Error in building forward_command_controller on ROS2_humble

[qq949718803]

/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:121:7: error: ‘std::shared_ptr<rclcpp_lifecycle::LifecycleNode> controller_interface::ControllerInterfaceBase::node_’ is private within this context
121 | node_->get_logger(), "Expected %zu position command interfaces, got %zu", joint_names_.size(),
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
| ^~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/logging.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /opt/ros/humble/include/controller_interface/controller_interface_base.hpp:28,
from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:121:7: error: ‘std::shared_ptr<rclcpp_lifecycle::LifecycleNode> controller_interface::ControllerInterfaceBase::node_’ is private within this context
121 | node_->get_logger(), "Expected %zu position command interfaces, got %zu", joint_names_.size(),
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
| ^~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
from /opt/ros/humble/include/controller_interface/controller_interface_base.hpp:28,
from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp: In member function ‘virtual controller_interface::return_type forward_command_controller::ForwardCommandController::update(const rclcpp::Time&, const rclcpp::Duration&)’:
/home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:154:34: error: ‘std::shared_ptr<rclcpp_lifecycle::LifecycleNode> controller_interface::ControllerInterfaceBase::node_’ is private within this context
154 | get_node()->get_logger(), *node_->get_clock(), 1000,
| ^~~~~
In file included from /opt/ros/humble/include/controller_interface/controller_interface.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp:22,
from /home/yifei/ign_moveit2/ros2_controllers/forward_command_controller/src/forward_command_controller.cpp:15:
/opt/ros/humble/include/controller_interface/controller_interface_base.hpp:227:52: note: declared private here
227 | std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;
| ^~~~~
gmake[2]: *** [CMakeFiles/forward_command_controller.dir/build.make:76：CMakeFiles/forward_command_controller.dir/src/forward_command_controller.cpp.o]

[AndrejOrsula]

Hello,

I can see that you are using humble, so that is probably the origin of the issue. As stated in README.md, this repository was developed and tested for galactic. Furthermore, this compilation error is unrelated to this repository and occurs in ros2_controllers.