Basic Assembly and Setup

I get the error:

'MPU6050 {aka class MPU6050_Base}' has no member named 'dmpGetQuaternion'

when I build OpenCat.ino. In the build log, there are a number of errors that seem to stem from a typedef conflict (class inheritance?)

In file included from /home/jabberwocky/Documents/LocusSolus/petoi/bittle/OpenCat/OpenCat.ino:37:0:
/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h: At global scope:
/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.h:151:36: error: conflicting declaration 'typedef class MPU6050_6Axis_MotionApps20 MPU6050'
 typedef MPU6050_6Axis_MotionApps20 MPU6050;
                                    ^~~~~~~
In file included from /home/jabberwocky/Documents/LocusSolus/petoi/bittle/OpenCat/OpenCat.ino:2:0:
/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050.h:845:22: note: previous declaration as 'typedef class MPU6050_Base MPU6050'
 typedef MPU6050_Base MPU6050;

Board and Libraries seem to be OK. I followed all the instructions in the documentation and also checked through the forums.

Detecting libraries used...
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for MPU6050.h: [MPU6050]
ResolveLibrary(MPU6050.h)
  -> candidates: [MPU6050]
  
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for I2Cdev.h: [I2Cdev]
ResolveLibrary(I2Cdev.h)
  -> candidates: [I2Cdev]
  
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for Wire.h: [Wire@1.0]
ResolveLibrary(Wire.h)
  -> candidates: [Wire@1.0]
  
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for Adafruit_PWMServoDriver.h: [Adafruit_PWM_Servo_Driver_Library@2.4.0]
ResolveLibrary(Adafruit_PWMServoDriver.h)
  -> candidates: [Adafruit_PWM_Servo_Driver_Library@2.4.0]
  
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for EEPROM.h: [EEPROM@2.0]
ResolveLibrary(EEPROM.h)
  -> candidates: [EEPROM@2.0]
  
/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

Alternatives for IRremote.h: [IRremote@2.6.1]
ResolveLibrary(IRremote.h)
  -> candidates: [IRremote@2.6.1]

Summary at the end of the log:

Using library MPU6050 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 (legacy)
Using library I2Cdev in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev (legacy)
Using library Wire at version 1.0 in folder: /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire 
Using library Adafruit_PWM_Servo_Driver_Library at version 2.4.0 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library 
Using library EEPROM at version 2.0 in folder: /home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM 
Using library IRremote at version 2.6.1 in folder: /home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote 
exit status 1
'MPU6050 {aka class MPU6050_Base}' has no member named 'dmpGetQuaternion'

I'm running the Arduino IDE 1.8.15 under ubuntu 20.04. Here's the section in the log that shows which of the pertinent files are being compiled (in bold):

/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /tmp/arduino_build_153013/sketch/OpenCat.ino.cpp -o /dev/null

/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050.cpp -o /dev/null

/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps20.cpp -o /dev/null

/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_6Axis_MotionApps612.cpp -o /dev/null

/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-g++ -c -g -Os -w -std=gnu++11 -fpermissive -fno-exceptions -ffunction-sections -fdata-sections -fno-threadsafe-statics -Wno-error=narrowing -flto -w -x c++ -E -CC -mmcu=atmega328p -DF_CPU=16000000L -DARDUINO=10815 -DARDUINO_AVR_UNO -DARDUINO_ARCH_AVR -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/cores/arduino -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/variants/standard -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050 -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/I2Cdev -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/Wire/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/Adafruit_PWM_Servo_Driver_Library -I/home/jabberwocky/snap/arduino/61/.arduino15/packages/arduino/hardware/avr/1.8.4/libraries/EEPROM/src -I/home/jabberwocky/snap/arduino/current/Arduino/libraries/IRremote/src /home/jabberwocky/snap/arduino/current/Arduino/libraries/MPU6050/MPU6050_9Axis_MotionApps41.cpp -o /dev/null

...etc...

I have successfully run ModuleTests, testI2cDevice and testMPU.

Can someone explain what is going on here and how I can fix it?

Thanks!