0
$\begingroup$

Rosanswers logo

Hi everyone!

I am trying to use a goal callback and a feedback callback with my move base action client. I am getting a really long and hard to understand error though. I was hoping someone might be able to help me decipher it.

Here is a snippet of the code:

void GoToBehavior::goalCallback(const actionlib::SimpleClientGoalState& state,
                    const move_base_msgs::MoveBaseActionResult::ConstPtr& result) {
    if(state == actionlib::SimpleClientGoalState::SUCCEEDED)
        ROS_INFO("Goal reached!");
    else
        ROS_INFO("Goal failed");
}

void GoToBehavior::feebackCallback(const move_base_msgs::MoveBaseActionFeedback::ConstPtr& feedback){

}

void GoToBehavior::execute(){
    ROS_INFO("Sending goal");
    ac->sendGoal(goalMsg,
                boost::bind(&GoToBehavior::goalCallback, this, _1, _2),
                MoveBaseClient::SimpleActiveCallback(),
                boost::bind(&GoToBehavior::feebackCallback, this, _1));
}

where ac is of type: actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction>

The error I am getting is this:

In file included from /usr/include/boost/bind.hpp:22:0, from /opt/ros/hydro/include/ros/publisher.h:35, from /opt/ros/hydro/include/ros/node_handle.h:32, from /opt/ros/hydro/include/ros/ros.h:45, from /home/nick/mqp_ws/src/mqp/hulk/include/hulk/Behavior.h:5, from /home/nick/mqp_ws/src/mqp/hulk/include/hulk/GoToBehavior.h:5, from /home/nick/mqp_ws/src/mqp/hulk/src/GoToBehavior.cpp:1: /usr/include/boost/bind/bind.hpp: In member function ‘void boost::_bi::list3<A1, A2, A3>::operator()(boost::_bi::type, F&, A&, int) [with F = boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void

