Fix failure to find effort_controllers when building mimic_joint_controller

[sloretz]

This fixes a build failure on all platforms on the ROS Noetic buildfarm: https://build.ros.org/job/Nbin_uF64__mimic_joint_controller__ubuntu_focal_amd64__binary/197/console

23:15:30 [ 50%] Building CXX object CMakeFiles/mimic_joint_controller.dir/src/mimic_joint_controller.cpp.o
23:15:30 /usr/lib/ccache/c++  -DROSCONSOLE_BACKEND_LOG4CXX -DROS_BUILD_SHARED_LIBS=1 -DROS_PACKAGE_NAME=\"mimic_joint_controller\" -Dmimic_joint_controller_EXPORTS -I/tmp/binarydeb/ros-noetic-mimic-joint-controller-0.1.7/include -I/opt/ros/noetic/include -I/opt/ros/noetic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp  -g -O2 -fdebug-prefix-map=/tmp/binarydeb/ros-noetic-mimic-joint-controller-0.1.7=. -fstack-protector-strong -Wformat -Werror=format-security -DNDEBUG -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC   -o CMakeFiles/mimic_joint_controller.dir/src/mimic_joint_controller.cpp.o -c /tmp/binarydeb/ros-noetic-mimic-joint-controller-0.1.7/src/mimic_joint_controller.cpp
23:15:30 In file included from /tmp/binarydeb/ros-noetic-mimic-joint-controller-0.1.7/src/mimic_joint_controller.cpp:5:
23:15:31 /tmp/binarydeb/ros-noetic-mimic-joint-controller-0.1.7/include/mimic_joint_controller/mimic_joint_controller.h:9:10: fatal error: effort_controllers/joint_position_controller.h: No such file or directory
23:15:31     9 | #include <effort_controllers/joint_position_controller.h>
23:15:31       |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:15:31 compilation terminated.

Likely culprit is #81 removing the dependency on hardware_interface. mimic_joint_controller includes on headers from effort_controllers and hardware_interface, so it must have dependencies on them too.

rm_controllers/mimic_joint_controller/include/mimic_joint_controller/mimic_joint_controller.h

Lines 8 to 9 in 9c8058b

	#include <hardware_interface/joint_state_interface.h>
	#include <effort_controllers/joint_position_controller.h>

[ye-luo-xi-tui]

Hello,sloretz.
You mentioned that it may cause by removing the dependency on hardware_interface.But controller_interface has the dependency on hardware_interface,isn't it?And I build it successfully on my PC.

[sloretz]

But controller_interface has the dependency on hardware_interface,isn't it?

That's a good point. I still don't see a path to effort_controllers, but it looks like code has changed here and upstream. There are other issues preventing this from building, so I'm not sure if this is still an issue.

https://build.ros.org/job/Ndev__rm_controllers__ubuntu_focal_amd64/122/console

10:15:51 [ 16%] Building CXX object CMakeFiles/rm_chassis_controllers.dir/src/chassis_base.cpp.o
10:15:53 In file included from /tmp/ws/src/rm_controllers/rm_chassis_controllers/src/chassis_base.cpp:37:
10:15:53 /tmp/ws/src/rm_controllers/rm_chassis_controllers/include/rm_chassis_controllers/chassis_base.h:49:10: fatal error: nav_msgs/Odometry.h: No such file or directory
10:15:53    49 | #include <nav_msgs/Odometry.h>
10:15:53       |          ^~~~~~~~~~~~~~~~~~~~~
10:15:53 compilation terminated.

And I build it successfully on my PC.

One thing that might make a difference is if you're PC has ROS Noetic installed from debian packages. /opt/ros/noetic is a merged workspace, meaning the build might be able to find packages even if the package.xml is missing a dependency. The buildfarm only installs the packages specified in the package.xml. Building Noetic from source with catkin-tools or a prerelease test would be a good way to replicate what's happening on the buildfarm.

I'll leave this open for now, but feel free to close if it's no longer relevant.