DroneState.h is missing in rotors_gazebo/hovering_example_spline.h

[gsilano]

DroneState.h is missing in rotors_gazebo/hovering_example_spline.h

[gsilano]

Hi @Tonirayn!! First of all, I'm happy to know that you've found CrazyS useful for your research. So, as for the Mellinger's controller, this is part of an internship program between the University of Sannio and MIT. The work was mainly carried out by @rsonecha (https://www.mitathletics.com/sports/w-crewlt/2018-19/bios/sonecha_ria_toum).
As you saw from PRs (#27, #28, and #29), I'm working to merge her work in CrazyS. Unfortunately, this is a very busy time for me and there is little free time to work on it.

Since you need it, I will try to do my best to merge at least the working part of the code. Please, stay tuned on the repository for new releases.

MIT

Ria Sonecha

Ria Sonecha

[welcome]

Thanks for opening your first issue here! Make sure that no other issues on the same topic have already been opened!

[gsilano]

The code has just been made available. For more details see #27, #28, and #29.

[MvB12]

hey,
Im working with same package and got same error..Ive downloaded newest version and checked with changed cmakelist too but I'm still getting same error..Along with Dronestate.h file, mav_msgs/RollPitchYawrateThrustCrazyflie.h is also missing..what should i do?

[gsilano]

Could you provide me more details? Are you using the instructions reported in the README.md file? What are the Ubuntu and ROS releases?

[MvB12]

yep..Ive followed as written...ive pasted the errors.Im using ubuntu 18, ros melodic, gazebo 9

/home/vishnu/agv_ws/src/CrazyS-master/rotors_joy_interface/include/rotors_joy_interface/joy_crazyflie.h:22:10: fatal error: mav_msgs/RollPitchYawrateThrustCrazyflie.h: No such file or directory
#include <mav_msgs/RollPitchYawrateThrustCrazyflie.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

/home/vishnu/agv_ws/src/CrazyS-master/rotors_gazebo/include/rotors_gazebo/spline_trajectory_generator.h:39:11: fatal error: mav_msgs/DroneState.h: No such file or directory
#include <mav_msgs/DroneState.h>
^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

please let me know if more details are required.

[gsilano]

This error usually comes up using the catkin make instead of the catkin build command. I simply suggest you to run catkin clean, and then catkin build again. Then, let me know.

[MvB12]

hey, ive tried catkin build but it still throws exactly same errors..only those 2 packages are failing to build.

[gsilano]

Could you show me the commands your run and also a screen of the terminal?

[MvB12]

catkin build

ive pasted the screen after catkin build

---

Profile: default
Extending: [cached] /opt/ros/melodic
Workspace: /home/vishnu/agv_ws

Build Space: [exists] /home/vishnu/agv_ws/build
Devel Space: [exists] /home/vishnu/agv_ws/devel
Install Space: [unused] /home/vishnu/agv_ws/install
Log Space: [exists] /home/vishnu/agv_ws/logs
Source Space: [exists] /home/vishnu/agv_ws/src
DESTDIR: [unused] None

Devel Space Layout: linked
Install Space Layout: None

Additional CMake Args: None
Additional Make Args: None
Additional catkin Make Args: None
Internal Make Job Server: True
Cache Job Environments: False

Whitelisted Packages: None
Blacklisted Packages: None

Workspace configuration appears valid.

[build] Found '26' packages in 0.0 seconds.
[build] Package table is up to date.
Starting >>> codes
Starting >>> crazyflie_controller
Starting >>> crazyflie_cpp
Starting >>> crazyflie_demo
Finished <<< crazyflie_cpp [ 0.8 seconds ]
Starting >>> crazyflie_description
Finished <<< codes [ 0.9 seconds ]
Starting >>> libmavconn
Finished <<< crazyflie_demo [ 0.8 seconds ]
Starting >>> mav_msgs
Finished <<< crazyflie_controller [ 1.1 seconds ]
Starting >>> mav_state_machine_msgs
Finished <<< crazyflie_description [ 0.3 seconds ]
Starting >>> mav_system_msgs
Finished <<< libmavconn [ 0.7 seconds ]
Finished <<< mav_state_machine_msgs [ 1.1 seconds ]
Starting >>> mavros_msgs
Starting >>> rotors_comm
Finished <<< mav_msgs [ 1.6 seconds ]
Starting >>> rotors_description
Finished <<< rotors_description [ 0.3 seconds ]
Finished <<< mav_system_msgs [ 3.0 seconds ]
Finished <<< rotors_comm [ 2.1 seconds ]
Starting >>> rotors_evaluation
Starting >>> crazyflie_driver
Starting >>> mav_planning_msgs
Finished <<< rotors_evaluation [ 0.6 seconds ]
Starting >>> rotors_control
Finished <<< mavros_msgs [ 5.2 seconds ]
Finished <<< mav_planning_msgs [ 4.4 seconds ]
Finished <<< crazyflie_driver [ 6.8 seconds ]
Starting >>> rotors_joy_interface
Starting >>> mavros

