Scaled JTC seems to segfault with latest ros2_controllers

[fmauch]

Our semi-binary pipeline for humble seems to be segfaulting in the update function from the scaled JTC. The commit after this started to happen seems to be ros-controls/ros2_controllers#579, but at the moment we are not sure whether this is related or not.

[fmauch]

Source of the problem seems to be, that the jtc configures exposes its headers as PRIVATE.

Since it also installs the headers, this will work once the headers got installed into /opt/ros/humble/include, but not for a local workspace. The package's include directory will not get added to the list of ur_controller's include directories. Therefore, the version from /opt/ros/humble/include will be used when building our scaled controller. However, runtime linking will use the libjoint_trajectory_controller.so from our workspace which is not ABI compatible. There's not much we can do to mitigate this, since the JTC package will be installed as part of MoveIt`s dependency chain. One way to fix this would be to fix include exports in the JTC similar to ros-controls/ros2_controllers#510.

I expect that this will "fix" itself, once a ros2_controllers version with those changes will be released. Nevertheless, this raises the necessity of tackling #660.

[fmauch]

Indeed, this is fixed for the testing repo since the latest release of ros2_controllers.

[fmauch]

This is now not a problem anymore, hence closing this.