KDL parameters fail to build on latest version of generate_parameter_library #2749
Description
Description
When building the KDL plugin in the moveit_kinematics package, I see build errors because the generated header file from the parameters places two . characters in a row, which is invalid C++.
This stems from the parameter map defined in https://github.com/ros-planning/moveit2/blob/main/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_parameters.yaml#L8-L16
I believe these were caused by this recent PR to generate_parameter_library: PickNikRobotics/generate_parameter_library#166. I filed issue PickNikRobotics/generate_parameter_library#182 in that repo as well.
Your environment
- ROS Distro: Humble
- OS Version: e.g. Ubuntu 22.04
- Source or Binary build? Source, from
main - Which RMW (Fast DDS or Cyclone DDS)? Any
Backtrace or Console output
--- stderr: moveit_kinematics
In file included from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/include/moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h:42,
from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/kdl_kinematics_plugin/src/kdl_kinematics_plugin.cpp:37:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::refresh_dynamic_parameters()’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:146:36: error: expected unqualified-id before ‘.’ token
146 | auto& entry = updated_params..joints_map[value_1];
| ^
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘rcl_interfaces::msg::SetParametersResult kdl_kinematics::ParamListener::update(const std::vector<rclcpp::Parameter>&)’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:217:32: error: expected unqualified-id before ‘.’ token
217 | updated_params..joints_map[value_1].weight = param.as_double();
| ^
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp: In member function ‘void kdl_kinematics::ParamListener::declare_params()’:
/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/kdl_kinematics_plugin/kdl_kinematics_parameters/include/kdl_kinematics_parameters.hpp:[308](https://github.com/ros-planning/moveit2/actions/runs/8332188070/job/22800777158?pr=2747#step:12:322):36: error: expected unqualified-id before ‘.’ token
308 | auto& entry = updated_params..joints_map[value_1];
| ^
gmake[2]: *** [kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/build.make:76: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/src/kdl_kinematics_plugin.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:363: kdl_kinematics_plugin/CMakeFiles/moveit_kdl_kinematics_plugin.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed <<< moveit_kinematics [51.7s, exited with code 2]