cannot build the project

[Virgil3706]

Hi,

Version: Ubuntu 20.04 / ROS 2 Galactic

I have followed the instruction in README file and installed the UR5 driver and gripper driver.

And then, I tried to "colcon build" the package while an error occurs:

CMake Error at r2r_cargo.cmake:36 (find_package):
By not providing "Findscene_manipulation_msgs.cmake" in CMAKE_MODULE_PATH
this project has asked CMake to find a package configuration file provided
by "scene_manipulation_msgs", but CMake did not find one.

Could not find a package configuration file provided by
"scene_manipulation_msgs" with any of the following names:

scene_manipulation_msgsConfig.cmake
scene_manipulation_msgs-config.cmake

To fixed it, I manually followed the instruction from "https://github.com/sequenceplanner/scene_manipulation_service"

And then, the new error occurs:

"
Starting >>> scene_manipulation_service
--- stderr: rclrs
error[E0412]: cannot find type rcutils_allocator_s in this scope
--> src/context.rs:234:34
|
234 | fn into_rcl(self, allocator: rcutils_allocator_s) -> Result<rcl_init_options_t, RclrsError> {
| ^^^^^^^^^^^^^^^^^^^ help: a struct with a similar name exists: rcutils_allocator_t
|
::: /home/shanyuhai/ros2_ws2/build/rclrs/debug/build/rclrs-dd5e6e137439312d/out/rcl_bindings_generated.rs:6:1
|
6 | pub struct rcutils_allocator_t {
| ------------------------------ similarly named struct rcutils_allocator_t defined here

error[E0609]: no field publication_sequence_number on type &rcl_bindings::rmw_message_info_t
--> src/subscription/message_info.rs:126:59
|
126 | publication_sequence_number: rmw_message_info.publication_sequence_number,
| ^^^^^^^^^^^^^^^^^^^^^^^^^^^ unknown field
|
= note: available fields are: source_timestamp, received_timestamp, publisher_gid, from_intra_process

error[E0609]: no field reception_sequence_number on type &rcl_bindings::rmw_message_info_t
--> src/subscription/message_info.rs:127:57
|
127 | reception_sequence_number: rmw_message_info.reception_sequence_number,
| ^^^^^^^^^^^^^^^^^^^^^^^^^ unknown field
|
= note: available fields are: source_timestamp, received_timestamp, publisher_gid, from_intra_process

Is there any advice? Many thanks!