rand_dat1_sub_handle = node.subscribe<geometry_msgs::Vector3>(
"random/data1", 100,
[](geometry_msgs::Vector3::ConstPtr& data){std::cout<<data->x;});
rand_dat2_sub_handle = node.subscribe<geometry_msgs::Vector3>(
"random/data2", 100,
[](geometry_msgs::Vector3::ConstPtr& data){std::cout<<data->x;});
当我在类定义脚本中使用上面的代码块时，构建失败，出现以下错误。
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
from /usr/include/boost/function.hpp:64,
from /opt/ros/melodic/include/ros/forwards.h:40,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.h:7,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:2:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_obj_invoker1<FunctionObj, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionObj = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:925:38: required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:716:7: required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&; typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type = int]’
/usr/include/boost/function/function_template.hpp:1061:16: required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&; typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type = int]’
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:85:83: required from here
/usr/include/boost/function/function_template.hpp:159:11: error: no match for call to ‘(TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>) (const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&)’
BOOST_FUNCTION_RETURN((*f)(BOOST_FUNCTION_ARGS));
^
/usr/include/boost/function/function_template.hpp:159:11: note: candidate: void (*)(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&) {aka void (*)(boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&)} <conversion>
/usr/include/boost/function/function_template.hpp:159:11: note: conversion of argument 2 would be ill-formed:
/usr/include/boost/function/function_template.hpp:159:11: error: binding reference of type ‘geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr& {aka boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&}’ to ‘const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >’ discards qualifiers
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:85:50: note: candidate: TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)> <near match>
[](geometry_msgs::Vector3::ConstPtr& data){std::cout<<data->x<<std::endl;});
^
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:85:50: note: conversion of argument 1 would be ill-formed:
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
from /usr/include/boost/function.hpp:64,
from /opt/ros/melodic/include/ros/forwards.h:40,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.h:7,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:2:
/usr/include/boost/function/function_template.hpp:159:11: error: binding reference of type ‘geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr& {aka boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&}’ to ‘const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >’ discards qualifiers
BOOST_FUNCTION_RETURN((*f)(BOOST_FUNCTION_ARGS));
^
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_obj_invoker1<FunctionObj, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionObj = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:925:38: required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:716:7: required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&; typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type = int]’
/usr/include/boost/function/function_template.hpp:1061:16: required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type) [with Functor = TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>; R = void; T0 = const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&; typename boost::enable_if_c<(! boost::is_integral<Functor>::value), int>::type = int]’
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:89:83: required from here
/usr/include/boost/function/function_template.hpp:159:11: error: no match for call to ‘(TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)>) (const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&)’
/usr/include/boost/function/function_template.hpp:159:11: note: candidate: void (*)(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&) {aka void (*)(boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&)} <conversion>
/usr/include/boost/function/function_template.hpp:159:11: note: conversion of argument 2 would be ill-formed:
/usr/include/boost/function/function_template.hpp:159:11: error: binding reference of type ‘geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr& {aka boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&}’ to ‘const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >’ discards qualifiers
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:89:50: note: candidate: TCPServer::TCPServer(ros::NodeHandle*, QObject*)::<lambda(geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr&)> <near match>
[](geometry_msgs::Vector3::ConstPtr& data){std::cout<<data->x<<std::endl;});
^
/home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:89:50: note: conversion of argument 1 would be ill-formed:
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
from /usr/include/boost/function.hpp:64,
from /opt/ros/melodic/include/ros/forwards.h:40,
from /opt/ros/melodic/include/ros/common.h:37,
from /opt/ros/melodic/include/ros/ros.h:43,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.h:7,
from /home/hari/workspace/catkin_ws/src/gui_pkg/src/tcpserver.cpp:2:
/usr/include/boost/function/function_template.hpp:159:11: error: binding reference of type ‘geometry_msgs::Vector3_<std::allocator<void> >::ConstPtr& {aka boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >&}’ to ‘const boost::shared_ptr<const geometry_msgs::Vector3_<std::allocator<void> > >’ discards qualifiers
BOOST_FUNCTION_RETURN((*f)(BOOST_FUNCTION_ARGS));
^
gui_pkg/CMakeFiles/TCPSERVER.dir/build.make:62: recipe for target 'gui_pkg/CMakeFiles/TCPSERVER.dir/src/tcpserver.cpp.o' failed
make[2]: *** [gui_pkg/CMakeFiles/TCPSERVER.dir/src/tcpserver.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:1735: recipe for target 'gui_pkg/CMakeFiles/TCPSERVER.dir/all' failed
make[1]: *** [gui_pkg/CMakeFiles/TCPSERVER.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
当我使用如下所示的常规函数回调时，它工作正常
rand_dat1_sub_handle = node.subscribe<geometry_msgs::Vector3>(
"random/data1", 100,
&TCPServer::update_data1, this);
如何正确使用lamda表示订阅者节点中的回调？
我已经编辑了从geometry_msgs::Vector3Ptr&切换到geometry_msgs::Vector3::ConstPtr&后显示新错误的问题。