catkin build err for : error: ‘controller_interface::ControllerBase::ControllerState’ has not been declared

[dbdxnuliba]

Errors << cnr_controller_manager_interface:make /home/dell1804/refer/ws_cnr_ros/logs/cnr_controller_manager_interface/build.make.001.log
In file included from /home/dell1804/refer/ws_cnr_ros/src/cnr_ros_control/cnr_controller_interfaces/cnr_controller_manager_interface/src/cnr_controller_manager_interface/cnr_controller_manager_interface.cpp:45:0:
/home/dell1804/refer/ws_cnr_ros/src/cnr_ros_control/cnr_controller_interfaces/cnr_controller_manager_interface/include/cnr_controller_manager_interface/cnr_controller_manager_interface.h:175:90: error: ‘ControllerState’ in ‘class controller_interface::ControllerBase’ does not name a type
static std::string controllerStateToString(const controller_interface::ControllerBase::ControllerState& st)
^~~~~~~~~~~~~~~
/home/dell1804/refer/ws_cnr_ros/src/cnr_ros_control/cnr_controller_interfaces/cnr_controller_manager_interface/include/cnr_controller_manager_interface/cnr_controller_manager_interface.h: In static member function ‘static std::__cxx11::string cnr_controller_manager_interface::ControllerManagerInterface::controllerStateToString(const int&)’:
/home/dell1804/refer/ws_cnr_ros/src/cnr_ros_control/cnr_controller_interfaces/cnr_controller_manager_interface/include/cnr_controller_manager_interface/cnr_controller_manager_interface.h:177:59: error: ‘controller_interface::ControllerBase::ControllerState’ has not been declared
return ( st == controller_interface::ControllerBase::ControllerState::CONSTRUCTED ? "CONSTRUCTED"

MY env:
ubuntu18.04 ros-melodic

[nicolapedrocchi]

Hi! That error is given by a break of the back-compatibility of the underlying API of ros_control.
In neotic, ros_control introduced the possibility to track the state of the controllers, that is very useful. I tried to modify my class to make it usable both in melodic and in noetic, but it is complex and it is not possible to have properly running all the functionalities.

I'll modify the readme and the CMakeLists to make aware the user that cnr_ros_control need NOETIC.

Bye bye,
n.