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move_group_interface_EE’ was not declared in this scope #17

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isanmn opened this issue Aug 13, 2023 · 3 comments
Open

move_group_interface_EE’ was not declared in this scope #17

isanmn opened this issue Aug 13, 2023 · 3 comments

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@isanmn
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isanmn commented Aug 13, 2023 •
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Hello,

I followed the tutorial step by step from ros2_RobotSimulation on Ubuntu 20.04 using ROS2 Foxy, installed all depedencies, imported the move_group_interface_improved.h and at the last command to build it gives the following error below. I Also tried the ros2_SimRealRobotControl on another system, with Ubuntu 22.04, ROS2 Humble, but had the same issue with MoveGroupInterface. How can I overcome this issue?

The command used (Step 8, Installation):

cd ~/dev_ws/src
git clone https://github.com/IFRA-Cranfield/ros2_RobotSimulation.git 
cd ~/dev_ws/
colcon build

The result:

/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:69:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   69 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:53:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   53 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:54:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   54 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveRP_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveJs_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZ_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:130:9: error: ‘move_group_interface’ was not declared in this scope
  130 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveRP> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:152:9: error: ‘move_group_interface’ was not declared in this scope
  152 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:310:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  310 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:123:9: error: ‘move_group_interface’ was not declared in this scope
  123 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:55: error: ‘my_plan’ was not declared in this scope
  312 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:312:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  312 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveG_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:255:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  255 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveJs> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveROT_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:51: error: ‘my_plan’ was not declared in this scope
  257 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:257:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  257 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveXYZW_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZ> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:163:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  163 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:256:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  256 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:368:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  368 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveL_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:94:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:175:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  175 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:55: error: ‘my_plan’ was not declared in this scope
  258 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:258:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  258 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:122:9: error: ‘move_group_interface’ was not declared in this scope
  122 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:305:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  305 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:147:9: error: ‘move_group_interface’ was not declared in this scope
  147 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:51: error: ‘my_plan’ was not declared in this scope
  177 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:177:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  177 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:129:9: error: ‘move_group_interface’ was not declared in this scope
  129 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:3: error: ‘move_group_interface’ was not declared in this scope
  369 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:95:41: warning: unused parameter ‘uuid’ [-Wunused-parameter]
   95 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:68:29: error: ‘MoveGroupInterface’ in namespace ‘moveit::planning_interface’ does not name a type
   68 | moveit::planning_interface::MoveGroupInterface move_group_interface;
      |                             ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:314:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  314 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:225:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  225 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:282:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  282 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:3: error: ‘move_group_interface’ was not declared in this scope
  306 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:55: error: ‘my_plan’ was not declared in this scope
  284 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:284:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  284 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJ_action.cpp:369:26: error: ‘MoveGroupInterface’ was not declared in this scope
  369 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:309:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
  309 |         } else if (LimitCheck == true && InputJoint == "Valid") {
      |                                                        ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveG> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:148:66: error: ‘move_group_interface’ was not declared in this scope
  148 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                                                  ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveROT> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveXYZW> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:151:9: error: ‘move_group_interface’ was not declared in this scope
  151 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:3: error: ‘move_group_interface’ was not declared in this scope
  315 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:124:9: error: ‘move_group_interface’ was not declared in this scope
  124 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:3: error: ‘move_group_interface’ was not declared in this scope
  226 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRP_action.cpp:306:26: error: ‘MoveGroupInterface’ was not declared in this scope
  306 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:178:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  178 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:346:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  346 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:199:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  199 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:194:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  194 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveL> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:143:9: error: ‘move_group_interface’ was not declared in this scope
  143 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:55: error: ‘my_plan’ was not declared in this scope
  180 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:180:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  180 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:51: error: ‘my_plan’ was not declared in this scope
  201 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:201:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  201 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:51: error: ‘my_plan’ was not declared in this scope
  196 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:196:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  196 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveJs_action.cpp:315:26: error: ‘MoveGroupInterface’ was not declared in this scope
  315 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZ_action.cpp:226:26: error: ‘MoveGroupInterface’ was not declared in this scope
  226 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:189:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  189 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:162:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  162 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:148:9: error: ‘move_group_interface’ was not declared in this scope
  148 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:52: error: ‘my_plan’ was not declared in this scope
  190 |         bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                    ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:190:92: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  190 |         bool success1 = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                            ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:201:31: error: ‘RobotTrajectory’ is not a member of ‘moveit_msgs::msg’
  201 |             moveit_msgs::msg::RobotTrajectory trajectory;
      |                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:3: error: ‘move_group_interface’ was not declared in this scope
  347 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  237 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:249:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  249 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:110: error: ‘trajectory’ was not declared in this scope; did you mean ‘trajectory_msgs’?
  204 |             double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
      |                                                                                                              ^~~~~~~~~~
      |                                                                                                              trajectory_msgs
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:206:102: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  206 |             bool success2 = (move_group_interface.execute(trajectory) == moveit::planning_interface::MoveItErrorCod ::SUCCESS);
      |                                                                                                      ^~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:244:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  244 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:204:20: warning: unused variable ‘fraction’ [-Wunused-variable]
  204 |             double fraction = move_group_interface.computeCartesianPath(waypoints, eef_step, jump_threshold, trajectory);
      |                    ^~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:154:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  154 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:335:41: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  335 |             moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                         ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveRs_action.cpp:347:26: error: ‘MoveGroupInterface’ was not declared in this scope
  347 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:3: error: ‘move_group_interface’ was not declared in this scope
  250 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:55: error: ‘my_plan’ was not declared in this scope
  337 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                       ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:337:95: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  337 |             bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                               ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:261:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  261 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:362:56: warning: comparison with string literal results in unspecified behavior [-Waddress]
  362 |         } else if (LimitCheck == true && InputJoint == "Valid") {
      |                                                        ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:3: error: ‘move_group_interface’ was not declared in this scope
  245 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveROT_action.cpp:250:26: error: ‘MoveGroupInterface’ was not declared in this scope
  250 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveG_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:399:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  399 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:3: error: ‘move_group_interface’ was not declared in this scope
  262 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveXYZW_action.cpp:245:26: error: ‘MoveGroupInterface’ was not declared in this scope
  245 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::GoalResponse ActionServer::handle_goal(const GoalUUID&, std::shared_ptr<const ros2_data::action::MoveYPR_Goal_<std::allocator<void> > >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:94:41: warning: unused parameter ‘uuid’  -Wunused-parameter]
   94 |         const rclcpp_action::GoalUUID & uuid,
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:3: error: ‘move_group_interface’ was not declared in this scope
  400 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveL_action.cpp:262:26: error: ‘MoveGroupInterface’ was not declared in this scope
  262 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveR_action.cpp:400:26: error: ‘MoveGroupInterface’ was not declared in this scope
  400 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘rclcpp_action::CancelResponse ActionServer::handle_cancel(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:125:9: error: ‘move_group_interface’ was not declared in this scope
  125 |         move_group_interface.stop();
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In member function ‘void ActionServer::execute(std::shared_ptr<rclcpp_action::ServerGoalHandle<ros2_data::action::MoveYPR> >)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:144:9: error: ‘move_group_interface’ was not declared in this scope
  144 |         move_group_interface.setMaxVelocityScalingFactor(SPEED);
      |         ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:187:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  187 |         moveit::planning_interface::MoveGroupInterface::Plan my_plan;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:51: error: ‘my_plan’ was not declared in this scope
  189 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                   ^~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:189:91: error: ‘moveit::planning_interface::MoveItErrorCode’ has not been declared
  189 |         bool success = (move_group_interface.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
      |                                                                                           ^~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:155:46: warning: unused variable ‘joint_model_group’ [-Wunused-variable]
  155 |         const moveit::core::JointModelGroup* joint_model_group = move_group_interface.getCurrentState()->getJointModelGroup(my_param);
      |                                              ^~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp: In function ‘int main(int, char**)’:
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:237:37: error: ‘moveit::planning_interface::MoveGroupInterface’ has not been declared
  237 |   using moveit::planning_interface::MoveGroupInterface;
      |                                     ^~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:3: error: ‘move_group_interface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |   ^~~~~~~~~~~~~~~~~~~~
/home/isan/dev_ws/src/ros2_RobotSimulation/ros2_actions/scripts/moveYPR_action.cpp:238:26: error: ‘MoveGroupInterface’ was not declared in this scope
  238 |   move_group_interface = MoveGroupInterface(node2, my_param);
      |                          ^~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/moveJ_action.dir/build.make:63: CMakeFiles/moveJ_action.dir/scripts/moveJ_action.cpp.o] Error 1
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make: *** [Makefile:141: all] Error 2
---
Failed   <<< ros2_actions [14.7s, exited with code 2]

