compile errors in the docker container with ./build-examples

[torydebra]

user@b673832b9b26:~$ ./build-examples.sh 
-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- 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
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- xenomai NOT found. (/usr/local/xenomai;/usr/xenomai;/usr/include/xenomai)
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") 
-- Checking for module 'bullet>=2.82'
--   Found bullet, version 2.88
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found suitable version "1.71.0", minimum required is "1.40.0") found components: thread system filesystem program_options regex iostreams date_time 
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found version "3.6.1") 
-- Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0")  
-- Looking for OGRE...
-- OGRE_PREFIX_WATCH changed.
-- Checking for module 'OGRE'
--   Found OGRE, version 1.9.0
-- Found Ogre Ghadamon (1.9.0)
-- Found OGRE: optimized;/usr/lib/x86_64-linux-gnu/libOgreMain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreMain.so
-- Looking for OGRE_Paging...
-- Found OGRE_Paging: optimized;/usr/lib/x86_64-linux-gnu/libOgrePaging.so;debug;/usr/lib/x86_64-linux-gnu/libOgrePaging.so
-- Looking for OGRE_Terrain...
-- Found OGRE_Terrain: optimized;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so;debug;/usr/lib/x86_64-linux-gnu/libOgreTerrain.so
-- Looking for OGRE_Property...
-- Found OGRE_Property: optimized;/usr/lib/x86_64-linux-gnu/libOgreProperty.so;debug;/usr/lib/x86_64-linux-gnu/libOgreProperty.so
-- Looking for OGRE_RTShaderSystem...
-- Found OGRE_RTShaderSystem: optimized;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so;debug;/usr/lib/x86_64-linux-gnu/libOgreRTShaderSystem.so
-- Looking for OGRE_Volume...
-- Found OGRE_Volume: optimized;/usr/lib/x86_64-linux-gnu/libOgreVolume.so;debug;/usr/lib/x86_64-linux-gnu/libOgreVolume.so
-- Looking for OGRE_Overlay...
-- Found OGRE_Overlay: optimized;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so;debug;/usr/lib/x86_64-linux-gnu/libOgreOverlay.so
-- Found Protobuf: /usr/lib/x86_64-linux-gnu/libprotobuf.so;-lpthread (found suitable version "3.6.1", minimum required is "2.3.0") 
-- Config-file not installed for ZeroMQ -- checking for pkg-config
-- Checking for module 'libzmq >= 4'
--   Found libzmq , version 4.3.2
-- Found ZeroMQ: TRUE (Required is at least version "4") 
-- Checking for module 'uuid'
--   Found uuid, version 2.34.0
-- Found UUID: TRUE  
-- Configuring done
-- Generating done
-- Build files have been written to: /home/user/build
Scanning dependencies of target ros_from_rt
Scanning dependencies of target malloc_example
Scanning dependencies of target clock_example
Scanning dependencies of target homing_example
[  9%] Building CXX object src/homing_example/CMakeFiles/homing_example.dir/homing_example.cpp.o
[  9%] Building CXX object src/malloc_example/CMakeFiles/malloc_example.dir/malloc_example.cpp.o
[ 13%] Building CXX object src/clock/CMakeFiles/clock_example.dir/clock.cpp.o
[ 18%] Building CXX object src/ros_from_rt/CMakeFiles/ros_from_rt.dir/ros_from_rt.cpp.o
[ 22%] Linking CXX shared library libxbotctrl_homing_example.so
[ 22%] Built target homing_example
Scanning dependencies of target listener
[ 27%] Building CXX object src/talker_listener/CMakeFiles/listener.dir/listener.cpp.o
[ 31%] Linking CXX shared library libxbotctrl_malloc_example.so
[ 31%] Built target malloc_example
Scanning dependencies of target talker
[ 36%] Building CXX object src/talker_listener/CMakeFiles/talker.dir/talker.cpp.o
[ 40%] Linking CXX shared library libxbotctrl_clock_example.so
[ 40%] Built target clock_example
Scanning dependencies of target server
[ 45%] Building CXX object src/client_server/CMakeFiles/server.dir/server.cpp.o
[ 50%] Linking CXX shared library libxbotctrl_ros_from_rt.so
[ 50%] Built target ros_from_rt
Scanning dependencies of target client
[ 54%] Building CXX object src/client_server/CMakeFiles/client.dir/client.cpp.o
[ 59%] Linking CXX shared library libxbotctrl_talker.so
[ 59%] Built target talker
Scanning dependencies of target rocket_commander
[ 63%] Linking CXX shared library libxbotctrl_listener.so
[ 68%] Building CXX object src/device/CMakeFiles/rocket_commander.dir/rocket_plugin.cpp.o
[ 68%] Built target listener
Scanning dependencies of target xbot2_gz_rocket_server
[ 72%] Building CXX object src/device/CMakeFiles/xbot2_gz_rocket_server.dir/gz_rocket_server.cpp.o
[ 77%] Linking CXX shared library libxbotctrl_server.so
[ 77%] Built target server
Scanning dependencies of target rocket
[ 81%] Building CXX object src/device/CMakeFiles/rocket.dir/rocket_device.cpp.o
