Question

我有一个相当大的代码库。这就是https://github.com/mpkuse/nap/tree/master-desktop/src

它实际上是一个ros包，必须用catkin_make编译这是一个超过cmake的层。

我的代码库在我的ubuntu-desktop（gcc版本5.4.0）上编译得很好。但是，当我将它移动到Nvidia-TX2时，我得到了很长的错误列表。它的片段如下。 Node类在Node.h中定义，并包含在其他类中。

/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:73:68: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:73:68: error: template argument 1 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:73:68: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:73:56: error: invalid use of template-name ‘std::vector’ without an argument list
   LocalBundle( const nap::NapMsg::ConstPtr& msg, const vector<Node*>& global_nodes, const PinholeCamera& camera   );
                                                        ^
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:73:62: error: expected ‘,’ or ‘...’ before ‘<’ token
   LocalBundle( const nap::NapMsg::ConstPtr& msg, const vector<Node*>& global_nodes, const PinholeCamera& camera   );
                                                              ^
In file included from /home/nvidia/catkin_ws/src/nap/src/DataManager.h:82:0,
                 from /home/nvidia/catkin_ws/src/nap/src/DataManager_rviz_visualization.cpp:1:
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 1 is invalid
   int find_indexof_node(  const vector<Node*>& global_nodes, ros::Time stamp );
                                             ^
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 1 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 1 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/LocalBundle.h:127:45: error: template argument 1 is invalid

这里发生了什么？有什么建议吗？

我试图找出问题所在。这是我做的，我完全删除了类LocalBundle和Corvus。它们被用在DataManager_core.cpp / place_recog_callback（）中。还删除了相应的cmake条目。现在代码可以编译了。

我尝试添加虚拟课程Suse

// Suse.h
#pragma once


#include <iostream>
#include <string>
#include <vector>
#include <math.h>


using namespace std;

class Suse
{
public:
  Suse();

  void sayHi();

};

// Suse.cpp 
#include "Suse.h"

Suse::Suse()
{

}


void Suse::sayHi()
{
  cout << "Hi from Suse\n";
}

然后尝试在完全相同的位置使用此类（即in place_recog_callback（）），如：

  Suse sy = Suse();
  sy.sayHi();

还在cmake编译列表中添加了Suse.cpp，并在DataManager.h中包含了Suse.h。

用它编译成功。

但是，因为我在Suse.h中包含opencv，如：

// //opencv
#include <opencv2/core/core.hpp>
using namespace cv;

我收到一条长错误信息，前几行看起来与原始错误类似。

[ 81%] Building CXX object nap/CMakeFiles/pose_graph_opt_node.dir/src/DataManager_core.cpp.o
[ 83%] Building CXX object nap/CMakeFiles/pose_graph_opt_node.dir/src/DataManager_rviz_visualization.cpp.o
[ 85%] Building CXX object nap/CMakeFiles/pose_graph_opt_node.dir/src/pose_graph_opt_node.cpp.o
[ 87%] Building CXX object nap/CMakeFiles/pose_graph_opt_node.dir/src/DataManager_utils.cpp.o
[ 88%] Building CXX object nap/CMakeFiles/pose_graph_opt_node.dir/src/Suse.cpp.o
In file included from /home/nvidia/catkin_ws/src/nap/src/DataManager_core.cpp:1:0:
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:171:21: error: template argument 1 is invalid
   const vector<Node*>& getNodesRef() { return nNodes; }
                     ^
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:171:21: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:185:15: error: template argument 1 is invalid
   vector<Node*> nNodes; //list of notes
               ^
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:185:15: error: template argument 2 is invalid
In file included from /home/nvidia/catkin_ws/src/nap/src/DataManager_rviz_visualization.cpp:1:0:
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:171:21: error: template argument 1 is invalid
   const vector<Node*>& getNodesRef() { return nNodes; }
                     ^
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:171:21: error: template argument 2 is invalid
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:185:15: error: template argument 1 is invalid
   vector<Node*> nNodes; //list of notes
               ^
/home/nvidia/catkin_ws/src/nap/src/DataManager.h:185:15: error: template argument 2 is invalid

C ++编译问题，模板参数2无效

0 个答案: