Dependancy for Dynamixel SDK?

[tohruk]

Thanks for sharing the great ROS2 node package for JetBot. I'm trying to build the package on my JetBot, however, facing the following build error. Does this package actually depend on the Dynamixel SDK? If so, how can I resolve the dependency?

$ colcon build --symlink-install
[1.136s] ERROR:colcon.colcon_core.package_identification:ROS package 'src/jetbot_ros2/jetbot_teleop' with build type 'ament_python' has no 'setup.py' file
Starting >>> jetbot_msgs
Starting >>> jetbot_description
Finished <<< jetbot_description [5.32s]                            
[Processing: jetbot_msgs]                             
[Processing: jetbot_msgs]                                     
[Processing: jetbot_msgs]                                       
Finished <<< jetbot_msgs [1min 51s]                                
Starting >>> jetbot_node   
[Processing: jetbot_node]                                  
--- stderr: jetbot_node                                    
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp: In destructor ‘virtual jetbot::DynamixelSDKWrapper::~DynamixelSDKWrapper()’:
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:20:3: error: ‘portHandler_’ was not declared in this scope
   portHandler_->closePort();
   ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp: In member function ‘bool jetbot::DynamixelSDKWrapper::read_register(uint8_t, uint16_t, uint16_t, uint8_t*, const char**)’:
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:121:29: error: ‘COMM_RX_FAIL’ was not declared in this scope
   int32_t dxl_comm_result = COMM_RX_FAIL;
                             ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:124:21: error: ‘packetHandler_’ was not declared in this scope
   dxl_comm_result = packetHandler_->readTxRx(
                     ^~~~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:125:5: error: ‘portHandler_’ was not declared in this scope
     portHandler_,
     ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:132:26: error: ‘COMM_SUCCESS’ was not declared in this scope
   if (dxl_comm_result != COMM_SUCCESS)
                          ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:132:26: note: suggested alternative: ‘EXIT_SUCCESS’
   if (dxl_comm_result != COMM_SUCCESS)
                          ^~~~~~~~~~~~
                          EXIT_SUCCESS
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp: In member function ‘bool jetbot::DynamixelSDKWrapper::write_register(uint8_t, uint16_t, uint16_t, uint8_t*, const char**)’:
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:159:29: error: ‘COMM_TX_FAIL’ was not declared in this scope
   int32_t dxl_comm_result = COMM_TX_FAIL;
                             ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:162:21: error: ‘packetHandler_’ was not declared in this scope
   dxl_comm_result = packetHandler_->writeTxRx(
                     ^~~~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:163:5: error: ‘portHandler_’ was not declared in this scope
     portHandler_,
     ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:170:26: error: ‘COMM_SUCCESS’ was not declared in this scope
   if (dxl_comm_result != COMM_SUCCESS)
                          ^~~~~~~~~~~~
/home/foo/ros2_jetbot_ws/src/jetbot_ros2/jetbot_node/src/dynamixel_sdk_wrapper.cpp:170:26: note: suggested alternative: ‘EXIT_SUCCESS’
   if (dxl_comm_result != COMM_SUCCESS)
                          ^~~~~~~~~~~~
                          EXIT_SUCCESS
make[2]: *** [CMakeFiles/jetbot_node_lib.dir/src/dynamixel_sdk_wrapper.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[1]: *** [CMakeFiles/jetbot_node_lib.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< jetbot_node	[ Exited with code 2 ]

Summary: 2 packages finished [2min 41s]
  1 package failed: jetbot_node
  1 package had stderr output: jetbot_node
  2 packages not processed

My environment are below.

$ uname -ar
Linux jetson-nano 4.9.140-tegra #1 SMP PREEMPT Wed Mar 13 00:32:22 PDT 2019 aarch64 aarch64 aarch64 GNU/Linux
$ printenv ROS_DISTRO
dashing