abb_ros2 colcon build fails in ROS2 Foxy

[MikelBueno]

Hi,
First of all, thank you very much for developing a ROS2 driver for ABB Robots.

I am planning to control an ABB IRB120 robot using ROS2.0 Foxy. I have followed the instructions here, and I receive the following errors (please see the 2 pictures attached) when executing the last COLCON BUILD in my ~/dev_ws workspace (the error is generated when building the abb_hardware_interface package).

Is it because there is not a version for ROS2.0 Foxy released yet, or is it a problem related to my workspace/PC?

Thank you very much in advance!
Regards,
Mikel

[Tukora]

Exactly the same for me with ROS2 Foxy.

[erenguldal]

Hello, same issue for me with ROS2 Foxy.

[gbartyzel]

This package is working with Humble version of ros2_control / ros2_controllers. So, to be able to run this with Foxy try to build those packages from sources. I've managed to run this in such a way under Galactic distro.

But, first build ros2_control and ros2_controllers and then abb_ros2.

[erenguldal]

This package is working with Humble version of ros2_control / ros2_controllers. So, to be able to run this with Foxy try to build those packages from sources. I've managed to run this in such a way under Galactic distro.

But, first build ros2_control and ros2_controllers and then abb_ros2.

Hi, thanks for your respond. I successfully built the Humble version of the ros2_control package, but I couldn't find the Humble version of the ros2_controllers package. I think only foxy rolling and galactic versions are available in this github repo. https://github.com/ros-controls/ros2_controllers Any idea where I can get it for Humble? Thank you.

[gbartyzel]

@erenguldal Just checkout to rolling version.

[MikelBueno]

Hi @gbartyzel, thank you very much for your help :)
The problem with ROS2 Foxy is that ros2_control and ros2_controllers slightly change from Foxy to Rolling/Humble, that is why abb_ros would not build/work in Foxy... Anyway, I have installed ROS2 Rolling and abb_ros2 works, thanks!

[stephanie-eng]

Yes, there were some changes to ros2 control that prevent this from working on Foxy. I will try to create a foxy branch.

[stephanie-eng]

It sounds like you've got the setup working on Rolling now, but I've also created a Foxy branch to address this in the future!

[MikelBueno]

It sounds great @stephanie-eng , thank you very much! :)