Action client initialization problem cpp

[DavidYaonanZhu]

Hi, thanks for your wonderful driver.

I want to include action client to a moveit code, I want to call the server after excuting motion command.

I do not know how to instantiate the client using RobotiqActionClient gripper = new RobotiqActionClient(action_name, wait_for_server);

When I put this inside main(), or outside of any function, the error says:

conversion from ‘RobotiqActionClient* {aka robotiq_2f_gripper_control::RobotiqActionClient*}’ to non-scalar type ‘RobotiqActionClient {aka robotiq_2f_gripper_control::RobotiqActionClient}’ requested

Could you give any hint?

[Danfoa]

Hi @DavidYaonanZhu, Sorry for the late answer I no longer support these packages often.

Your error is more C++ related than to the Class itself. The new operator in C++ returns a pointer to an instance object, that is why the non-scalar casting error pops up. You are trying to fit a pointer into a structure or class instance which is wrong.

You can instantiate the object and keep it referenced through a pointer:

RobotiqActionClient* your_gripper = new RobotiqActionClient(...)

Or through direct initialization by:

RobotiqActionClient your_gripper(...)

PS: I realized the example code in the README has an error that led you to this problem. Sorry, my bad!