---

Errors << rotors_joy_interface:make /home/vishnu/agv_ws/logs/rotors_joy_interface/build.make.001.log
In file included from /home/vishnu/agv_ws/src/CrazyS-master/rotors_joy_interface/src/joy_crazyflie.cpp:18:0:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_joy_interface/include/rotors_joy_interface/joy_crazyflie.h:22:10: fatal error: mav_msgs/RollPitchYawrateThrustCrazyflie.h: No such file or directory
#include <mav_msgs/RollPitchYawrateThrustCrazyflie.h>
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/rotors_joy_interface_crazyflie.dir/src/joy_crazyflie.cpp.o] Error 1
make[1]: *** [CMakeFiles/rotors_joy_interface_crazyflie.dir/all] Error 2
make: *** [all] Error 2
cd /home/vishnu/agv_ws/build/rotors_joy_interface; catkin build --get-env rotors_joy_interface | catkin env -si /usr/bin/make --jobserver-fds=7,8 -j; cd -
...............................................................................
Failed << rotors_joy_interface:make [ Exited with code 2 ]
Failed <<< rotors_joy_interface [ 2.7 seconds ]
Abandoned <<< rqt_rotors [ Unrelated job failed ]
Abandoned <<< mavros_extras [ Unrelated job failed ]
Abandoned <<< rotors_gazebo_plugins [ Unrelated job failed ]
Abandoned <<< rotors_gazebo [ Unrelated job failed ]
Abandoned <<< test_mavros [ Unrelated job failed ]
Finished <<< mavros [ 3.5 seconds ]

