fix build for ubuntu 20

kroshu · Feb 1, 2024 · b1f02b7 · b1f02b7
1 parent df45e1a
commit b1f02b7
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Showing 4 changed files with 40 additions and 34 deletions.
diff --git a/kuka-external-control-sdk/iiqka/include/kuka/external-control-sdk/iiqka/message_builder.h b/kuka-external-control-sdk/iiqka/include/kuka/external-control-sdk/iiqka/message_builder.h
@@ -95,11 +95,13 @@ class ControlSignal : public BaseControlSignal {
           ->mutable_joint_command()
           ->mutable_values()
           ->Clear();
-      controlling_arena_->GetMessage()
-          ->mutable_control_signal()
-          ->mutable_joint_command()
-          ->mutable_values()
-          ->Add(joint_position_values_.begin(), joint_position_values_.begin() + dof_);
+      for(int i = 0; i< dof_; i++){
+        controlling_arena_->GetMessage()
+            ->mutable_control_signal()
+            ->mutable_joint_command()
+            ->mutable_values()
+            ->Add(joint_position_values_[i]);
+      }
     }
 
     if (this->has_torques_) {
@@ -108,11 +110,13 @@ class ControlSignal : public BaseControlSignal {
           ->mutable_joint_torque_command()
           ->mutable_values()
           ->Clear();
-      controlling_arena_->GetMessage()
-          ->mutable_control_signal()
-          ->mutable_joint_torque_command()
-          ->mutable_values()
-          ->Add(joint_torque_values_.begin(), joint_torque_values_.begin() + dof_);
+      for(int i = 0; i< dof_; i++){
+        controlling_arena_->GetMessage()
+            ->mutable_control_signal()
+            ->mutable_joint_torque_command()
+            ->mutable_values()
+            ->Add(joint_torque_values_[i]);
+      }
     }
 
     if (this->has_velocities_) {
@@ -121,11 +125,13 @@ class ControlSignal : public BaseControlSignal {
           ->mutable_joint_velocity_command()
           ->mutable_values()
           ->Clear();
-      controlling_arena_->GetMessage()
-          ->mutable_control_signal()
-          ->mutable_joint_velocity_command()
-          ->mutable_values()
-          ->Add(joint_velocity_values_.begin(), joint_velocity_values_.begin() + dof_);
+      for(int i = 0; i< dof_; i++){
+        controlling_arena_->GetMessage()
+            ->mutable_control_signal()
+            ->mutable_joint_velocity_command()
+            ->mutable_values()
+            ->Add(joint_velocity_values_[i]);
+      }
     }
 
     if (this->has_stiffness_and_damping) {
@@ -134,25 +140,25 @@ class ControlSignal : public BaseControlSignal {
           ->mutable_joint_attributes()
           ->mutable_stiffness()
           ->Clear();
-      controlling_arena_->GetMessage()
-          ->mutable_control_signal()
-          ->mutable_joint_attributes()
-          ->mutable_stiffness()
-          ->Add(joint_impedance_stiffness_values_.begin(),
-                joint_impedance_stiffness_values_.begin() + dof_);
 
       controlling_arena_->GetMessage()
           ->mutable_control_signal()
           ->mutable_joint_attributes()
           ->mutable_damping()
           ->Clear();
 
-      controlling_arena_->GetMessage()
-          ->mutable_control_signal()
-          ->mutable_joint_attributes()
-          ->mutable_damping()
-          ->Add(joint_impedance_damping_values_.begin(),
-                joint_impedance_damping_values_.begin() + dof_);
+      for(int i = 0; i< dof_; i++){
+        controlling_arena_->GetMessage()
+            ->mutable_control_signal()
+            ->mutable_joint_attributes()
+            ->mutable_stiffness()
+            ->Add(joint_impedance_stiffness_values_[i]);
+        controlling_arena_->GetMessage()
+            ->mutable_control_signal()
+            ->mutable_joint_attributes()
+            ->mutable_damping()
+            ->Add(joint_impedance_damping_values_[i]);
+      }
     }
 
     return controlling_arena_->GetMessage();

diff --git a/kuka-external-control-sdk/iiqka/proto-api/motion-services-ecs/control_signal_external.proto b/kuka-external-control-sdk/iiqka/proto-api/motion-services-ecs/control_signal_external.proto
@@ -6,6 +6,7 @@
 // Copyright (C) KUKA. All Rights Reserved.
 
 syntax = "proto3";
+option cc_enable_arenas = true;
 
 package kuka.ecs.v1;
 

diff --git a/kuka-external-control-sdk/iiqka/proto-api/motion-services-ecs/motion_state_external.proto b/kuka-external-control-sdk/iiqka/proto-api/motion-services-ecs/motion_state_external.proto
@@ -6,6 +6,7 @@
 // Copyright (C) KUKA. All Rights Reserved.
 
 syntax = "proto3";
+option cc_enable_arenas = true;
 
 package kuka.ecs.v1;
 

diff --git a/kuka-external-control-sdk/iiqka/src/robot.cc b/kuka-external-control-sdk/iiqka/src/robot.cc
@@ -96,15 +96,13 @@ OperationStatus Robot::SetQoSProfile(QoS_Configuration qos_config) {
 
   request.add_qos_profiles();
 
-  request.mutable_qos_profiles()
-      ->at(0)
-      .mutable_rt_packet_loss_profile()
+  request.mutable_qos_profiles(0)
+      ->mutable_rt_packet_loss_profile()
       ->set_consequent_lost_packets(qos_config.consecutive_packet_loss_limit);
-  request.mutable_qos_profiles()
-      ->at(0)
-      .mutable_rt_packet_loss_profile()
+  request.mutable_qos_profiles(0)
+      ->mutable_rt_packet_loss_profile()
       ->set_lost_packets_in_timeframe(qos_config.packet_loss_in_timeframe_limit);
-  request.mutable_qos_profiles()->at(0).mutable_rt_packet_loss_profile()->set_timeframe_ms(
+  request.mutable_qos_profiles(0)->mutable_rt_packet_loss_profile()->set_timeframe_ms(
       qos_config.timeframe_ms);
 
   return OperationStatus(stub_->SetQoSProfile(&context, request, &response));