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reedhedges / AriaCoda

Fork and continuation of the old ARIA library for use with Pioneer-compatible mobile robots. AriaCoda is based on the GPL-licensed ARIA library from MobileRobots Inc, which is no longer maintained. Various bug fixes, changes and improvements have been made. See README.md for more infor
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compilation error: invalid use of incomplete type ‘const class ArRobotConfigPacketReader’ #5

Closed Pedroacsilva closed 3 years ago

Pedroacsilva commented 3 years ago

Hello,

I'm attempting to build RosARIA following the instructions at http://wiki.ros.org/ROSARIA/Tutorials/How%20to%20use%20ROSARIA . When I run catkin_make, I get compilation errors: error: invalid use of incomplete type ‘const class ArRobotConfigPacketReader’, 'note: forward declaration of ‘class ArRobotConfigPacketReader’'. I believe I messed up the installation of AriaCoda, and the .h and .cpp files are in the incorrect directories. Could you please tell me how I can properly install AriaCoda?

I am working on an NVIDIA Jetson AGX Xavier, running Ubuntu 18.04

reedhedges commented 3 years ago

Hi Pedro, I have not tested building ROSARIA using AriaCoda for a little while, I'll try it soon. And I am in the middle of a bunch of changes to modernize, simplify and improve the codebase (just the past few days actually.)

AriaCoda can not currently be installed on the system (I removed all the installation process since it was very complicated and based on internal needs at Adept/MobileRobots). Adding a new installation process to AriaCoda (which will use standard Linux installation in /usr/lib or /usr/local/lib with proper library naming, etc.) is on the TODO list.

If you set an ARIA environment variable to the source code directory path for AriaCoda, ROSARIA should use that.

However -- I have just changed AriaCoda to place all header files in an Aria subdirectory (i.e. ROSARIA will need to do #include <Aria/ArRobot> instead of #include "ArRobot.h")... and ROSARIA needs to be updated to handle this, and to work with both an old Aria library (/usr/local/Aria) and with AriaCoda since some users may prefer to still use an old version of ARIA.

I'm in the middle of a lot of modernizing and improving of the code at the moment but I only am able to work on it occasionally in between other work.

You could use an older ARIA 2.x release if you want. I believe there is a package in Ubuntu which ROSARIA should attempt to install and use if you don't set the ARIA environment variable.

When I have a chance I will try out ROSARIA and see what fixes need to be made.

reedhedges commented 3 years ago

I think that the specific problem with ArRobotConfigPacketReader is that I removed it from Aria.h. ArRobotConfigPacketReader is really an internally used object but it's currently the only API for some robot information provided by "CONFIG" packets, so perhaps it should be in Aria.h? ROSARIA can #include "Aria/ArRobotConfigPacketReader.h" in addition to ArRobot.h or Aria.h and it should get the full declaration. But there will likely be other things that need to be updated as well.

reedhedges commented 3 years ago

I just pushed a small change to rosaria. First, it includes "ArRobotConfigPacketReader.h" or "Aria/ArRobotConfigPacketReader.h" expliticly. Second, it does some more checks at build to detect include file locations and it should work with just a checkout of AriaCoda by setting an ARIA environment variable to that directory. (It also checks for Aria installed in /usr/local/Aria by the old Adept package, or in /usr/local/include or /usr/local/lib.)