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UR ROS2 Controller Driver file missing "realtime_box_best_effort.hpp" #310

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Dezorian opened this issue Feb 6, 2025 · 5 comments
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@Dezorian
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Dezorian commented Feb 6, 2025

Followed command as in pull 307 (and also tried default command in README with added "--build-arg ROSCON_DEMO_BRANCH=development" as the default for branche "2.0.0" value didn't work)

Both commands ended with following exception:

In file included from /data/workspace/ROSCon2023Demo/ros2_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/src/ur_configuration_controller.cpp:41:
879.2 /data/workspace/ROSCon2023Demo/ros2_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp:50:10: fatal error: realtime_tools/realtime_box_best_effort.hpp: No such file or directory
879.2 50 | #include <realtime_tools/realtime_box_best_effort.hpp>
879.2 | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

I tracked the repository where the the file should be available but the file on the pinned commit isn't even there.

Is the pinned commit incorrect?

@jhanca-robotecai
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Hello, the problem is related to the ROS 2 packages that renamed some of the header files. Instead of doing it when changing the release (e.g. between humble and jazzy), ROS 2 developers decided to brake to compatibility within one version. If you installed your ROS 2 humble in December, you will have realtime_box_best_effort.hpp on your PC. If you installed it today, you will get realtime_box_best_effort.h. Unfortunately, this is out of our control.

The workaround would be to rename the file in your ROS 2 installation folder or duplicate it (with both .hpp and .h extensions). You might also want to update the file /data/workspace/ROSCon2023Demo/ros2_ws/src/Universal_Robots_ROS2_Driver/ur_controllers/include/ur_controllers/ur_configuration_controller.hpp and change the include to #include <realtime_tools/realtime_box_best_effort.h>.

Please let me know if this helps.

@Dezorian
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Dezorian commented Feb 6, 2025

Thanks for the info. I'm using docker, so its a bit trickier. Ill check later.

@jhanca-robotecai
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I saw the codebase of Universal_Robots_ROS2_Driver (it is pulled as a git submodule) was modified to address this issue. I will verify if the changes don't break anything in the demo and create another release of the ROSCon2023 demo project. But it might take some time, as I am focusing on other projects now.

@Dezorian
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Dezorian commented Feb 7, 2025

That would be great, im trying to showcase O3DE in our company as Gazebo alternative but unable to build any O3DE docker example containers 😅

@jhanca-robotecai
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You might want to check one of the demos from 2024 that are delivered in a binary form:
https://github.com/RobotecAI/rai?tab=readme-ov-file#simulation-demos

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