws_vrep/install/ur_message/share/ur_message/cmake)
-- CoppeliaSim: LIBPLUGIN_DIR: /home/pc/vrep/programming/libPlugin.
-- CoppeliaSim: COPPELIASIM_ROOT_DIR: /home/pc/vrep.
-- Found CoppeliaSim installation at /home/pc/vrep.
-- Checking CoppeliaSim header version...
-- CoppeliaSim headers version 4.0.0 rev4               
-- Found Git: /usr/bin/git (found version "2.17.1")     
-- Adding simStubsGen command...
-- Found ament_lint_auto: 0.7.11 (/opt/ros/dashing/share/ament_lint_auto/cmake)
-- Added test 'copyright' to check for copyright in CMake / C / C++ / Python code
-- Added test 'cppcheck' to perform static code analysis on C / C++ code
-- Configured cppcheck include dirs: /home/pc/ws_vrep/src/sim_ros2_interface/include;/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface;/home/pc/ws_vrep/src/sim_ros2_interface/external;$<BUILD_INTERFACE:/home/pc/ws_vrep/src/sim_ros2_interface/include>
-- Added test 'cpplint' to check C / C++ code against the Google style
-- Added test 'flake8' to check Python code syntax and style conventions
-- Added test 'lint_cmake' to check CMake code style
-- Added test 'pep257' to check Python code against some of the style conventions in PEP 257
-- Added test 'uncrustify' to check C / C++ code style
-- Added test 'xmllint' to check XML markup files
-- Configuring done
-- Generating done                                      
-- Build files have been written to: /home/pc/ws_vrep/build/sim_ros2_interface
/usr/bin/make -f CMakeFiles/Makefile2 clean
make[1]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/make -f CMakeFiles/generate_ros_code.dir/build.make CMakeFiles/generate_ros_code.dir/clean
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/cmake -P CMakeFiles/generate_ros_code.dir/cmake_clean.cmake
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/make -f CMakeFiles/uninstall.dir/build.make CMakeFiles/uninstall.dir/clean
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/cmake -P CMakeFiles/uninstall.dir/cmake_clean.cmake
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/make -f CMakeFiles/simExtROS2Interface.dir/build.make CMakeFiles/simExtROS2Interface.dir/clean
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/cmake -P CMakeFiles/simExtROS2Interface.dir/cmake_clean.cmake
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface'
make[1]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/cmake -H/home/pc/ws_vrep/src/sim_ros2_interface -B/home/pc/ws_vrep/build/sim_ros2_interface --check-build-system CMakeFiles/Makefile.cmake 0
/usr/bin/cmake -E cmake_progress_start /home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles /home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/progress.marks
/usr/bin/make -f CMakeFiles/Makefile2 all
make[1]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/make -f CMakeFiles/generate_ros_code.dir/build.make CMakeFiles/generate_ros_code.dir/depend
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
cd /home/pc/ws_vrep/build/sim_ros2_interface && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/pc/ws_vrep/src/sim_ros2_interface /home/pc/ws_vrep/src/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/generate_ros_code.dir/DependInfo.cmake --color=
Dependee "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/generate_ros_code.dir/DependInfo.cmake" is newer than depender "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/generate_ros_code.dir/depend.internal".
Dependee "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/CMakeDirectoryInformation.cmake" is newer than depender "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/generate_ros_code.dir/depend.internal".
Scanning dependencies of target generate_ros_code
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface'
/usr/bin/make -f CMakeFiles/generate_ros_code.dir/build.make CMakeFiles/generate_ros_code.dir/build
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
[  4%] Generating ros-msg-srv-defs.pickle
python /home/pc/ws_vrep/src/sim_ros2_interface/tools/parse_messages_and_services.py /home/pc/ws_vrep/src/sim_ros2_interface/meta/messages.txt /home/pc/ws_vrep/src/sim_ros2_interface/meta/services.txt /home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle
Reading definition of msg builtin_interfaces/Duration...   
Reading definition of msg builtin_interfaces/Time...       
Reading definition of msg diagnostic_msgs/DiagnosticArray...
Reading definition of msg diagnostic_msgs/DiagnosticStatus...
Reading definition of msg diagnostic_msgs/KeyValue...      
Reading definition of msg geometry_msgs/Accel...                
Reading definition of msg geometry_msgs/AccelStamped...         
Reading definition of msg geometry_msgs/AccelWithCovariance...  
Reading definition of msg geometry_msgs/AccelWithCovarianceStamped...
Reading definition of msg geometry_msgs/Inertia...              
Reading definition of msg geometry_msgs/InertiaStamped...       
Reading definition of msg geometry_msgs/Point...                
Reading definition of msg geometry_msgs/Point32...              
Reading definition of msg geometry_msgs/PointStamped...         
Reading definition of msg geometry_msgs/Polygon...              
Reading definition of msg geometry_msgs/PolygonStamped...       
Reading definition of msg geometry_msgs/Pose...                 
Reading definition of msg geometry_msgs/Pose2D...               
Reading definition of msg geometry_msgs/PoseArray...            
Reading definition of msg geometry_msgs/PoseStamped...           
Reading definition of msg geometry_msgs/PoseWithCovariance...    
Reading definition of msg geometry_msgs/PoseWithCovarianceStamped...
Reading definition of msg geometry_msgs/Quaternion...            
Reading definition of msg geometry_msgs/QuaternionStamped...     
Reading definition of msg geometry_msgs/Transform...             
Reading definition of msg geometry_msgs/TransformStamped...      
Reading definition of msg geometry_msgs/Twist...                 
Reading definition of msg geometry_msgs/TwistStamped...          
Reading definition of msg geometry_msgs/TwistWithCovariance...   
Reading definition of msg geometry_msgs/TwistWithCovarianceStamped...
Reading definition of msg geometry_msgs/Vector3...               
Reading definition of msg geometry_msgs/Vector3Stamped...        
Reading definition of msg geometry_msgs/Wrench...                
[Processing: sim_ros2_interface]                                 
Reading definition of msg geometry_msgs/WrenchStamped...         
WARNING: bad msg: hand_message/msg/HandPosition (bad type: hand_message/msg/HandPosition)
WARNING: bad msg: hand_message/msg/HandState (bad type: hand_message/msg/HandState)
Reading definition of msg lifecycle_msgs/State...
Reading definition of msg lifecycle_msgs/Transition...           
Reading definition of msg lifecycle_msgs/TransitionDescription...
Reading definition of msg lifecycle_msgs/TransitionEvent...      
Reading definition of msg map_msgs/OccupancyGridUpdate...        
Reading definition of msg map_msgs/PointCloud2Update...          
Reading definition of msg map_msgs/ProjectedMap...               
Reading definition of msg map_msgs/ProjectedMapInfo...           
Reading definition of msg nav_msgs/GridCells...                  
Reading definition of msg nav_msgs/MapMetaData...                
Reading definition of msg nav_msgs/OccupancyGrid...              
Reading definition of msg nav_msgs/Odometry...                   
Reading definition of msg nav_msgs/Path...                       
Reading definition of msg pendulum_msgs/JointCommand...          
Reading definition of msg pendulum_msgs/JointState...            
Reading definition of msg pendulum_msgs/RttestResults...         
Reading definition of msg rosgraph_msgs/Clock...                 
Reading definition of msg sensor_msgs/BatteryState...            
Reading definition of msg sensor_msgs/CameraInfo...              
Reading definition of msg sensor_msgs/ChannelFloat32...          
Reading definition of msg sensor_msgs/CompressedImage...         
Reading definition of msg sensor_msgs/FluidPressure...           
Reading definition of msg sensor_msgs/Illuminance...             
Reading definition of msg sensor_msgs/Image...                   
Reading definition of msg sensor_msgs/Imu...                     
Reading definition of msg sensor_msgs/JointState...              
Reading definition of msg sensor_msgs/Joy...                     
Reading definition of msg sensor_msgs/JoyFeedback...             
Reading definition of msg sensor_msgs/JoyFeedbackArray...        
Reading definition of msg sensor_msgs/LaserEcho...               
Reading definition of msg sensor_msgs/LaserScan...               
Reading definition of msg sensor_msgs/MagneticField...           
Reading definition of msg sensor_msgs/MultiDOFJointState...      
Reading definition of msg sensor_msgs/MultiEchoLaserScan...      
Reading definition of msg sensor_msgs/NavSatFix...               
Reading definition of msg sensor_msgs/NavSatStatus...            
Reading definition of msg sensor_msgs/PointCloud...              
Reading definition of msg sensor_msgs/PointCloud2...             
Reading definition of msg sensor_msgs/PointField...              
Reading definition of msg sensor_msgs/Range...                   
Reading definition of msg sensor_msgs/RegionOfInterest...        
Reading definition of msg sensor_msgs/RelativeHumidity...        
[Processing: sim_ros2_interface]                                     
Reading definition of msg sensor_msgs/Temperature...                 
Reading definition of msg sensor_msgs/TimeReference...               
Reading definition of msg shape_msgs/Mesh...                         
Reading definition of msg shape_msgs/MeshTriangle...                 
Reading definition of msg shape_msgs/Plane...                        
Reading definition of msg shape_msgs/SolidPrimitive...               
Reading definition of msg std_msgs/Bool...                           
Reading definition of msg std_msgs/Byte...                           
Reading definition of msg std_msgs/ByteMultiArray...                 
Reading definition of msg std_msgs/Char...                           
Reading definition of msg std_msgs/ColorRGBA...                      
Reading definition of msg std_msgs/Empty...                          
Reading definition of msg std_msgs/Float32...                        
Reading definition of msg std_msgs/Float32MultiArray...              
