mavros_controllers: trajectory_msgs/MultiDOFJointTrajectoryPoint.h : No such file or directory

Hi @Jaeyoung-Lim

On launching a catkin build, an error related to a header file in trajectory_msgs pops up. I checked the common_msgs/trajectory_msgs, there is not MultiDOFJointTrajectoryPoint.h in there. Even on the official repository for trajectory_msgs (https://github.com/ros/common_msgs/tree/jade-devel/trajectory_msgs) I could not find that header file. Do you think this file belongs to a different package? ’

Errors     << geometric_controller:make /home/pi/catkin_ws/logs/geometric_controller/build.make.011.log
In file included from /home/pi/catkin_ws/src/mavros_controllers/geometric_controller/src/geometric_controller.cpp:3:0:
/home/pi/catkin_ws/src/mavros_controllers/geometric_controller/include/geometric_controller/geometric_controller.h:29:58: fatal error: trajectory_msgs/MultiDOFJointTrajectoryPoint.h: No such file or directory
 #include <trajectory_msgs/MultiDOFJointTrajectoryPoint.h>
                                                          ^
compilation terminated.
make[2]: *** [CMakeFiles/geometric_controller.dir/src/geometric_controller.cpp.o] Error 1
make[1]: *** [CMakeFiles/geometric_controller.dir/all] Error 2
make: *** [all] Error 2

I would really appreciate any help at all. Our team needs to complete this project within the next two weeks and all we need is to get the Offboard mode to work. So I do really appreciate all the help possible. Thanks!

About this issue

Original URL
State: closed
Created 5 years ago
Comments: 20 (10 by maintainers)

Most upvoted comments

Yes, currently the intention of the trajectory publisher was to use it to give example trajectories for the geometric controller. This package was made to have more aggressive control on the drone in offboard with the geometric controller.

However you can modify the trajectory pulblisher to publish whatever setpoints you want to make it follow if you add the right interface. Also contributions are welcome in case you add more functionalities

Oh surely, its really impressive and fortunate that you have such a framework already in place. I would love to contribute with more sophisticated controllers as well as the proper launch files and configs needed to run your nodes on an actual Pixhawk based quadrotor.

BhavyanshM on Mar 30, 2019