---

Errors << rotors_control:make /home/vishnu/agv_ws/logs/rotors_control/build.make.001.log
In file included from /home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/mellinger_controller.cpp:21:0:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/include/rotors_control/mellinger_controller.h:27:11: fatal error: mav_msgs/DroneState.h: No such file or directory
#include <mav_msgs/DroneState.h>
^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/mellinger_controller.dir/src/library/mellinger_controller.cpp.o] Error 1
make[1]: *** [CMakeFiles/mellinger_controller.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
In file included from /home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/internal_model_controller.cpp:17:0:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/include/rotors_control/internal_model_controller.h:22:10: fatal error: mav_msgs/DroneState.h: No such file or directory
#include <mav_msgs/DroneState.h>
^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/internal_model_controller.dir/src/library/internal_model_controller.cpp.o] Error 1
make[1]: *** [CMakeFiles/internal_model_controller.dir/all] Error 2
In file included from /home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:17:0:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/include/rotors_control/roll_pitch_yawrate_thrust_crazyflie.h:69:33: error: ‘EigenRollPitchYawrateThrustCrazyflie’ in namespace ‘mav_msgs’ does not name a type
const mav_msgs::EigenRollPitchYawrateThrustCrazyflie& roll_pitch_yawrate_thrust);
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/include/rotors_control/roll_pitch_yawrate_thrust_crazyflie.h:88:23: error: ‘EigenRollPitchYawrateThrustCrazyflie’ in namespace ‘mav_msgs’ does not name a type
mav_msgs::EigenRollPitchYawrateThrustCrazyflie roll_pitch_yawrate_thrust_;
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: In constructor ‘rotors_control::RollPitchYawrateThrustControllerCrazyflie::RollPitchYawrateThrustControllerCrazyflie()’:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:43:7: error: ‘roll_pitch_yawrate_thrust_’ was not declared in this scope
roll_pitch_yawrate_thrust_.roll = 0;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:43:7: note: suggested alternative: ‘SetRollPitchYawrateThrust’
roll_pitch_yawrate_thrust_.roll = 0;
^~~~~~~~~~~~~~~~~~~~~~~~~~
SetRollPitchYawrateThrust
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: In member function ‘void rotors_control::RollPitchYawrateThrustControllerCrazyflie::ControlMixer(double*, double*, double*, double*)’:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:116:5: error: ‘roll_pitch_yawrate_thrust_’ was not declared in this scope
roll_pitch_yawrate_thrust_.thrust = roll_pitch_yawrate_thrust_.thrust * controller_parameters_.thrust_percentage_;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:116:5: note: suggested alternative: ‘SetRollPitchYawrateThrust’
roll_pitch_yawrate_thrust_.thrust = roll_pitch_yawrate_thrust_.thrust * controller_parameters_.thrust_percentage_;
^~~~~~~~~~~~~~~~~~~~~~~~~~
SetRollPitchYawrateThrust
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: In member function ‘void rotors_control::RollPitchYawrateThrustControllerCrazyflie::RateController(double*, double*, double*)’:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:146:17: error: ‘roll_pitch_yawrate_thrust_’ was not declared in this scope
r_command = roll_pitch_yawrate_thrust_.yaw_rate;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:146:17: note: suggested alternative: ‘SetRollPitchYawrateThrust’
r_command = roll_pitch_yawrate_thrust_.yaw_rate;
^~~~~~~~~~~~~~~~~~~~~~~~~~
SetRollPitchYawrateThrust
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: In member function ‘void rotors_control::RollPitchYawrateThrustControllerCrazyflie::AttitudeController(double*, double*)’:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:174:21: error: ‘roll_pitch_yawrate_thrust_’ was not declared in this scope
theta_command = roll_pitch_yawrate_thrust_.pitch;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:174:21: note: suggested alternative: ‘SetRollPitchYawrateThrust’
theta_command = roll_pitch_yawrate_thrust_.pitch;
^~~~~~~~~~~~~~~~~~~~~~~~~~
SetRollPitchYawrateThrust
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: At global scope:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:224:21: error: ‘EigenRollPitchYawrateThrustCrazyflie’ in namespace ‘mav_msgs’ does not name a type
const mav_msgs::EigenRollPitchYawrateThrustCrazyflie& roll_pitch_yawrate_thrust) {
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp: In member function ‘void rotors_control::RollPitchYawrateThrustControllerCrazyflie::SetRollPitchYawrateThrust(const int&)’:
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:226:3: error: ‘roll_pitch_yawrate_thrust_’ was not declared in this scope
roll_pitch_yawrate_thrust_ = roll_pitch_yawrate_thrust;
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/vishnu/agv_ws/src/CrazyS-master/rotors_control/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp:226:3: note: suggested alternative: ‘roll_pitch_yawrate_thrust’
roll_pitch_yawrate_thrust_ = roll_pitch_yawrate_thrust;
^~~~~~~~~~~~~~~~~~~~~~~~~~
roll_pitch_yawrate_thrust
make[2]: *** [CMakeFiles/roll_pitch_yawrate_thrust_controller_crazyflie.dir/src/library/roll_pitch_yawrate_thrust_crazyflie.cpp.o] Error 1
make[1]: *** [CMakeFiles/roll_pitch_yawrate_thrust_controller_crazyflie.dir/all] Error 2
make: *** [all] Error 2
cd /home/vishnu/agv_ws/build/rotors_control; catkin build --get-env rotors_control | catkin env -si /usr/bin/make --jobserver-fds=7,8 -j; cd -
...............................................................................
Failed << rotors_control:make [ Exited with code 2 ]
Failed <<< rotors_control [ 17.0 seconds ]
[build] Summary: 16 of 23 packages succeeded.
[build] Ignored: 3 packages were skipped or are blacklisted.
[build] Warnings: None.
[build] Abandoned: 5 packages were abandoned.
[build] Failed: 2 packages failed.
[build] Runtime: 25.0 seconds total.

[MvB12]

hey, can i please know if i had done any mistake or any insight in error I'm getting

[gsilano]

As you can see, the error originates from the mav_msgs package. Maybe, you are not using the right branch. Could you check that you are on the right one?

[MvB12]

I'm using this package(https://github.com/ethz-asl/mav_comm/)...I downloaded the master branch of this..If this is not the right branch can u point me at the right one?

[gsilano]

We found the issue. You need to clone and use this repository https://github.com/gsilano/mav_comm.git. Please, follow the instructions as detailed in the README.md file. Thanks!