fatal error: iiwa_msgs/ConfigureSmartServo.h: No such file or directory

最新推荐文章于 2025-03-03 18:45:58 发布

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本文详细介绍了在ROS Kinetic环境下使用iiwa机器人进行力控时遇到的编译错误问题，具体为找不到iiwa_msgs/ConfigureSmartServo.h文件。通过在指定路径下添加该文件，成功解决了编译错误，使iiwa力控功能得以实现。

ROS中使用iiwa时遇到的问题：

我的使用环境：
Ubuntu的版本：16.04；
ROS的版本：kinetic
/home/yzx/ws/src/iiwa_force_control/src/…/…/iiwa_force_control/include/iiwa_force_control/ForceTrackStiffness.h:7:43: fatal error: iiwa_msgs/ConfigureSmartServo.h: No such file or directory
compilation terminated.
解决方法：在/ws/devel/include/iiwa_msgs/路径下没有ConfigureSmartServo.h文件，加入该文件即可。
ConfigureSmartServo.h文件内容如下：
//该文件来自于iiwa_stack包内，地址https://github.com/IFL-CAMP/iiwa_stack

// Generated by gencpp from file iiwa_msgs/ConfigureSmartServo.msg
// DO NOT EDIT!


#ifndef IIWA_MSGS_MESSAGE_CONFIGURESMARTSERVO_H
#define IIWA_MSGS_MESSAGE_CONFIGURESMARTSERVO_H

#include <ros/service_traits.h>


#include <iiwa_msgs/ConfigureSmartServoRequest.h>
#include <iiwa_msgs/ConfigureSmartServoResponse.h>


namespace iiwa_msgs
{

struct ConfigureSmartServo
{

typedef ConfigureSmartServoRequest Request;
typedef ConfigureSmartServoResponse Response;
Request request;
Response response;

typedef Request RequestType;
typedef Response ResponseType;

}; // struct ConfigureSmartServo
} // namespace iiwa_msgs


namespace ros
{
namespace service_traits
{


template<>
struct MD5Sum< ::iiwa_msgs::ConfigureSmartServo > {
  static const char* value()
  {
    return "680a54772ae74cfe325dd171700c3d78";
  }

  static const char* value(const ::iiwa_msgs::ConfigureSmartServo&) { return value(); }
};

template<>
struct DataType< ::iiwa_msgs::ConfigureSmartServo > {
  static const char* value()
  {
    return "iiwa_msgs/ConfigureSmartServo";
  }

  static const char* value(const ::iiwa_msgs::ConfigureSmartServo&) { return value(); }
};


// service_traits::MD5Sum< ::iiwa_msgs::ConfigureSmartServoRequest> should match 
// service_traits::MD5Sum< ::iiwa_msgs::ConfigureSmartServo > 
template<>
struct MD5Sum< ::iiwa_msgs::ConfigureSmartServoRequest>
{
  static const char* value()
  {
    return MD5Sum< ::iiwa_msgs::ConfigureSmartServo >::value();
  }
  static const char* value(const ::iiwa_msgs::ConfigureSmartServoRequest&)
  {
    return value();
  }
};

// service_traits::DataType< ::iiwa_msgs::ConfigureSmartServoRequest> should match 
// service_traits::DataType< ::iiwa_msgs::ConfigureSmartServo > 
template<>
struct DataType< ::iiwa_msgs::ConfigureSmartServoRequest>
{
  static const char* value()
  {
    return DataType< ::iiwa_msgs::ConfigureSmartServo >::value();
  }
  static const char* value(const ::iiwa_msgs::ConfigureSmartServoRequest&)
  {
    return value();
  }
};

// service_traits::MD5Sum< ::iiwa_msgs::ConfigureSmartServoResponse> should match 
// service_traits::MD5Sum< ::iiwa_msgs::ConfigureSmartServo > 
template<>
struct MD5Sum< ::iiwa_msgs::ConfigureSmartServoResponse>
{
  static const char* value()
  {
    return MD5Sum< ::iiwa_msgs::ConfigureSmartServo >::value();
  }
  static const char* value(const ::iiwa_msgs::ConfigureSmartServoResponse&)
  {
    return value();
  }
};

// service_traits::DataType< ::iiwa_msgs::ConfigureSmartServoResponse> should match 
// service_traits::DataType< ::iiwa_msgs::ConfigureSmartServo > 
template<>
struct DataType< ::iiwa_msgs::ConfigureSmartServoResponse>
{
  static const char* value()
  {
    return DataType< ::iiwa_msgs::ConfigureSmartServo >::value();
  }
  static const char* value(const ::iiwa_msgs::ConfigureSmartServoResponse&)
  {
    return value();
  }
};

} // namespace service_traits
} // namespace ros

#endif // IIWA_MSGS_MESSAGE_CONFIGURESMARTSERVO_H