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:86:29: error: macro "XBOT2_REGISTER_DEVICE" passed 3 arguments, but takes just 2
   86 |                       rocket)
      |                             ^
In file included from /opt/xbot/include/xbot2/hal/device_common.h:11,
                 from /opt/xbot/include/xbot2/hal/device.h:5,
                 from /home/user/src/xbot2_examples/src/device/rocket_device_driver.h:4,
                 from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/opt/xbot/include/xbot2/common/common.h:61: note: macro "XBOT2_REGISTER_DEVICE" defined here
   61 | #define XBOT2_REGISTER_DEVICE(DevClass, DevName)                                     \
      | 
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:38:44: error: expected template-name before ‘<’ token
   38 | class RocketDriver : public DeviceDriverTpl<RocketPacket::Rx,
      |                                            ^
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:38:44: error: expected ‘{’ before ‘<’ token
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:38:44: error: expected unqualified-id before ‘<’ token
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:53: error: expected template-name before ‘<’ token
   72 | class RocketDriverContainer : public DeviceContainer<RocketDriver>
      |                                                     ^
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:53: error: expected ‘{’ before ‘<’ token
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:53: error: expected unqualified-id before ‘<’ token
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:2:
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:14:26: error: ‘DeviceClientTpl’ does not name a type; did you mean ‘DeviceBaseTpl’?
   14 | using RocketClientBase = DeviceClientTpl<RocketPacket::Rx,
      |                          ^~~~~~~~~~~~~~~
      |                          DeviceBaseTpl
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:22:45: error: expected class-name before ‘,’ token
   22 | class RocketClient : public RocketClientBase,
      |                                             ^
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:28:11: error: ‘RocketClientBase’ has not been declared
   28 |     using RocketClientBase::RocketClientBase;
      |           ^~~~~~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:40:53: error: expected template-name before ‘<’ token
   40 | class RocketClientContainer : public DeviceContainer<RocketClient>
      |                                                     ^
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:40:53: error: expected ‘{’ before ‘<’ token
/home/user/src/xbot2_examples/src/device/rocket_device_client.h:40:53: error: expected unqualified-id before ‘<’ token
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:6:68: error: ‘DeviceInfo’ is not a member of ‘XBot::Hal’
    6 | Hal::RocketDriverContainer::RocketDriverContainer(std::vector<Hal::DeviceInfo> devinfo):
      |                                                                    ^~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:6:68: error: ‘DeviceInfo’ is not a member of ‘XBot::Hal’
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:6:78: error: template argument 1 is invalid
    6 | Hal::RocketDriverContainer::RocketDriverContainer(std::vector<Hal::DeviceInfo> devinfo):
      |                                                                              ^
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:6:78: error: template argument 2 is invalid
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:6:87: error: invalid use of incomplete type ‘class XBot::Hal::RocketDriverContainer’
    6 | Hal::RocketDriverContainer::RocketDriverContainer(std::vector<Hal::DeviceInfo> devinfo):
      |                                                                                       ^
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:7: note: forward declaration of ‘class XBot::Hal::RocketDriverContainer’
   72 | class RocketDriverContainer : public DeviceContainer<RocketDriver>
      |       ^~~~~~~~~~~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:24:44: error: invalid use of incomplete type ‘class XBot::Hal::RocketDriverContainer’
   24 | bool Hal::RocketDriverContainer::sense_all()
      |                                            ^
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:7: note: forward declaration of ‘class XBot::Hal::RocketDriverContainer’
   72 | class RocketDriverContainer : public DeviceContainer<RocketDriver>
      |       ^~~~~~~~~~~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:37:43: error: invalid use of incomplete type ‘class XBot::Hal::RocketDriverContainer’
