teb_local_planner matkin_make error

[YouShaoze]

/home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp: In member function ‘virtual bool teb_local_planner::TebLocalPlannerROS::computeVelocityCommands(geometry_msgs::Twist&)’: /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:229:40: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stamped&)’ costmapros->getRobotPose(robot_pose); ^ In file included from /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:42:0, from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:125:8: note: candidate: bool costmap_2d::Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped&) const bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const; ^ /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:125:8: note: no known conversion for argument 1 from ‘tf::Stamped’ to ‘geometry_msgs::PoseStamped& {aka geometrymsgs::PoseStamped<std::allocator >&}’ /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:234:40: error: no matching function for call to ‘base_local_planner::OdometryHelperRos::getRobotVel(tf::Stamped&)’ odomhelper.getRobotVel(robot_vel_tf); ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:47:0, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h:66:8: note: candidate: void base_local_planner::OdometryHelperRos::getRobotVel(geometry_msgs::PoseStamped&) void getRobotVel(geometry_msgs::PoseStamped& robot_vel); ^ /home/ysz/ha/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h:66:8: note: no known conversion for argument 1 from ‘tf::Stamped’ to ‘geometry_msgs::PoseStamped& {aka geometrymsgs::PoseStamped<std::allocator >&}’ In file included from /opt/ros/kinetic/include/class_loader/class_loader_core.hpp:46:0, from /opt/ros/kinetic/include/class_loader/class_loader.hpp:43, from /opt/ros/kinetic/include/class_loader/multi_library_class_loader.hpp:42, from /opt/ros/kinetic/include/class_loader/multi_library_class_loader.h:35, from /opt/ros/kinetic/include/pluginlib/class_loader.hpp:38, from /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:50, from /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:42, from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /opt/ros/kinetic/include/class_loader/meta_object.hpp: In instantiation of ‘B class_loader::class_loader_private::MetaObject<C, B>::create() const [with C = teb_local_planner::TebLocalPlannerROS; B = nav_core::BaseLocalPlanner]’: /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:1159:1: required from here /opt/ros/kinetic/include/class_loader/meta_object.hpp:198:16: error: invalid new-expression of abstract class type ‘teb_local_planner::TebLocalPlannerROS’ return new C; ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39:0: /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:92:7: note: because the following virtual functions are pure within ‘teb_local_planner::TebLocalPlannerROS’: class TebLocalPlannerROS : public nav_core::BaseLocalPlanner ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45:0, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:78:20: note: virtual void nav_core::BaseLocalPlanner::initialize(std::__cxx11::string, tf2_ros::Buffer, costmap_2d::Costmap2DROS) virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; ^ navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/build.make:230: recipe for target 'navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/src/teb_local_planner_ros.cpp.o' failed make[2]: [navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/src/teb_local_planner_ros.cpp.o] Error 1 make[2]: 正在等待未完成的任务.... CMakeFiles/Makefile2:656: recipe for target 'navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/all' failed make[1]: [navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j8 -l8" failed

[karry3775]

/home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp: In member function ‘virtual bool teb_local_planner::TebLocalPlannerROS::computeVelocityCommands(geometry_msgs::Twist&)’: /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:229:40: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stampedtf::Transform&)’ costmapros->getRobotPose(robot_pose); ^ In file included from /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:42:0, from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:125:8: note: candidate: bool costmap_2d::Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped&) const bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const; ^ /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:125:8: note: no known conversion for argument 1 from ‘tf::Stampedtf::Transform’ to ‘geometry_msgs::PoseStamped& {aka geometrymsgs::PoseStamped&}’ /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:234:40: error: no matching function for call to ‘base_local_planner::OdometryHelperRos::getRobotVel(tf::Stampedtf::Transform&)’ odomhelper.getRobotVel(robot_vel_tf); ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:47:0, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h:66:8: note: candidate: void base_local_planner::OdometryHelperRos::getRobotVel(geometry_msgs::PoseStamped&) void getRobotVel(geometry_msgs::PoseStamped& robot_vel); ^ /home/ysz/ha/src/navigation/base_local_planner/include/base_local_planner/odometry_helper_ros.h:66:8: note: no known conversion for argument 1 from ‘tf::Stampedtf::Transform’ to ‘geometry_msgs::PoseStamped& {aka geometrymsgs::PoseStamped&}’ In file included from /opt/ros/kinetic/include/class_loader/class_loader_core.hpp:46:0, from /opt/ros/kinetic/include/class_loader/class_loader.hpp:43, from /opt/ros/kinetic/include/class_loader/multi_library_class_loader.hpp:42, from /opt/ros/kinetic/include/class_loader/multi_library_class_loader.h:35, from /opt/ros/kinetic/include/pluginlib/class_loader.hpp:38, from /home/ysz/ha/src/navigation/costmap_2d/include/costmap_2d/costmap_2d_ros.h:50, from /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:42, from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /opt/ros/kinetic/include/class_loader/meta_object.hpp: In instantiation of ‘B class_loader::class_loader_private::MetaObject<C, B>::create() const [with C = teb_local_planner::TebLocalPlannerROS; B = nav_core::BaseLocalPlanner]’: /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:1159:1: required from here /opt/ros/kinetic/include/class_loader/meta_object.hpp:198:16: error: invalid new-expression of abstract class type ‘teb_local_planner::TebLocalPlannerROS’ return new C; ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39:0: /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:92:7: note: because the following virtual functions are pure within ‘teb_local_planner::TebLocalPlannerROS’: class TebLocalPlannerROS : public nav_core::BaseLocalPlanner ^ In file included from /home/ysz/ha/src/navigation/teb_local_planner/include/teb_local_planner/teb_local_planner_ros.h:45:0, from /home/ysz/ha/src/navigation/teb_local_planner/src/teb_local_planner_ros.cpp:39: /home/ysz/ha/src/navigation/nav_core/include/nav_core/base_local_planner.h:78:20: note: virtual void nav_core::BaseLocalPlanner::initialize(std::__cxx11::string, tf2_ros::Buffer, costmap_2d::Costmap2DROS) virtual void initialize(std::string name, tf2_ros::Buffer tf, costmap_2d::Costmap2DROS* costmap_ros) = 0; ^ navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/build.make:230: recipe for target 'navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/src/teb_local_planner_ros.cpp.o' failed make[2]: [navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/src/teb_local_planner_ros.cpp.o] Error 1 make[2]: 正在等待未完成的任务.... CMakeFiles/Makefile2:656: recipe for target 'navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/all' failed make[1]: [navigation/teb_local_planner/CMakeFiles/teb_local_planner.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: [all] Error 2 Invoking "make -j8 -l8" failed

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