&>, A = boost::bi::list2<const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &>, A1 = boost::_bi::value<GoToBehavior*>, A2 = boost::arg<1>, A3 = boost::arg<2>]’: /usr/include/boost/bind/bind_template.hpp:102:59: instantiated from ‘boost::_bi::bind_t<R, F, L>::result_type boost::bi::bind_t<R, F, L>::operator()(const A1&, const A2&) [with A1 = actionlib::SimpleClientGoalState, A2 = boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void , R = void, F = boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>, L = boost::_bi::list3boost::_bi::value<GoToBehavior*, boost::arg<1>, boost::arg<2> >, boost::_bi::bind_t<R, F, L>::result_type = void]’ /usr/include/boost/function/function_template.hpp:153:11: instantiated from ‘static void boost::detail::function::void_function_obj_invoker2<FunctionObj, R, T0, T1>::invoke(boost::detail::function::function_buffer&, T0, T1) [with FunctionObj = boost::_bi::bind_t<void, boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>, boost::bi::list3boost::_bi::value<GoToBehavior*, boost::arg<1>, boost::arg<2> > >, R = void, T0 = const actionlib::SimpleClientGoalState&, T1 = const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &]’ /usr/include/boost/function/function_template.hpp:913:60: instantiated from ‘void boost::function2<R, T1, T2>::assign_to(Functor) [with Functor = boost::bi::bind_t<void, boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>, boost::bi::list3boost::_bi::value<GoToBehavior*, boost::arg<1>, boost::arg<2> > >, R = void, T0 = const actionlib::SimpleClientGoalState&, T1 = const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &]’ /usr/include/boost/function/function_template.hpp:722:7: instantiated from ‘boost::function2<R, T1, T2>::function2(Functor, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type) [with Functor = boost::bi::bind_t<void, boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>, boost::bi::list3boost::_bi::value<GoToBehavior*, boost::arg<1>, boost::arg<2> > >, R = void, T0 = const actionlib::SimpleClientGoalState&, T1 = const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type = int]’ /usr/include/boost/function/function_template.hpp:1064:16: instantiated from ‘boost::function<R(T0, T1)>::function(Functor, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type) [with Functor = boost::bi::bind_t<void, boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>, boost::bi::list3boost::_bi::value<GoToBehavior*, boost::arg<1>, boost::arg<2> > >, R = void, T0 = const actionlib::SimpleClientGoalState&, T1 = const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type = int]’ /home/nick/mqp_ws/src/mqp/hulk/src/GoToBehavior.cpp:37:70: instantiated from here /usr/include/boost/bind/bind.hpp:392:9: error: no match for call to ‘(boost::mfi::mf2<void, GoToBehavior, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &>) (GoToBehavior*&, const actionlib::SimpleClientGoalState&, const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void &)’ /usr/include/boost/bind/mem_fn_template.hpp:253:75: note: candidates are: /usr/include/boost/bind/mem_fn_template.hpp:278:7: note: R boost::mfi::mf2<R, T, A1, A2>::operator()(T*, A1, A2) const [with R = void, T = GoToBehavior, A1 = const actionlib::SimpleClientGoalState&, A2 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:278:7: note: no known conversion for argument 3 from ‘const boost::shared_ptr<const move_base_msgs::MoveBaseResultstd::allocator<void ’ to ‘const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &’ /usr/include/boost/bind/mem_fn_template.hpp:283:25: note: template R boost::mfi::mf2::operator()(U&, A1, A2) const [with U = U, R = void, T = GoToBehavior, A1 = const actionlib::SimpleClientGoalState&, A2 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:291:25: note: template R boost::mfi::mf2::operator()(const U&, A1, A2) const [with U = U, R = void, T = GoToBehavior, A1 = const actionlib::SimpleClientGoalState&, A2 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:299:7: note: R boost::mfi::mf2<R, T, A1, A2>::operator()(T&, A1, A2) const [with R = void, T = GoToBehavior, A1 = const actionlib::SimpleClientGoalState&, A2 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionResultstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:299:7: note: no known conversion for argument 1 from ‘GoToBehavior*’ to ‘GoToBehavior&’ /usr/include/boost/bind/bind.hpp: In member function ‘void boost::_bi::list2<A1, A2>::operator()(boost::_bi::type, F&, A&, int) [with F = boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, A = boost::bi::list1<const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &>, A1 = boost::_bi::value<GoToBehavior*>, A2 = boost::arg<1>]’: /usr/include/boost/bind/bind_template.hpp:47:59: instantiated from ‘boost::_bi::bind_t<R, F, L>::result_type boost::bi::bind_t<R, F, L>::operator()(const A1&) [with A1 = boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void , R = void, F = boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, L = boost::_bi::list2boost::_bi::value<GoToBehavior*, boost::arg<1> >, boost::_bi::bind_t<R, F, L>::result_type = void]’ /usr/include/boost/function/function_template.hpp:153:11: instantiated from ‘static void boost::detail::function::void_function_obj_invoker1<FunctionObj, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionObj = boost::_bi::bind_t<void, boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, boost::bi::list2boost::_bi::value<GoToBehavior*, boost::arg<1> > >, R = void, T0 = const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &]’ /usr/include/boost/function/function_template.hpp:913:60: instantiated from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = boost::bi::bind_t<void, boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, boost::bi::list2boost::_bi::value<GoToBehavior*, boost::arg<1> > >, R = void, T0 = const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &]’ /usr/include/boost/function/function_template.hpp:722:7: instantiated from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type) [with Functor = boost::bi::bind_t<void, boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, boost::bi::list2boost::_bi::value<GoToBehavior*, boost::arg<1> > >, R = void, T0 = const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type = int]’ /usr/include/boost/function/function_template.hpp:1064:16: instantiated from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type) [with Functor = boost::bi::bind_t<void, boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>, boost::bi::list2boost::_bi::value<GoToBehavior*, boost::arg<1> > >, R = void, T0 = const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &, typename boost::enable_if_cboost::type_traits::ice_not<boost::is_integral<Functor::value>::value, int>::type = int]’ /home/nick/mqp_ws/src/mqp/hulk/src/GoToBehavior.cpp:37:70: instantiated from here /usr/include/boost/bind/bind.hpp:313:9: error: no match for call to ‘(boost::mfi::mf1<void, GoToBehavior, const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &>) (GoToBehavior*&, const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void &)’ /usr/include/boost/bind/mem_fn_template.hpp:136:65: note: candidates are: /usr/include/boost/bind/mem_fn_template.hpp:163:7: note: R boost::mfi::mf1<R, T, A1>::operator()(T*, A1) const [with R = void, T = GoToBehavior, A1 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:163:7: note: no known conversion for argument 2 from ‘const boost::shared_ptr<const move_base_msgs::MoveBaseFeedbackstd::allocator<void ’ to ‘const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &’ /usr/include/boost/bind/mem_fn_template.hpp:168:25: note: template R boost::mfi::mf1::operator()(U&, A1) const [with U = U, R = void, T = GoToBehavior, A1 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:176:25: note: template R boost::mfi::mf1::operator()(const U&, A1) const [with U = U, R = void, T = GoToBehavior, A1 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:184:7: note: R boost::mfi::mf1<R, T, A1>::operator()(T&, A1) const [with R = void, T = GoToBehavior, A1 = const boost::shared_ptr<const move_base_msgs::MoveBaseActionFeedbackstd::allocator<void &] /usr/include/boost/bind/mem_fn_template.hpp:184:7: note: no known conversion for argument 1 from ‘GoToBehavior*’ to ‘GoToBehavior&’

Any help would be greatly appreciated!

Originally posted by Robocop87 on ROS Answers with karma: 255 on 2015-02-03

Post score: 0

Original comments

Comment by BennyRe on 2015-02-03:
Please format the error message properly. It will make it much more easier to read.

Comment by Robocop87 on 2015-02-03:
I'm sorry for not formatting it correctly, I thought I just needed to put it in the quote box. What should I have done?

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

Rosanswers logo

Try removing the 'Action' from your types. That is, for instance, change MoveBaseActionResult to MoveBaseResult.

I'm not sure that's actually the issue, but it's what jumps out at me...

Originally posted by kramer with karma: 1470 on 2015-02-03

This answer was ACCEPTED on the original site

Post score: 1

Original comments

Comment by Robocop87 on 2015-02-03:
That was it, thank you for your help!

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.