Summary: 21 packages finished [16.6s]
  1 package failed: ros2_actions
  1 package had stderr output: ros2_actions
@MikelBueno
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Collaborator

Hi @isanmn,

It seems like the move_group_interface_improved.h file you have copied is not correct. I believe you could have copied the humble-version file into ROS2 Foxy and vice-versa (do keep in mind that move_group_interface_improved.h is different in ROS2 Foxy and ROS2 Humble).
Could you please double-check that?

Regards,
Mikel, IFRA-Cranfield

@Jackhaidong
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Me too,the move_group_interface_improved.h file is error

@OmkarBharambe
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The README file in the 'include' folder of the package says:

The original move_group_interface.h header file is included in the ~/opt/ros/foxy/include/moveit/move_group_interface folder in your Ubuntu 20.04 machine (if MoveIt!2 has been installed). This folder has restricted access, thus the following steps must be followed to paste the move_group_interface_improved.h file into that path:

  1. Install Nautilus Admin: 
    sudo apt-get install nautilus-admin
  2. Once the installation finishes, Nautilus must be restarted: 
    nautilus -q
  3. Open the ~/opt/ros/foxy/include/moveit/move_group_interface folder -> Right click -> Open as administrator.
  4. Paste the move_group_interface_improved.h file.

Follow these steps and the error doesn't occur.

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@isanmn @MikelBueno @OmkarBharambe @Jackhaidong