Error: <Type> in ‘gazebo::math’ does not name a type

[erenaud3]

Hi !

I have a lot of errors when trying to compile dji_m100_ros_hitl_controller_gazebo.cpp.

[100%] Built target dji_m100_controller_gazebo_sitl
/home/loophole/catkin_ws/src/dji_m100_controllers_gazebo/src/dji_m100_ros_hitl_controller_gazebo.cpp:195:19: error: ‘Quaterniond’ in namespace ‘gazebo::math’ does not name a type
             math::Quaterniond base_orientation;
                   ^
/home/loophole/catkin_ws/src/dji_m100_controllers_gazebo/src/dji_m100_ros_hitl_controller_gazebo.cpp:196:19: error: ‘Vector3d’ in namespace ‘gazebo::math’ does not name a type
             math::Vector3d base_position;
                   ^
/home/loophole/catkin_ws/src/dji_m100_controllers_gazebo/src/dji_m100_ros_hitl_controller_gazebo.cpp:197:19: error: ‘Vector3d’ in namespace ‘gazebo::math’ does not name a type
             math::Vector3d gimbal_orientation;
                   ^
/home/loophole/catkin_ws/src/dji_m100_controllers_gazebo/src/dji_m100_ros_hitl_controller_gazebo.cpp: In member function ‘virtual void gazebo::DJI_ROS_ControlPlugin::Load(gazebo::physics::ModelPtr, sdf::ElementPtr)’:
/home/loophole/catkin_ws/src/dji_m100_controllers_gazebo/src/dji_m100_ros_hitl_controller_gazebo.cpp:85:67: error: ‘class gazebo::physics::World’ has no member named ‘SphericalCoords’
                 this->spherical_coordinates_handle = this->world->SphericalCoords();
 

(and so on)...

I tried to install Ignition Math thanks to this page. But it didn't change anything.

What am I doing wrong ?

[tahsinkose]

I'd suggest installing a proper version of Gazebo (do not make it through source install, just use the simplest method). If your Gazebo is 8.0+, then you will need ignition libraries, since the math utilities were moved to there. If your Gazebo is older than that you should have math utilites under gazebo namespace.

[erenaud3]

Thank you for this fast reply.

Unfortunately, I tried to reinstall gazebo but it doesn't change anything. I did this command:

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control --reinstall

My specs are : Ubuntu 16.04 and ROS Kinetic. So the installed version is Gazebo 7.0.0.

[tahsinkose]

Thank you for this fast reply.

Unfortunately, I tried to reinstall gazebo but it doesn't change anything. I did this command:

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control --reinstall

My specs are : Ubuntu 16.04 and ROS Kinetic. So the installed version is Gazebo 7.0.0.

I would do a fresh install of the gazebo packages. Also, try to find the math headers under /usr/include/gazebo-7/gazebo/math or in /usr/include/gazebo/math. I recommend you to inspecting Gazebo 7.1 API

By the way, the problem is not due to gazebo-ros connection packages but due to plain Gazebo installation, therefore the command above would not fix that error. So you should have a fresh Gazebo 7.0 install from scratch. Before doing that make sure everything related to Gazebo is deleted via sudo apt-get remove '.*gazebo.*' '.*sdformat.*' '.*ignition-math.*' '.*ignition-msgs.*' '.*ignition-transport.*'. Then just execute sudo apt-get install gazebo7. That would work.

[tahsinkose]

It appears that gazebo::math uses Quaternion instead of Quaterniond as is used by ignition::math. This applies for Vector3 and Pose3 too. Also there are some API changes between Gazebo 7.0-8.0 versions, which are still not respected fully in the code.

See 45a1a36 for the fix or you can directly pull the master branch.