   37 | bool Hal::RocketDriverContainer::move_all()
      |                                           ^
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:72:7: note: forward declaration of ‘class XBot::Hal::RocketDriverContainer’
   72 | class RocketDriverContainer : public DeviceContainer<RocketDriver>
      |       ^~~~~~~~~~~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:46:32: error: expected constructor, destructor, or type conversion before ‘(’ token
   46 | Hal::RocketDriver::RocketDriver(Hal::DeviceInfo devinfo):
      |                                ^
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:53:35: error: invalid use of incomplete type ‘class XBot::Hal::RocketDriver’
   53 | bool Hal::RocketDriver::move_impl()
      |                                   ^
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:38:7: note: forward declaration of ‘class XBot::Hal::RocketDriver’
   38 | class RocketDriver : public DeviceDriverTpl<RocketPacket::Rx,
      |       ^~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:63:36: error: invalid use of incomplete type ‘class XBot::Hal::RocketDriver’
   63 | bool Hal::RocketDriver::sense_impl()
      |                                    ^
In file included from /home/user/src/xbot2_examples/src/device/rocket_device.cpp:1:
/home/user/src/xbot2_examples/src/device/rocket_device_driver.h:38:7: note: forward declaration of ‘class XBot::Hal::RocketDriver’
   38 | class RocketDriver : public DeviceDriverTpl<RocketPacket::Rx,
      |       ^~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp: In member function ‘virtual void XBot::Hal::RocketClient::setReference(double)’:
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:71:5: error: ‘_tx’ was not declared in this scope
   71 |     _tx.force_ref = thrust;
      |     ^~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp: In member function ‘virtual double XBot::Hal::RocketClient::getReference() const’:
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:76:12: error: ‘_rx’ was not declared in this scope
   76 |     return _rx.force_ref;
      |            ^~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp: In member function ‘virtual double XBot::Hal::RocketClient::getThrust() const’:
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:81:12: error: ‘_rx’ was not declared in this scope
   81 |     return _rx.force_meas;
      |            ^~~
/home/user/src/xbot2_examples/src/device/rocket_device.cpp: At global scope:
/home/user/src/xbot2_examples/src/device/rocket_device.cpp:84:1: error: ‘XBOT2_REGISTER_DEVICE’ does not name a type
   84 | XBOT2_REGISTER_DEVICE(Hal::RocketDriverContainer,
      | ^~~~~~~~~~~~~~~~~~~~~
In file included from /opt/xbot/include/xbot2/rt_plugin/control_plugin.h:4,
                 from /opt/xbot/include/xbot2/xbot2.h:1,
                 from /home/user/src/xbot2_examples/src/device/rocket_plugin.h:5,
                 from /home/user/src/xbot2_examples/src/device/rocket_plugin.cpp:1:
/opt/xbot/include/xbot2/robot_interface/robot_interface_xbot_rt.h: In instantiation of ‘DeviceInstanceType* XBot::RobotInterfaceXBot2Rt::getDeviceInstance(const string&) [with DeviceInstanceType = XBot::Hal::RocketBase; std::string = std::__cxx11::basic_string<char>]’:
/home/user/src/xbot2_examples/src/device/rocket_plugin.cpp:14:68:   required from here
/opt/xbot/include/xbot2/robot_interface/robot_interface_xbot_rt.h:108:81: error: static assertion failed: DeviceInstanceType must derive from Hal::DeviceInstanceBase
  108 |     static_assert(std::is_base_of<Hal::DeviceInstanceBase, DeviceInstanceType>::value,
      |                                                                                 ^~~~~
make[2]: *** [src/device/CMakeFiles/rocket.dir/build.make:63: src/device/CMakeFiles/rocket.dir/rocket_device.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:778: src/device/CMakeFiles/rocket.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
make[2]: *** [src/device/CMakeFiles/rocket_commander.dir/build.make:63: src/device/CMakeFiles/rocket_commander.dir/rocket_plugin.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:724: src/device/CMakeFiles/rocket_commander.dir/all] Error 2
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:8:52: error: expected template-name before ‘<’ token
    8 | class RocketAdapterGz : public Hal::DeviceTplCommon<RocketPacket::Rx,
      |                                                    ^
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:8:52: error: expected ‘{’ before ‘<’ token
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:8:52: error: expected unqualified-id before ‘<’ token
