ROS rosmake误差

Question

我目前正在与ROS合作一个项目。我对ROS和它的特性完全陌生。目前我正在做一个关于ROS的教程，并且第一次开始使用代码。虽然我有一些使用c++的经验，但我不知道哪里出了问题。在ROS中，我使用rosmake命令，它无法编译cpp文件/代码。有人能帮我找出错误发生的原因吗？(可能还有如何修复呢？)

以下是cpp文件代码：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
ros::init(argc, argv, "example1_a");
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_
msgs::String>("message", 1000);
ros::Rate loop_rate(10);
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << " I am the example1_a node ";
msg.data = ss.str();
//ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}

在这里，构建日志：

mkdir -p bin
cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=/opt/ros/indigo/share/ros/core/rosbuild/rostoolchain.cmake  ..
[rosbuild] Building package chapter2_tutorials
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/rospc/dev/rosbook/chapter2_tutorials/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/indigo
-- This workspace overlays: /opt/ros/indigo
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/rospc/dev/rosbook/chapter2_tutorials/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.6.16
-- Using these message generators: gencpp;genlisp;genpy
[rosbuild] Including /opt/ros/indigo/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/rospc/dev/rosbook/chapter2_tutorials/build
cd build && make -j8 -l8
make[1]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[2]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[  0%] Built target rospack_genmsg_libexe
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[  0%] Built target rosbuild_precompile
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
Scanning dependencies of target example1_a
Scanning dependencies of target example1_b
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[3]: Entering directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[100%] [100%] Building CXX object CMakeFiles/example1_b.dir/src/example1_b.cpp.o
Building CXX object CMakeFiles/example1_a.dir/src/example1_a.cpp.o
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp: In function ‘int main(int, char**)’:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:8:42: error: ‘std_’ was not declared in this scope
 ros::Publisher chatter_pub = n.advertise<std_
                                          ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:8:32: error: parse error in template argument list
 ros::Publisher chatter_pub = n.advertise<std_
                                ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: no matching function for call to ‘ros::NodeHandle::advertise(const char [8], int)’
 msgs::String>("message", 1000);
                              ^
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: note: candidates are:
In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
                 from /home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:1:
/opt/ros/indigo/include/ros/node_handle.h:236:15: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
     Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)
               ^
/opt/ros/indigo/include/ros/node_handle.h:236:15: note:   template argument deduction/substitution failed:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: template argument 1 is invalid
 msgs::String>("message", 1000);
                              ^
In file included from /opt/ros/indigo/include/ros/ros.h:45:0,
                 from /home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:1:
/opt/ros/indigo/include/ros/node_handle.h:302:13: note: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
   Publisher advertise(const std::string& topic, uint32_t queue_size,
             ^
/opt/ros/indigo/include/ros/node_handle.h:302:13: note:   template argument deduction/substitution failed:
/home/rospc/dev/rosbook/chapter2_tutorials/src/example1_a.cpp:9:30: error: template argument 1 is invalid
 msgs::String>("message", 1000);
                              ^
make[3]: *** [CMakeFiles/example1_a.dir/src/example1_a.cpp.o] Error 1
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[2]: *** [CMakeFiles/example1_a.dir/all] Error 2
make[2]: *** Waiting for unfinished jobs....
Linking CXX executable ../bin/example1_b
make[3]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
[100%] Built target example1_b
make[2]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/rospc/dev/rosbook/chapter2_tutorials/build'
make: *** [all] Error 2

下一段代码来自第二个文件，该文件确实编译并没有创建错误：

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
ros::init(argc, argv, "example1_b");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("message", 1000, chatterCallback);
ros::spin();
return 0;
}

Answer 1

C++代码中的换行符只能通过以下三种方式进行：

cout<<"Error:This is a really long error "
"message that exceeds the maximum permitted length.\n";

或

cout<<"Error:This is a really long error \
message that exceeds the maximum permitted length.\n";

或

c\
o\
u\
t<<"Error:This is a really long error \
message that exceeds the maximum permitted length.\n";

除此之外，它会给你带来错误.

Answer 2

更改：

ros::Publisher chatter_pub = n.advertise<std_
msgs::String>("message", 1000);

出自：

ros::Publisher chatter_pub = n.advertise<std_msgs::String>("message", 1000);

PS：您不应该使用 rosmake。这是一个用来构建工作区的旧工具。

使用 catkin_make或catkin build。

注意：，您不能同时使用catkin_make和catkin构建在同一个工作区上。如果你想切换，你需要清理你的工作空间。为此，您必须在工作区文件夹中擦除构建、开发和安装目录。

$ cd ~/catkin_ws
$ sudo rm -r devel build install

替代方式：

如果您使用catkin_make并希望清理您的工作区以切换到catkin构建，请使用

$ catkin_make clean
$ catkin build

如果您使用catkin构建，并且希望清理工作区以切换到catkin_make，请使用

$ catkin clean
$ catkin_make

rosmake vs catkin:

由于ROS Groovy不建议使用rosmake，下面是我们使用catkin的原因：

• 更好地利用Cmake提供的所有工具，
• Cmake的C代表交叉平台。这样做的目的是使ROS在不同的体系结构(ARM)和操作系统(OS和Windows)上更易于移植。
• 使用rosbuild，每个包都有自己的Cmake，包依赖管理就不那么稳定了。
• 通过并行化依赖项，Cmake可以更智能地编译。
• 通过优化依赖项来减少内存空间。
• 一个单一的安装目标，允许公司在ROS上运行封闭的专有软件。

catkin_make vs catkin build

完全一样，但最近的猫皮建筑。现在，有些人建议从catkin_make切换到catkin构建。两者的主要区别是catkin构建有一个更好的隔离包。它将构建每个包一个工作区。

Answer 3

使用C++11使您的项目。为此，请使用命令中的cmake标志：

catkin_make -DCMAKE_CXX_FLAGS=-std=c++11

或

catkin build -DCMAKE_CXX_FLAGS=-std=c++11