- Improved error message in motion_planner.cpp for planning_groups

[yassine-cherni]

‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’;

OS : Ubuntu 24.04.2 LTS
Version or commit hash: jazzy

play_motion2/play_motion2/src/play_motion2/motion_planner.cpp

Line 313 in 49bd89a

if (!approach_plan.trajectory_.joint_trajectory.points.empty()) {

play_motion2/play_motion2/src/play_motion2/motion_planner.cpp

Line 318 in 49bd89a

if (approach_plan.trajectory_.joint_trajectory.points.empty()) {

play_motion2/play_motion2/src/play_motion2/motion_planner.cpp

Line 322 in 49bd89a

return perform_motion(info, approach_plan.trajectory_.joint_trajectory);

Potential Fixes
` MoveGroupInterface::Plan approach_plan;
for (const auto & group : move_groups) {
approach_plan = plan_approach(group, info);
if (!approach_plan.trajectory.joint_trajectory.points.empty()) {
break;
}
}

if (approach_plan.trajectory.joint_trajectory.points.empty()) {
return Result(Result::State::ERROR, "Failed to plan approach trajectory");
}

return perform_motion(info, approach_plan.trajectory.joint_trajectory);
}`

`yassine@ros2:~/JTC$ colcon build --symlink-install
Starting >>> play_motion2_msgs
[Processing: play_motion2_msgs]
Finished <<< play_motion2_msgs [52.8s]
Starting >>> play_motion2
[Processing: play_motion2]
[Processing: play_motion2]
--- stderr: play_motion2
In file included from /home/yassine/JTC/src/play_motion2/play_motion2/include/play_motion2/motion_planner.hpp:25,
from /home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:18:
/opt/ros/jazzy/include/moveit_ros_planning_interface/moveit/move_group_interface/move_group_interface.h:51:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’
51 | #pragma message(".h header is obsolete. Please use the .hpp header instead.")
| ^
In file included from /home/yassine/JTC/src/play_motion2/play_motion2/include/play_motion2/motion_planner.hpp:25,
from /home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/play_motion2.cpp:18:
/opt/ros/jazzy/include/moveit_ros_planning_interface/moveit/move_group_interface/move_group_interface.h:51:77: note: ‘#pragma message: .h header is obsolete. Please use the .hpp header instead.’
51 | #pragma message(".h header is obsolete. Please use the .hpp header instead.")
| ^
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp: In constructor ‘play_motion2::MotionPlanner::MotionPlanner(rclcpp_lifecycle::LifecycleNode::SharedPtr)’:
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:78:67: warning: ‘typename rclcpp::Client::SharedPtr rclcpp_lifecycle::LifecycleNode::create_client(const std::string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = controller_manager_msgs::srv::ListControllers; typename rclcpp::Client::SharedPtr = std::shared_ptr<rclcpp::Client<controller_manager_msgs::srv::ListControllers> >; std::string = std::cxx11::basic_string; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptrrclcpp::CallbackGroup]’ is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Wdeprecated-declarations]
78 | list_controllers_client = node->create_client(
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
79 | "/controller_manager/list_controllers", rmw_qos_profile_default, motion_planner_cb_group_);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /opt/ros/jazzy/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node.hpp:1126,
from /home/yassine/JTC/src/play_motion2/play_motion2/include/play_motion2/motion_planner.hpp:29:
/opt/ros/jazzy/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node_impl.hpp:125:1: note: declared here
125 | LifecycleNode::create_client(
| ^~~~~~~~~~~~~
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp: In member function ‘play_motion2::Result play_motion2::MotionPlanner::execute_motion(const play_motion2::MotionInfo&, bool)’:
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:313:24: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
313 | if (!approach_plan.trajectory_.joint_trajectory.points.empty()) {
| ^~~~~~~~~~~
| trajectory
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:318:21: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
318 | if (approach_plan.trajectory_.joint_trajectory.points.empty()) {
| ^~~~~~~~~~~
| trajectory
/home/yassine/JTC/src/play_motion2/play_motion2/src/play_motion2/motion_planner.cpp:322:45: error: ‘struct moveit::planning_interface::MoveGroupInterface::Plan’ has no member named ‘trajectory_’; did you mean ‘trajectory’?
322 | return perform_motion(info, approach_plan.trajectory_.joint_trajectory);
| ^~~~~~~~~~~
| trajectory
gmake[2]: *** [CMakeFiles/play_motion2.dir/build.make:90: CMakeFiles/play_motion2.dir/src/play_motion2/motion_planner.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[1]: *** [CMakeFiles/Makefile2:173: CMakeFiles/play_motion2.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

Failed <<< play_motion2 [1min 21s, exited with code 2]

Summary: 1 package finished [2min 15s]
1 package failed: play_motion2
1 package had stderr output: play_motion2
yassine@ros2:~/JTC$

`

[ShaniPratapSingh]

hi @yassine-cherni i want to resolve this issue