Reading definition of msg std_msgs/Float64...                        
Reading definition of msg std_msgs/Float64MultiArray...               
Reading definition of msg std_msgs/Header...                         
Reading definition of msg std_msgs/Int16...                          
Reading definition of msg std_msgs/Int16MultiArray...                
Reading definition of msg std_msgs/Int32...                          
Reading definition of msg std_msgs/Int32MultiArray...                
Reading definition of msg std_msgs/Int64...                          
Reading definition of msg std_msgs/Int64MultiArray...                
Reading definition of msg std_msgs/Int8...                           
Reading definition of msg std_msgs/Int8MultiArray...                 
Reading definition of msg std_msgs/MultiArrayDimension...            
Reading definition of msg std_msgs/MultiArrayLayout...               
Reading definition of msg std_msgs/String...                         
Reading definition of msg std_msgs/UInt16...                         
Reading definition of msg std_msgs/UInt16MultiArray...                
Reading definition of msg std_msgs/UInt32...                          
Reading definition of msg std_msgs/UInt32MultiArray...                
Reading definition of msg std_msgs/UInt64...                          
Reading definition of msg std_msgs/UInt64MultiArray...                
Reading definition of msg std_msgs/UInt8...                           
Reading definition of msg std_msgs/UInt8MultiArray...                 
Reading definition of msg tf2_msgs/TF2Error...                        
Reading definition of msg tf2_msgs/TFMessage...                       
Reading definition of msg trajectory_msgs/JointTrajectory...          
Reading definition of msg trajectory_msgs/JointTrajectoryPoint...     
Reading definition of msg trajectory_msgs/MultiDOFJointTrajectory...  
Reading definition of msg trajectory_msgs/MultiDOFJointTrajectoryPoint...
Reading definition of msg unique_identifier_msgs/UUID...              
WARNING: bad msg: ur_message/msg/JointState (bad type: ur_message/msg/JointState)
Reading definition of msg visualization_msgs/ImageMarker...
[Processing: sim_ros2_interface]                                      
Reading definition of msg visualization_msgs/InteractiveMarker...     
Reading definition of msg visualization_msgs/InteractiveMarkerControl...
Reading definition of msg visualization_msgs/InteractiveMarkerFeedback...
Reading definition of msg visualization_msgs/InteractiveMarkerInit... 
Reading definition of msg visualization_msgs/InteractiveMarkerPose... 
Reading definition of msg visualization_msgs/InteractiveMarkerUpdate...
Reading definition of msg visualization_msgs/Marker...                
Reading definition of msg visualization_msgs/MarkerArray...           
Reading definition of msg visualization_msgs/MenuEntry...             
Reading definition of srv example_interfaces/AddTwoInts...            
Reading definition of srv std_srvs/Empty...                           
Reading definition of srv std_srvs/SetBool...                         
Reading definition of srv std_srvs/Trigger...                         
[  8%] Generating generated/callbacks.cpp                             
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/callbacks.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/callbacks.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 13%] Generating generated/callbacks.h                               
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/callbacks.h -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/callbacks.h -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 17%] Generating generated/cli_call.cpp                               
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/cli_call.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/cli_call.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 21%] Generating generated/cli_del.cpp
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/cli_del.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/cli_del.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 26%] Generating generated/cli_new.cpp                                
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/cli_new.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/cli_new.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 30%] Generating generated/pub_del.cpp                                
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/pub_del.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/pub_del.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 34%] Generating generated/pub_new.cpp
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/pub_new.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/pub_new.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 39%] Generating generated/pub_publish.cpp                            
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/pub_publish.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/pub_publish.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 43%] Generating generated/srv_del.cpp                                
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/srv_del.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/srv_del.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 47%] Generating generated/srv_new.cpp                                
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/srv_new.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/srv_new.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 52%] Generating generated/sub_del.cpp
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/sub_del.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/sub_del.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
[ 56%] Generating generated/sub_new.cpp                                
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p cache_file=/home/pc/ws_vrep/build/sim_ros2_interface/ros-msg-srv-defs.pickle -i /home/pc/ws_vrep/src/sim_ros2_interface/templates/sub_new.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/sub_new.cpp -P /home/pc/ws_vrep/src/sim_ros2_interface/tools
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface' 
[ 56%] Built target generate_ros_code
/usr/bin/make -f CMakeFiles/simExtROS2Interface.dir/build.make CMakeFiles/simExtROS2Interface.dir/depend
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
[ 60%] Generating generated/stubs.cpp, generated/stubs.h, generated/lua_calltips.cpp
python /home/pc/vrep/programming/libPlugin/simStubsGen/generate.py --xml-file /home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml --lua-file /home/pc/ws_vrep/src/sim_ros2_interface/simExtROS2Interface.lua --gen-all /home/pc/ws_vrep/build/sim_ros2_interface/generated
/home/pc/vrep/programming/libPlugin/simStubsGen/generate.py --xml-file /home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml --lua-file /home/pc/ws_vrep/src/sim_ros2_interface/simExtROS2Interface.lua --gen-all /home/pc/ws_vrep/build/sim_ros2_interface/generated
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml -i /home/pc/vrep/programming/libPlugin/simStubsGen/cpp/stubs.cpp -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/stubs.cpp -P /home/pc/vrep/programming/libPlugin/simStubsGen
python /home/pc/vrep/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml -i /home/pc/vrep/programming/libPlugin/simStubsGen/cpp/stubs.h -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/stubs.h -P /home/pc/vrep/programming/libPlugin/simStubsGen
python /home/pc/vrep/programming/libPlugin/simStubsGen/lua_to_xml.py /home/pc/ws_vrep/src/sim_ros2_interface/simExtROS2Interface.lua /home/pc/ws_vrep/build/sim_ros2_interface/generated/lua.xml
python /home/pc/vrep/programming/libPlugin/simStubsGen/merge_xml.py /home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml /home/pc/ws_vrep/build/sim_ros2_interface/generated/lua.xml /home/pc/ws_vrep/build/sim_ros2_interface/generated/reference.xml
xsltproc -o /home/pc/ws_vrep/build/sim_ros2_interface/generated/reference.html /home/pc/vrep/programming/libPlugin/simStubsGen/xsl/reference.xsl /home/pc/ws_vrep/build/sim_ros2_interface/generated/reference.xml
python /home/pc/vrep/programming/libPlugin/simStubsGen/generate_lua_calltips.py ROS2Interface ROS2 /home/pc/ws_vrep/src/sim_ros2_interface/simExtROS2Interface.lua /home/pc/ws_vrep/build/sim_ros2_interface/generated/lua_calltips.cpp
python /home/pc/vrep/programming/libPlugin/simStubsGen/generate_notepadplusplus_xml.py /home/pc/ws_vrep/build/sim_ros2_interface/generated/reference.xml /home/pc/ws_vrep/build/sim_ros2_interface/generated/np++.xml
python /home/pc/vrep/programming/libPlugin/simStubsGen/generate_notepadplusplus_txt.py /home/pc/ws_vrep/build/sim_ros2_interface/generated/reference.xml /home/pc/ws_vrep/build/sim_ros2_interface/generated/np++.txt
python /home/pc/vrep/programming/libPlugin/simStubsGen/generate_deprecated_txt.py /home/pc/ws_vrep/src/sim_ros2_interface/meta/callbacks.xml /home/pc/ws_vrep/build/sim_ros2_interface/generated/deprecated_mapping.txt
cd /home/pc/ws_vrep/build/sim_ros2_interface && /usr/bin/cmake -E cmake_depends "Unix Makefiles" /home/pc/ws_vrep/src/sim_ros2_interface /home/pc/ws_vrep/src/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface /home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/simExtROS2Interface.dir/DependInfo.cmake --color=
Dependee "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/simExtROS2Interface.dir/DependInfo.cmake" is newer than depender "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/simExtROS2Interface.dir/depend.internal".
Dependee "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/CMakeDirectoryInformation.cmake" is newer than depender "/home/pc/ws_vrep/build/sim_ros2_interface/CMakeFiles/simExtROS2Interface.dir/depend.internal".
Scanning dependencies of target simExtROS2Interface
make[2]: Leaving directory '/home/pc/ws_vrep/build/sim_ros2_interface' 
/usr/bin/make -f CMakeFiles/simExtROS2Interface.dir/build.make CMakeFiles/simExtROS2Interface.dir/build
make[2]: Entering directory '/home/pc/ws_vrep/build/sim_ros2_interface'
[ 65%] Building CXX object CMakeFiles/simExtROS2Interface.dir/src/sim_ros2_interface.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/src/sim_ros2_interface.cpp.o -c /home/pc/ws_vrep/src/sim_ros2_interface/src/sim_ros2_interface.cpp
[Processing: sim_ros2_interface]                                       
