Question

我正在使用SFINEA订阅ROS中的通用主题，它会侦听每个主题，并使用SFINEA返回header.stamp时间（如果存在）。这反复进行反序列化。唯一的问题是我在设置用户时遇到问题。我不断收到以下编译错误：

CMakeFiles/performance_tracker.dir/src/performance_tracker.cpp.o: 
In function   PerformanceTracker::topicCallback(boost::shared_ptr<topic_tools::ShapeShifter>)
ros/src/performance_tracker/src/performance_tracker.cpp:32:
undefined reference to boost::disable_if<timewarp::has_header<boost::shared_ptr<topic_tools::ShapeShifter> >, ros::Time>::type
timewarp::extractTime<boost::shared_ptr<topic_tools::ShapeShifter> >(boost::shared_ptr<topic_tools::ShapeShifter>)

主要

 // Subscribe To Generic Message 
 _sub =  _nh.subscribe( _topicName, 1, &PerformanceTracker::topicCallback, this);


void PerformanceTracker::topicCallback(const boost::shared_ptr<topic_tools::ShapeShifter> data){
//Current Time
ros::Time begin = ros::Time::now();
ros::Time timePublished = timewarp::extractTime<boost::shared_ptr<topic_tools::ShapeShifter>>(data);
}

NAMESPACE CLASS

namespace timewarp
{
template <typename T>
struct has_header {
    typedef char yes[1];
    typedef char no[2];

    template <typename C>
    static yes& test(typename C::_header_type*);

    template <typename>
    static no& test(...);

    // If the "sizeof" the result of calling test<T>(0) would be equal to the sizeof(yes),
    static const bool value = sizeof(test<T>(0)) == sizeof(yes);
};

template<class MsgType>
typename boost::enable_if<has_header<MsgType>, ros::Time>::type extractTime(const boost::shared_ptr<topic_tools::ShapeShifter> data)
{
    boost::shared_ptr<MsgType> ptr = data->instantiate<MsgType>();
    assert(ptr);

    return ptr->header.stamp;
}

template<class MsgType>
typename boost::disable_if<has_header<MsgType>, ros::Time>::type extractTime(const boost::shared_ptr<topic_tools::ShapeShifter>);

}

Answer 1

您将Runnable类型称为MsgType传递给boost::shared_ptr<topic_tools::ShapeShifter>而不是has_header<T>。

我相信你想这样做：

topic_tools::ShapeShifter

使用const refs参数时，你可以使用它：）

ros::Time timePublished = timewarp::extractTime<topic_tools::ShapeShifter>(data);

SFINAE模板错误

1 个答案: