search

orbbec / OrbbecSDK_ROS2

OrbbecSDK ROS2 wrapper
https://orbbec.github.io/OrbbecSDK_ROS2/
Apache License 2.0
57 stars 19 forks source link

Compile for ROS2 Iron #22

Open FlorianHou opened 5 months ago

FlorianHou commented 5 months ago

If you try to compile SDK for iron. You might get some error like following:

ubuntu@ubuntu-001:~/WSS/ws_orbec2$ colcon build --event-handlers  console_direct+  --parallel-workers 1 --packages-select orbbec_camera
Starting >>> orbbec_camera
-- The C compiler identification is GNU 11.4.0
-- The CXX compiler identification is GNU 11.4.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found ament_cmake: 2.0.3 (/home/ubuntu/ros2_iron/install/ament_cmake/share/ament_cmake/cmake)
-- Found Python3: /usr/bin/python3.10 (found version "3.10.12") found components: Interpreter
-- Found ament_index_cpp: 1.5.2 (/home/ubuntu/ros2_iron/install/ament_index_cpp/share/ament_index_cpp/cmake)
-- Found builtin_interfaces: 1.6.0 (/home/ubuntu/ros2_iron/install/builtin_interfaces/share/builtin_interfaces/cmake)
-- Found rosidl_generator_c: 4.0.1 (/home/ubuntu/ros2_iron/install/rosidl_generator_c/share/rosidl_generator_c/cmake)
-- Found rosidl_generator_cpp: 4.0.1 (/home/ubuntu/ros2_iron/install/rosidl_generator_cpp/share/rosidl_generator_cpp/cmake)
-- Using all available rosidl_typesupport_c: rosidl_typesupport_fastrtps_c;rosidl_typesupport_introspection_c
-- Using all available rosidl_typesupport_cpp: rosidl_typesupport_fastrtps_cpp;rosidl_typesupport_introspection_cpp
-- Found cv_bridge: 3.4.0 (/opt/ros/iron/share/cv_bridge/cmake)
-- Found rmw_implementation_cmake: 7.1.0 (/home/ubuntu/ros2_iron/install/rmw_implementation_cmake/share/rmw_implementation_cmake/cmake)
-- Found rmw_fastrtps_cpp: 7.1.2 (/home/ubuntu/ros2_iron/install/rmw_fastrtps_cpp/share/rmw_fastrtps_cpp/cmake)
-- Found OpenSSL: /usr/lib/x86_64-linux-gnu/libcrypto.so (found version "3.0.2")
-- Found FastRTPS: /home/ubuntu/ros2_iron/install/fastrtps/include
-- Using RMW implementation 'rmw_fastrtps_cpp' as default
-- Found camera_info_manager: 4.2.2 (/home/ubuntu/ros2_iron/install/camera_info_manager/share/camera_info_manager/cmake)
-- Found image_transport: 4.2.2 (/home/ubuntu/ros2_iron/install/image_transport/share/image_transport/cmake)
-- Found image_publisher: 3.0.1 (/opt/ros/iron/share/image_publisher/cmake)
-- Found OpenCV: /usr (found version "4.5.4")
-- Found orbbec_camera_msgs: 1.2.2 (/home/ubuntu/WSS/ws_orbec2/install/orbbec_camera_msgs/share/orbbec_camera_msgs/cmake)
-- Found std_srvs: 5.0.0 (/home/ubuntu/ros2_iron/install/std_srvs/share/std_srvs/cmake)
-- Found tf2: 0.31.5 (/home/ubuntu/ros2_iron/install/tf2/share/tf2/cmake)
-- Found tf2_eigen: 0.31.5 (/home/ubuntu/ros2_iron/install/tf2_eigen/share/tf2_eigen/cmake)
-- Found tf2_sensor_msgs: 0.31.5 (/home/ubuntu/ros2_iron/install/tf2_sensor_msgs/share/tf2_sensor_msgs/cmake)
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Success
-- Found Threads: TRUE
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.2")
-- Checking for one of the modules 'libglog'
-- ORRBEC Machine : x86_64

