XinZhangk
commented
3 years ago The problem with abs is a common one, and as the error message has suggested, it is caused by ambiguity of function abs. Specifically, the compiler is confused about which versions of abs it should use. It knows various implementations of this function but none takes unsigned int as input type. You can try to fix it by casting the arguments (e.g., goal_x - tmp_goal_x) of the function into float type.
sheng00125
charmyoung
roborts_common::ErrorInfo roborts_global_planner::AStarPlanner::Plan(const PoseStamped&, const PoseStamped&, std::vector<geometrymsgs::PoseStamped<std::allocator > >&)’:
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:86:52: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
unsigned int dist = abs(goal_x - tmp_goal_x) + abs(goal_y - tmp_goal_y);
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int x) THROW attribute ((const)) wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long i) { return builtin_labs(i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long x) { return builtin_llabs (x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr int128 std::abs(int128)
abs(GLIBCXX_TYPE_INT_N_0 x) { return x >= 0 ? x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr float128 std::abs(float128)
abs(float128 x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:86:79: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
unsigned int dist = abs(goal_x - tmp_goal_x) + abs(goal_y - tmp_goal_y);
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int x) THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long i) { return builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long x) { return builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr int128 std::abs(int128)
abs(GLIBCXX_TYPE_INT_N_0 x) { return x >= 0 ? x : -x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr float128 std::abs(float128)
abs(float128 x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp: In member function ‘void roborts_global_planner::AStarPlanner::GetManhattanDistance(const int&, const int&, int&) const’:
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:244:102: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
manhattan_distance = heuristicfactor 10 (abs(index1 / gridmapwidth - index2 / gridmapwidth) +
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int x) THROW attribute ((const)) wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long i) { return builtin_labs(i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long x) { return builtin_llabs (x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr int128 std::abs(int128)
abs(GLIBCXX_TYPE_INT_N_0 x) { return x >= 0 ? x : -__x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr float128 std::abs(float128)
abs(float128 x)
^~~
/home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:245:60: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
abs(index1 % gridmapwidth - index2 % gridmapwidth));
^
In file included from /usr/include/c++/7/cstdlib:75:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/stdlib.h:837:12: note: candidate: int abs(int)
extern int abs (int x) THROW attribute ((const)) __wur;
^~~
In file included from /usr/include/c++/7/cstdlib:77:0,
from /usr/include/c++/7/stdlib.h:36,
from /opt/ros/melodic/include/ros/platform.h:37,
from /opt/ros/melodic/include/ros/time.h:53,
from /opt/ros/melodic/include/ros/ros.h:38,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.h:20,
from /home/sheng/guanfang_ws/src/roborts_planning/global_planner/a_star_planner/a_star_planner.cpp:18:
/usr/include/c++/7/bits/std_abs.h:56:3: note: candidate: long int std::abs(long int)
abs(long i) { return builtin_labs(__i); }
^~~
/usr/include/c++/7/bits/std_abs.h:61:3: note: candidate: long long int std::abs(long long int)
abs(long long x) { return builtin_llabs (__x); }
^~~
/usr/include/c++/7/bits/std_abs.h:70:3: note: candidate: constexpr double std::abs(double)
abs(double x)
^~~
/usr/include/c++/7/bits/std_abs.h:74:3: note: candidate: constexpr float std::abs(float)
abs(float x)
^~~
/usr/include/c++/7/bits/std_abs.h:78:3: note: candidate: constexpr long double std::abs(long double)
abs(long double __x)
^~~
/usr/include/c++/7/bits/std_abs.h:84:3: note: candidate: constexpr int128 std::abs(int128)
abs(GLIBCXX_TYPE_INT_N_0 x) { return x >= 0 ? x : -x; }
^~~
/usr/include/c++/7/bits/std_abs.h:102:3: note: candidate: constexpr float128 std::abs(float128)
abs(float128 x)
^~~
roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/build.make:93: recipe for target 'roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/a_star_planner.cpp.o' failed
make[2]: *** [roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/a_star_planner.cpp.o] Error 1
CMakeFiles/Makefile2:6011: recipe for target 'roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/all' failed
Makefile:140: recipe for target 'all' failed
Base path: /home/sheng/guanfang_ws
Source space: /home/sheng/guanfang_ws/src
Build space: /home/sheng/guanfang_ws/build
Devel space: /home/sheng/guanfang_ws/devel
Install space: /home/sheng/guanfang_ws/install
Running command: "cmake /home/sheng/guanfang_ws/src -DCMAKE_BUILD_TYPE=Debug -DCATKIN_DEVEL_PREFIX=/home/sheng/guanfang_ws/devel -DCMAKE_INSTALL_PREFIX=/home/sheng/guanfang_ws/install -G Unix Makefiles" in "/home/sheng/guanfang_ws/build"
Running command: "make -j4 -l4" in "/home/sheng/guanfang_ws/build"
make[1]: [roborts_planning/global_planner/a_star_planner/CMakeFiles/a_star_planner.dir/all] Error 2 make: [all] Error 2 Invoking "make -j4 -l4" failed