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp: In member function ‘virtual void XBot::GzRocketServer::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:45:5: error: ‘DeviceInfo’ was not declared in this scope; did you mean ‘AVDeviceInfo’?
   45 |     DeviceInfo devinfo{"rocket_0", "rocket", 100};
      |     ^~~~~~~~~~
      |     AVDeviceInfo
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:48:9: error: ‘devinfo’ was not declared in this scope; did you mean ‘dlinfo’?
   48 |         devinfo,
      |         ^~~~~~~
      |         dlinfo
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp: At global scope:
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:92:33: error: expected constructor, destructor, or type conversion before ‘(’ token
   92 | RocketAdapterGz::RocketAdapterGz(DeviceInfo devinfo,
      |                                 ^
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:101:29: error: invalid use of incomplete type ‘class RocketAdapterGz’
  101 | bool RocketAdapterGz::sense()
      |                             ^
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:8:7: note: forward declaration of ‘class RocketAdapterGz’
    8 | class RocketAdapterGz : public Hal::DeviceTplCommon<RocketPacket::Rx,
      |       ^~~~~~~~~~~~~~~
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:108:28: error: invalid use of incomplete type ‘class RocketAdapterGz’
  108 | bool RocketAdapterGz::move()
      |                            ^
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:8:7: note: forward declaration of ‘class RocketAdapterGz’
    8 | class RocketAdapterGz : public Hal::DeviceTplCommon<RocketPacket::Rx,
      |       ^~~~~~~~~~~~~~~
In file included from /usr/include/c++/9/memory:80,
                 from /usr/include/gazebo-9/gazebo/common/Battery.hh:23,
                 from /usr/include/gazebo-9/gazebo/common/common.hh:8,
                 from /usr/include/gazebo-9/gazebo/gazebo_core.hh:19,
                 from /usr/include/gazebo-9/gazebo/gazebo.hh:20,
                 from /home/user/src/xbot2_examples/src/device/gz_rocket_server.h:4,
                 from /home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:1:
/usr/include/c++/9/bits/unique_ptr.h: In instantiation of ‘typename std::_MakeUniq<_Tp>::__single_object std::make_unique(_Args&& ...) [with _Tp = XBot::ServerManager; _Args = {std::vector<std::shared_ptr<XBot::Hal::DeviceRt>, std::allocator<std::shared_ptr<XBot::Hal::DeviceRt> > >&, const char (&)[4], const char (&)[7]}; typename std::_MakeUniq<_Tp>::__single_object = std::unique_ptr<XBot::ServerManager>]’:
/home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:56:52:   required from here
/usr/include/c++/9/bits/unique_ptr.h:857:30: error: no matching function for call to ‘XBot::ServerManager::ServerManager(std::vector<std::shared_ptr<XBot::Hal::DeviceRt> >&, const char [4], const char [7])’
  857 |     { return unique_ptr<_Tp>(new _Tp(std::forward<_Args>(__args)...)); }
      |                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/user/src/xbot2_examples/src/device/gz_rocket_server.h:10,
                 from /home/user/src/xbot2_examples/src/device/gz_rocket_server.cpp:1:
/opt/xbot/include/xbot2/client_server/server_manager.h:39:5: note: candidate: ‘XBot::ServerManager::ServerManager(std::vector<std::shared_ptr<XBot::Hal::DeviceInstanceRt> >, std::string, std::string)’
   39 |     ServerManager(std::vector<Hal::DeviceInstanceRt::Ptr> devices,
      |     ^~~~~~~~~~~~~
/opt/xbot/include/xbot2/client_server/server_manager.h:39:59: note:   no known conversion for argument 1 from ‘vector<shared_ptr<XBot::Hal::DeviceRt>>’ to ‘vector<shared_ptr<XBot::Hal::DeviceInstanceRt>>’
   39 |     ServerManager(std::vector<Hal::DeviceInstanceRt::Ptr> devices,
      |                   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
make[2]: *** [src/device/CMakeFiles/xbot2_gz_rocket_server.dir/build.make:63: src/device/CMakeFiles/xbot2_gz_rocket_server.dir/gz_rocket_server.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:751: src/device/CMakeFiles/xbot2_gz_rocket_server.dir/all] Error 2
[ 86%] Linking CXX shared library libxbotctrl_client.so
[ 86%] Built target client
make: *** [Makefile:130: all] Error 2

[alaurenzi]

This is expected, I have to update the Docker to support the latest hal_refactor branches. Thanks for reporting!

[alaurenzi]

I have merged all hal_refactor branches to master and updated the docker image. Using the master branch and invoking docker pull arturolaurenzi/xbot2:examples should work fine.

[torydebra]

Yes, building is ok, but now I have same problem of #11 . I think we can close here

I would add docker pull arturolaurenzi/xbot2:examples in the readme (btw, it is this one that dowload a crazy amount of data)