[Processing: sim_ros2_interface]                                       
[Processing: sim_ros2_interface]                                       
[Processing: sim_ros2_interface]                                       
[Processing: sim_ros2_interface]                                       
[ 69%] Building CXX object CMakeFiles/simExtROS2Interface.dir/src/ros_msg_builtin_io.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/src/ros_msg_builtin_io.cpp.o -c /home/pc/ws_vrep/src/sim_ros2_interface/src/ros_msg_builtin_io.cpp
[ 73%] Building CXX object CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/common/simLib.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/common/simLib.cpp.o -c /home/pc/vrep/programming/common/simLib.cpp
[ 78%] Building CXX object CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/libPlugin/simPlusPlus/Plugin.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/libPlugin/simPlusPlus/Plugin.cpp.o -c /home/pc/vrep/programming/libPlugin/simPlusPlus/Plugin.cpp
[ 82%] Building CXX object CMakeFiles/simExtROS2Interface.dir/generated/stubs.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/generated/stubs.cpp.o -c /home/pc/ws_vrep/build/sim_ros2_interface/generated/stubs.cpp
[ 86%] Building CXX object CMakeFiles/simExtROS2Interface.dir/generated/callbacks.cpp.o
/usr/bin/c++  -DLIN_SIM -DROS_PACKAGE_NAME=\"sim_ros2_interface\" -DSIM_ROS2_INTERFACE_BUILDING_LIBRARY -DsimExtROS2Interface_EXPORTS -I/home/pc/vrep/programming/libPlugin -I/home/pc/ws_vrep/src/sim_ros2_interface/include -I/home/pc/ws_vrep/src/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/src/sim_ros2_interface/external -I/home/pc/ws_vrep/build/sim_ros2_interface/include -I/home/pc/ws_vrep/build/sim_ros2_interface/include/sim_ros2_interface -I/home/pc/ws_vrep/build/sim_ros2_interface/generated -I/home/pc/vrep/programming/include -I/home/pc/vrep/programming/common -I/home/pc/ws_vrep/install/ur_message/include -I/home/pc/ws_vrep/install/hand_message/include -I/opt/ros/dashing/include -I/usr/include/eigen3  -fPIC   -std=gnu++14 -o CMakeFiles/simExtROS2Interface.dir/generated/callbacks.cpp.o -c /home/pc/ws_vrep/build/sim_ros2_interface/generated/callbacks.cpp
[ 91%] Linking CXX shared library libsimExtROS2Interface.so            
/usr/bin/cmake -E cmake_link_script CMakeFiles/simExtROS2Interface.dir/link.txt --verbose=1
/usr/bin/c++ -fPIC   -shared -Wl,-soname,libsimExtROS2Interface.so -o libsimExtROS2Interface.so CMakeFiles/simExtROS2Interface.dir/src/sim_ros2_interface.cpp.o CMakeFiles/simExtROS2Interface.dir/src/ros_msg_builtin_io.cpp.o CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/common/simLib.cpp.o CMakeFiles/simExtROS2Interface.dir/home/pc/vrep/programming/libPlugin/simPlusPlus/Plugin.cpp.o CMakeFiles/simExtROS2Interface.dir/generated/stubs.cpp.o CMakeFiles/simExtROS2Interface.dir/generated/callbacks.cpp.o -Wl,-rpath,/opt/ros/dashing/lib:/home/pc/ws_vrep/install/hand_message/lib:/home/pc/ws_vrep/install/ur_message/lib: /opt/ros/dashing/lib/libactionlib_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libactionlib_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libdiagnostic_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libgazebo_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/liblifecycle_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libmap_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libmap_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libmap_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libmap_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libmap_msgs__rosidl_typesupport_fastrtps_cpp.so 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/opt/ros/dashing/lib/librcl_yaml_param_parser.so /opt/ros/dashing/lib/libconsole_bridge.so.0.4 /opt/ros/dashing/lib/libtf2.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libtf2_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libvisualization_msgs__rosidl_typesupport_fastrtps_cpp.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_generator_c.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_c.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_cpp.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_introspection_c.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_introspection_cpp.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_fastrtps_c.so /home/pc/ws_vrep/install/hand_message/lib/libhand_message__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libgeometry_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libtrajectory_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libstd_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_c.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_generator_c.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libaction_msgs__rosidl_generator_c.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_c.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_cpp.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_introspection_c.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/dashing/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/dashing/lib/librosidl_typesupport_c.so /opt/ros/dashing/lib/librosidl_typesupport_cpp.so 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pc@pc:~/ws_vrep$ 

the definition of hand_message/msg/HandPosition:

Code: Select all

##1 : 0` 2 : 60` 3: 90`
int8 gripper_id
##positon 
uint32  position

the definition of hand_message/msg/HandState:

Code: Select all

# 0:初始化或者正在运动  
# 1:  夹住物体  
# 2：未夹住物体，移动到目标位置
int8 status 
 

the definition of ur_message/msg/JointState:

Code: Select all

string[] name
float64[] position
float64[] velocity
float64[] effort
float64[] tool_position

[fferri]

By the way, what I cloned is not the latest simExtROS2Interface. The commit for my cloned version is eb915708e923b591be0e7a57efdf8b3e8e2dd2dd.

That would be 45 commits / 8 months behind master, a lot of things weren't implemented or didn't work correctly at that time.

Reading definition of msg geometry_msgs/Vector3...
Reading definition of msg geometry_msgs/Vector3Stamped...
Reading definition of msg geometry_msgs/Wrench...
Reading definition of msg geometry_msgs/WrenchStamped...
WARNING: bad msg: hand_message/msg/HandPosition (bad type: hand_message/msg/HandPosition)
WARNING: bad msg: hand_message/msg/HandState (bad type: hand_message/msg/HandState)

I don't know if besides this naming problem there are other problems (probably yes).
Best is to upgrade to foxy and use the current version of the plugin.

[pengCheng]

Well, that's what it looks like. Thank you very much.