-- ORRBEC Machine Bits : 64

-- Found ament_lint_auto: 0.14.2 (/home/ubuntu/ros2_iron/install/ament_lint_auto/share/ament_lint_auto/cmake)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/ubuntu/WSS/ws_orbec2/build/orbbec_camera
[  5%] Building CXX object CMakeFiles/orbbec_camera.dir/src/d2c_viewer.cpp.o
[ 11%] Building CXX object CMakeFiles/orbbec_camera_node.dir/rclcpp_components/node_main_orbbec_camera_node.cpp.o
[ 22%] Building CXX object CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o
[ 22%] Building CXX object CMakeFiles/orbbec_camera.dir/src/ros_param_backend.cpp.o
[ 44%] Building CXX object CMakeFiles/orbbec_camera.dir/src/ros_service.cpp.o
[ 44%] Building CXX object CMakeFiles/orbbec_camera.dir/src/ob_camera_node_driver.cpp.o
[ 44%] Building CXX object CMakeFiles/orbbec_camera.dir/src/synced_imu_publisher.cpp.o
[ 44%] Building CXX object CMakeFiles/orbbec_camera.dir/src/dynamic_params.cpp.o
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/d2c_viewer.cpp:16:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_service.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h:22,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node_driver.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:30:6: error: variable or field ‘addOnSetParametersCallback’ declared void
   30 | void ParametersBackend::addOnSetParametersCallback(
      |      ^~~~~~~~~~~~~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:31:55: error: ‘OnParametersSetCallbackType’ is not a member of ‘rclcpp::node_interfaces::NodeParametersInterface’
   31 |     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
      |                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:16:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp: In constructor ‘orbbec_camera::Parameters::Parameters(rclcpp::Node*)’:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:22:45: error: cannot convert ‘orbbec_camera::Parameters::Parameters(rclcpp::Node*)::<lambda(const std::vector<rclcpp::Parameter>&)>’ to ‘int’
   22 |   params_backend_.addOnSetParametersCallback(
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
   23 |       [this](const std::vector<rclcpp::Parameter> &parameters) {
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   24 |         for (const auto &parameter : parameters) {
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   25 |           if (param_functions_.find(parameter.get_name()) != param_functions_.end()) {
      |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   26 |             auto functions = param_functions_[parameter.get_name()];
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   27 |             if (functions.empty()) {
      |             ~~~~~~~~~~~~~~~~~~~~~~~~
   28 |               RCLCPP_WARN_STREAM(logger_, "Parameter " << parameter.get_name()
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   29 |                                                        << " can not be changed in runtime.");
      |                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   30 |             } else {
      |             ~~~~~~~~
   31 |               for (const auto &func : param_functions_[parameter.get_name()]) {
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   32 |                 func(parameter);
      |                 ~~~~~~~~~~~~~~~~
   33 |               }
      |               ~
   34 |             }
      |             ~
   35 |           }
      |           ~
   36 |         }
      |         ~
   37 |         rcl_interfaces::msg::SetParametersResult result;
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   38 |         result.successful = true;
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~
   39 |         return result;
      |         ~~~~~~~~~~~~~~
   40 |       });
      |       ~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:16:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:85: note:   initializing argument 1 of ‘void orbbec_camera::ParametersBackend::addOnSetParametersCallback(int)’
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:132: CMakeFiles/orbbec_camera.dir/src/ros_param_backend.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:90: CMakeFiles/orbbec_camera.dir/src/dynamic_params.cpp.o] Error 1
[ 50%] Linking CXX executable orbbec_camera_node
[ 50%] Built target orbbec_camera_node
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h:22,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node_driver.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_service.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:104: CMakeFiles/orbbec_camera.dir/src/ob_camera_node_driver.cpp.o] Error 1
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:118: CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o] Error 1
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:146: CMakeFiles/orbbec_camera.dir/src/ros_service.cpp.o] Error 1
[Processing: orbbec_camera]
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:76: CMakeFiles/orbbec_camera.dir/src/d2c_viewer.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:145: CMakeFiles/orbbec_camera.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
--- stderr: orbbec_camera
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/d2c_viewer.cpp:16:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_service.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:31,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h:22,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node_driver.cpp:17:
/opt/ros/iron/include/cv_bridge/cv_bridge/cv_bridge.h:42:2: error: #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead [-Werror=cpp]
   42 | #warning This header is obsolete, please include cv_bridge/cv_bridge.hpp instead
      |  ^~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:30:6: error: variable or field ‘addOnSetParametersCallback’ declared void
   30 | void ParametersBackend::addOnSetParametersCallback(
      |      ^~~~~~~~~~~~~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_param_backend.cpp:31:55: error: ‘OnParametersSetCallbackType’ is not a member of ‘rclcpp::node_interfaces::NodeParametersInterface’
   31 |     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
      |                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:16:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp: In constructor ‘orbbec_camera::Parameters::Parameters(rclcpp::Node*)’:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:22:45: error: cannot convert ‘orbbec_camera::Parameters::Parameters(rclcpp::Node*)::<lambda(const std::vector<rclcpp::Parameter>&)>’ to ‘int’
   22 |   params_backend_.addOnSetParametersCallback(
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
   23 |       [this](const std::vector<rclcpp::Parameter> &parameters) {
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   24 |         for (const auto &parameter : parameters) {
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   25 |           if (param_functions_.find(parameter.get_name()) != param_functions_.end()) {
      |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   26 |             auto functions = param_functions_[parameter.get_name()];
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   27 |             if (functions.empty()) {
      |             ~~~~~~~~~~~~~~~~~~~~~~~~
   28 |               RCLCPP_WARN_STREAM(logger_, "Parameter " << parameter.get_name()
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   29 |                                                        << " can not be changed in runtime.");
      |                                                        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   30 |             } else {
      |             ~~~~~~~~
   31 |               for (const auto &func : param_functions_[parameter.get_name()]) {
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   32 |                 func(parameter);
      |                 ~~~~~~~~~~~~~~~~
   33 |               }
      |               ~
   34 |             }
      |             ~
   35 |           }
      |           ~
   36 |         }
      |         ~
   37 |         rcl_interfaces::msg::SetParametersResult result;
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   38 |         result.successful = true;
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~
   39 |         return result;
      |         ~~~~~~~~~~~~~~
   40 |       });
      |       ~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/dynamic_params.cpp:16:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:85: note:   initializing argument 1 of ‘void orbbec_camera::ParametersBackend::addOnSetParametersCallback(int)’
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:132: CMakeFiles/orbbec_camera.dir/src/ros_param_backend.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:90: CMakeFiles/orbbec_camera.dir/src/dynamic_params.cpp.o] Error 1
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h:22,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node_driver.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ob_camera_node.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
In file included from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/dynamic_params.h:20,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ob_camera_node.h:60,
                 from /home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/src/ros_service.cpp:17:
/home/ubuntu/WSS/ws_orbec2/OrbbecSDK_ROS2/orbbec_camera/include/orbbec_camera/ros_param_backend.h:26:7: error: ‘rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType’ has not been declared
   26 |       rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
      |       ^~~~~~
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:104: CMakeFiles/orbbec_camera.dir/src/ob_camera_node_driver.cpp.o] Error 1
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:118: CMakeFiles/orbbec_camera.dir/src/ob_camera_node.cpp.o] Error 1
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:146: CMakeFiles/orbbec_camera.dir/src/ros_service.cpp.o] Error 1
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/orbbec_camera.dir/build.make:76: CMakeFiles/orbbec_camera.dir/src/d2c_viewer.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:145: CMakeFiles/orbbec_camera.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< orbbec_camera [33.6s, exited with code 2]

Summary: 0 packages finished [36.5s]
  1 package failed: orbbec_camera
  1 package had stderr output: orbbec_camera

For solving the problems you should change OnParametersSetCallbackType to OnSetParametersCallbackType under the following files:

        modified:   orbbec_camera/include/orbbec_camera/ros_param_backend.h
        modified:   orbbec_camera/src/ros_param_backend.cpp

And change #include "cv_bridge.h" to #include "cv_bridge.hpp" in the following files:

        modified:   orbbec_camera/src/d2c_viewer.cpp
        modified:   orbbec_camera/include/orbbec_camera/ob_camera_node.h
Andrew-Infinite commented 5 months ago

Thanks! It works!