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ROS Eloquent - Gazebo10 integration

asked 2020-01-27 01:04:15 -0500

errcsool gravatar image

updated 2020-01-27 13:40:52 -0500

Edit: Compilation solved. Switch boost::bind() to std::bind() (#include <utility>) && switch _1 to std::placeholders::_1

I am failing to integrate a ROS node with a Gazebo10 plugin. I am following this tutorial more or less but translating to the ROS2 API: http://gazebosim.org/tutorials?cat=gu... . It seems that there is something wrong in my declaration of a subscription. I can't upload my file because I don't have 5 points, but I have copied the relevant code. I do not want to use gazebo_ros_pkgs.

    // Initialize ros, if it has not already been initialized
    if (!rclcpp::is_initialized())
    {
      int argc = 0;
      char** argv = NULL;
      //rclcpp::init(argc, argv, rclcpp::init_options::NoSigintHandler);
      rclcpp::init(argc, argv);
    }

    // Setup callback group
    this->rosCallbackGroup = this->rosNode->create_callback_group(
        rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);

    // Setup subscriber options
    this->rosSubOptions = rclcpp::SubscriptionOptions();
    this->rosSubOptions.callback_group = this->rosCallbackGroup;

    // Setup subscriber
    this->rosSub = this->rosNode->create_subscription<std_msgs::msg::Float32>(
        "/" + this->model->GetName() + "/vel_cmd",
        rclcpp::QoS(1),
        boost::bind(&VelodynePlugin::OnRosMsg, this, _1),
        this->rosSubOptions);

Generating the following error:

In file included from /opt/ros/eloquent/include/rclcpp/client.hpp:31:0,
                 from /opt/ros/eloquent/include/rclcpp/callback_group.hpp:23,
                 from /opt/ros/eloquent/include/rclcpp/any_executable.hpp:20,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategy.hpp:24,
                 from /opt/ros/eloquent/include/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/eloquent/include/rclcpp/executor.hpp:33,
                 from /opt/ros/eloquent/include/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/eloquent/include/rclcpp/executors.hpp:21,
                 from /opt/ros/eloquent/include/rclcpp/rclcpp.hpp:145,
                 from /ros2-dev/gazebo/.gazebo/plugins/velodyne/velodyne_plugin.cc:8: /opt/ros/eloquent/include/rclcpp/function_traits.hpp: In instantiation of ‘struct rclcpp::function_traits::function_traits<boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::VelodynePlugin, std::shared_ptr<std_msgs::msg::Float32_<std::allocator<void>
> > >, boost::_bi::list2<boost::_bi::value<gazebo::VelodynePlugin*>, boost::arg<1> > > >’: /opt/ros/eloquent/include/rclcpp/subscription_traits.hpp:90:8: required from ‘struct rclcpp::subscription_traits::has_message_type<boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::VelodynePlugin, std::shared_ptr<std_msgs::msg::Float32_<std::allocator<void>
> > >, boost::_bi::list2<boost::_bi::value<gazebo::VelodynePlugin*>, boost::arg<1> > >, void, void, void>’ /opt/ros/eloquent/include/rclcpp/node.hpp:199:5: required by substitution of ‘template<class MessageT, class CallbackT, class AllocatorT, class CallbackMessageT, class SubscriptionT, class MessageMemoryStrategyT> std::shared_ptr<SubscriptionT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = std_msgs::msg::Float32_<std::allocator<void>
>; CallbackT = boost::_bi::bind_t<void, boost::_mfi::mf1<void, gazebo::VelodynePlugin, std::shared_ptr<std_msgs::msg::Float32_<std::allocator<void>
> > >, boost::_bi::list2<boost::_bi::value<gazebo::VelodynePlugin*>, boost::arg<1> > >; AllocatorT = std::allocator<void>; CallbackMessageT
= <missing>; SubscriptionT = <missing>; MessageMemoryStrategyT = <missing>]’ /ros2-dev/gazebo/.gazebo/plugins/velodyne/velodyne_plugin.cc:128:32: required from here /opt/ros/eloquent/include/rclcpp/function_traits.hpp:52:82: error: decltype cannot resolve address of overloaded function
     typename function_traits<decltype( &FunctionT::operator())>::arguments>::type;
                                                                                  ^ /opt/ros/eloquent/include/rclcpp/function_traits.hpp:57:72: error: decltype cannot resolve address of ...
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answered 2020-01-27 12:22:03 -0500

chapulina gravatar image

Can you try std::bind instead of boost::bind?

Also, check that the signature of OnRosMsg matches what's expected. Something like void OnRosMsg(const std_msgs::msg::Float32::SharedPtr _msg).

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Comments

OnRosMsg definition:

OnRosMsg(const std_msgs::msg::Float32::SharedPtr msg){
  this->SetVelocity(msg->data);
}
errcsool gravatar imageerrcsool ( 2020-01-27 13:00:45 -0500 )edit

Using std::bind (very long error message), see edit

errcsool gravatar imageerrcsool ( 2020-01-27 13:04:20 -0500 )edit
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Asked: 2020-01-27 01:04:15 -0500

Seen: 211 times

Last updated: Jan 27 '20