Question

我目前正在与ROS合作开展一个项目。我是ROS的新手，也是它的特色。目前我正在做一个关于ROS的教程并且第一次开始使用代码。虽然我对c ++有一些经验，但我无法弄清楚出了什么问题。在ROS中我使用 rosmake 命令，它无法编译cpp文件/代码。任何人都可以帮我找出错误发生的原因吗？（可能还有如何修复它？）

下面是cpp文件代码：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
ros::init(argc, argv, "example1_a");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_
msgs::String>("message", 1000);
ros::Rate loop_rate(10);
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << " I am the example1_a node ";
msg.data = ss.str();
//ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}

这里是构建日志：

mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/indigo/share/ros/core/rosbuild/rostoolchain.cmake  ..
[rosbuild] Building package chapter2_tutorials
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/rospc/dev/rosbook/chapter2_tutorials/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/rospc/dev/rosbook/chapter2_tutorials/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.16
-- Using these message generators: gencpp;genlisp;genpy
[rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/rospc/dev/rosbook/chapter2_tutorials/build
cd build && make -j8 -l8
make[1]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[2]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[  0%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[  0%] Built target rosbuild_precompile
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
Scanning dependencies of target example1_a
Scanning dependencies of target example1_b
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[100%] [100%] Building CXX object CMakeFiles/example1_b.dir/src/example1_b.cpp.o
Building CXX object CMakeFiles/example1_a.dir/src/example1_a.cpp.o
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp: In function ‘int main(int, char**)’:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:8:42: error: ‘std_’ was not declared in this scope
 ros::Publisher chatter_pub = n.advertise<std_
                                          ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:8:32: error: parse error in template argument list
 ros::Publisher chatter_pub = n.advertise<std_
                                ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: no matching function for call to ‘ros::NodeHandle::advertise(const char [8], int)’
 msgs::String>("message", 1000);
                              ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: note: candidates are:
In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
                 from /home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:1:
/opt/ros/indigo/include/ros/node_handle.h:236:15: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
     Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)
               ^
/opt/ros/indigo/include/ros/node_handle.h:236:15: note:   template argument deduction/substitution failed:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: template argument 1 is invalid
 msgs::String>("message", 1000);
                              ^
In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
                 from /home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:1:
/opt/ros/indigo/include/ros/node_handle.h:302:13: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
   Publisher advertise(const std::string& topic, uint32_t queue_size,
             ^
/opt/ros/indigo/include/ros/node_handle.h:302:13: note:   template argument deduction/substitution failed:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: template argument 1 is invalid
 msgs::String>("message", 1000);
                              ^
make[3]: *** [CMakeFiles/example1_a.dir/src/example1_a.cpp.o] Error 1
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[2]: *** [CMakeFiles/example1_a.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
Linking CXX executable ../bin/example1_b
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[100%] Built target example1_b
make[2]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make: *** [all] Error 2

下一个代码来自第二个文件，它编译并创建没有错误：

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
ros::init(argc, argv, "example1_b");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("message", 1000, chatterCallback);
ros::spin();
return 0;
}

Answer 1

C ++代码中的换行符只能以3种方式完成：

cout<<"Error:This is a really long error "
"message that exceeds the maximum permitted length.\n";

或

cout<<"Error:This is a really long error \
message that exceeds the maximum permitted length.\n";

或

c\
o\
u\
t<<"Error:This is a really long error \
message that exceeds the maximum permitted length.\n";

除此之外，它会给你带来错误......

Answer 2

更改：

ros::Publisher chatter_pub = n.advertise<std_
msgs::String>("message", 1000);

通过：

ros::Publisher chatter_pub = n.advertise<std_msgs::String>("message", 1000);

PS：您不应使用 rosmake 。这是用于构建工作区的旧工具。

使用 catkin_make或catkin build。

注意：您不能在同一工作空间中同时使用 catkin_make 和 catkin build 。如果要切换，则需要清理工作区。为此，您必须删除工作区文件夹中的构建，开发和安装目录。

$ cd ~/catkin_ws
$ sudo rm -r devel build install

替代方法：

如果您使用 catkin_make ，并且想要清理工作区以切换到 catkin build ，请使用

$ catkin_make clean
$ catkin build

如果您使用 catkin build ，并且想要清理工作区以切换到 catkin_make 使用

$ catkin clean
$ catkin_make

rosmake vs catkin：

由于ROS Groovy，不建议使用rosmake，这就是为什么我们使用柔cat花色的原因：

更好地利用Cmake提供的所有工具，
Cmake的C表示跨平台。这样做的目的是使ROS在不同的体系结构（ARM）和操作系统（OS X和Windows）上更具可移植性。
使用rosbuild，每个程序包都有自己的Cmake，程序包依赖性管理不稳定。
Cmake可以通过并行化依赖关系来更智能地编译。
通过优化依赖关系来减少内存空间。
单个安装目标，允许公司在ROS上运行封闭的专有软件。

catkin_make与catkin构建：

完全相同，但是最新的 catkin版本。如今，有人建议从 catkin_make 切换到 catkin build 。两者之间的主要区别在于，catkin构建具有更好的隔离包。它将为每个包构建一个工作区。

Answer 3

使用C ++ 11制作项目。为此，请在命令中使用cmake标志：

catkin_make -DCMAKE_CXX_FLAGS=-std=c++11

或

catkin build -DCMAKE_CXX_FLAGS=-std=c++11

ROS rosmake错误

3 个答案: