I am trying to publish the path produced by my global_planner plugin (named my_global_planner) using a publisher named global_plan_pub.
Unfortunately, I keep getting this error when I try to compile my package (named my_global_planner).
It compiles successfully if I comment out the line global_plan_pub.publish(plan) from the global_planner.cpp file.
I have included my header file (named global_planner.h) and source file (named global_planner.cpp) below.
/opt/ros/melodic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::MD5Sum<M>::value(const M&) [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’:
/opt/ros/melodic/include/ros/message_traits.h:254:102: required from ‘const char* ros::message_traits::md5sum(const M&) [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’
/opt/ros/melodic/include/ros/publisher.h:113:7: required from ‘void ros::Publisher::publish(const M&) const [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’
/home/skpro19/catkin_ws/src/my_global_planner/src/global_planner.cpp:94:33: required from here
/opt/ros/melodic/include/ros/message_traits.h:125:14: error: ‘const class std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >’ has no member named ‘__getMD5Sum’
return m.__getMD5Sum().c_str();
~~^~~~~~~~~~~
/opt/ros/melodic/include/ros/message_traits.h: In instantiation of ‘static const char* ros::message_traits::DataType<M>::value(const M&) [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’:
/opt/ros/melodic/include/ros/message_traits.h:263:104: required from ‘const char* ros::message_traits::datatype(const M&) [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’
/opt/ros/melodic/include/ros/publisher.h:113:7: required from ‘void ros::Publisher::publish(const M&) const [with M = std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >]’
/home/skpro19/catkin_ws/src/my_global_planner/src/global_planner.cpp:94:33: required from here
/opt/ros/melodic/include/ros/message_traits.h:142:14: error: ‘const class std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >’ has no member named ‘__getDataType’
return m.__getDataType().c_str();
~~^~~~~~~~~~~~~
make[2]: *** [CMakeFiles/global_planner_lib.dir/src/global_planner.cpp.o] Error 1
make[1]: *** [CMakeFiles/global_planner_lib.dir/all] Error 2
make: *** [all] Error 2
cd /home/skpro19/catkin_ws/build/my_global_planner; catkin build --get-env my_global_planner | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -
global_planner.h
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <costmap_2d/costmap_2d.h>
#include <nav_core/base_global_planner.h>
#include <geometry_msgs/PoseStamped.h>
#include <angles/angles.h>
#include <base_local_planner/world_model.h>
#include <base_local_planner/costmap_model.h>
#include <map>
#include<nav_msgs/Path.h>
#ifndef GLOBAL_PLANNER_CPP
#define GLOBAL_PLANNER_CPP
namespace global_planner {
class GlobalPlanner : public nav_core::BaseGlobalPlanner {
struct Point {
__uint32_t x, y;
bool operator==(const Point &p1 ) { return ((p1.x == this->x) && (p1.y == this->y)); }
bool operator<(const Point &p1 ) const{ return (p1.x < this->x) ; }
};
struct Cell {
Point point;
__uint32_t cost_till_now;
};
struct compare_cost{
bool operator() (Cell &p1, Cell &p2)
{
return p1.cost_till_now < p2.cost_till_now;
}
};
public:
GlobalPlanner();
GlobalPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
void initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros);
bool makePlan(const geometry_msgs::PoseStamped& start,
const geometry_msgs::PoseStamped& goal,
std::vector<geometry_msgs::PoseStamped>& plan
);
bool makePlanOne(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan );
bool makePlanTwo(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan );
private:
double heu(const Point &p1, const Point &p2);
costmap_2d::Costmap2D* costmap_ros_;
costmap_2d::Costmap2DROS *costmap_ros;
__uint32_t size_x, size_y;
ros::Publisher global_plan_pub;
ros::NodeHandle nh_;
};
};
#endif
global_planner.cpp
#include <pluginlib/class_list_macros.h>
#include <my_global_planner/global_planner.h>
#include <tf/tf.h>
#include <queue>
#include<math.h>
//register this planner as a BaseGlobalPlanner plugin
PLUGINLIB_EXPORT_CLASS(global_planner::GlobalPlanner, nav_core::BaseGlobalPlanner)
using namespace std;
namespace global_planner {
GlobalPlanner::GlobalPlanner (){
}
GlobalPlanner::GlobalPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
initialize(name, costmap_ros);
}
void GlobalPlanner::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
nh_ = ros::NodeHandle{"~abcd"};
costmap_ros = costmap_ros;
costmap_ros_ = costmap_ros->getCostmap();
size_x = costmap_ros_->getSizeInCellsX();
size_y = costmap_ros_->getSizeInCellsY();
cout << "global_frame: " << costmap_ros->getGlobalFrameID() << endl;
global_plan_pub = nh_.advertise<nav_msgs::Path>( "my_global_path", 10000 );
}
double GlobalPlanner::heu(const Point &p1, const Point &p2) {
__uint32_t sum = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y - p2.y);
return sqrt(sum);
}
bool GlobalPlanner::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal, std::vector<geometry_msgs::PoseStamped>& plan ){
cout << "Inside the make_plan function!" << endl;
//bool reached = false;
__uint32_t mx_i, my_i, mx_f, my_f;
double wx_i, wy_i, wx_f, wy_f;
wx_i = start.pose.position.x;
wy_i = start.pose.position.y;
wx_f = goal.pose.position.x;
wy_f = goal.pose.position.y;
costmap_ros_->worldToMap(wx_i, wy_i, mx_i, my_i);
costmap_ros_->worldToMap(wx_f, wy_f, mx_f, my_f);
cout << endl;
cout << "Printing start pose and goal pose: " << endl;
cout << "w_i: (" << wx_i << "," << wy_i << ") m_i: (" << mx_i << "," << my_i <<")" << endl;;
cout << "w_f: (" << wx_f << "," << wy_f << ") m_f: (" << mx_f << "," << my_f <<")" << endl;;
cout << endl;
cout << "Sleeping for 1 second!" << endl;
ros::Duration(1.0).sleep();
cout << endl;
for(int i =0 ;i < 10; i++){
geometry_msgs::PoseStamped pt = start;
pt.pose.position.x = start.pose.position.x;
pt.pose.position.y = start.pose.position.y + i;
plan.push_back(pt);
}
nav_msgs::Path my_path;
my_path.header = start.header;
my_path.poses = plan;
global_plan_pub.publish(plan);
cout << "Returning true!" << endl;
cout << "Sleeping for 2 seconds!" << endl;
ros::Duration(2.0).sleep();
return true;
}
};
Originally posted by skpro19 on ROS Answers with karma: 310 on 2021-06-10
Post score: 0
