No matching function for call to ROS_INFO, ROS_ERROR (ROS Console package)

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1

Dear @staff,

Any method to solve navigation initial state pose estimation
After discussing this issue with you last time, a new idea came to me:

I would like to record the final pose of the robot after mapping the map, and read the pose to determine the initial position of the robot during navigation.

I used the map_server package from the open source navigation package, subscribed the /odom topic, from which I got the final poses when the robot finished mapping the map and wrote them to the yaml file of the map.

But unfortunately, I get an error with catkin_make after I finish my coding. Here is my code and the error message, I only modified this one file.

#include <cstdio>
#include "ros/ros.h"
#include "ros/console.h"
#include "nav_msgs/GetMap.h"
#include "tf2/LinearMath/Matrix3x3.h"
#include "geometry_msgs/Quaternion.h"
#include "tf2_ros/transform_listener.h"
#include "tf2/LinearMath/Quaternion.h"
#include "nav_msgs/Odometry.h"
#include "nav_msgs/OccupancyGrid.h"
// #include "message_filters/subscriber.h"
// #include "message_filters/synchronizer.h"
// #include "message_filters/sync_policies/approximate_time.h"

using namespace std;

/**
 * @brief Map generation node.
 */
class MapGenerator
{

  public:

    std::string mapname_;
    ros::Subscriber map_sub_;
    ros::Subscriber imu_sub_;
    bool saved_map_;
    int threshold_occupied_;
    int threshold_free_;


    MapGenerator(const std::string& mapname, int threshold_occupied, int threshold_free)
      : mapname_(mapname), saved_map_(false), threshold_occupied_(threshold_occupied), threshold_free_(threshold_free)
    {
      ros::NodeHandle n;
      ROS_INFO("Waiting for the map");
      imu_sub_ = n.subscribe<nav_msgs::Odometry>("/odom", 1000, this);
      map_sub_ = n.subscribe<nav_msgs::OccupancyGrid>("/map", 1000, boost::bind(&MapGenerator::mapCallback, this, _1, _2));

      // message_filters::Subscriber<nav_msgs::OccupancyGrid> map_sub(n, "map", 1);
      // message_filters::Subscriber<nav_msgs::Odometry> imu_sub(n, "odom", 1);

      // typedef message_filters::sync_policies::ApproximateTime<nav_msgs::OccupancyGrid, nav_msgs::Odometry> MySyncPolicy;
      // message_filters::Synchronizer<MySyncPolicy> sync(MySyncPolicy(10), imu_sub, map_sub);
      // sync.registerCallback(boost::bind(&MapGenerator::mapCallback, this, _1, _2));


      // ros::spin();
    }

    void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& map, const nav_msgs::Odometry::ConstPtr& odom)
    {
      ROS_INFO("Received a %d X %d map @ %.3f m/pix",
               map->info.width,
               map->info.height,
               map->info.resolution);


      std::string mapdatafile = mapname_ + ".pgm";
      ROS_INFO("Writing map occupancy data to %s", mapdatafile.c_str());
      FILE* out = fopen(mapdatafile.c_str(), "w");
      if (!out)
      {
        ROS_ERROR("Couldn't save map file to %s", mapdatafile.c_str());
        return;
      }

      fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n",
              map->info.resolution, map->info.width, map->info.height);
      for(unsigned int y = 0; y < map->info.height; y++) {
        for(unsigned int x = 0; x < map->info.width; x++) {
          unsigned int i = x + (map->info.height - y - 1) * map->info.width;
          if (map->data[i] >= 0 && map->data[i] <= threshold_free_) { // [0,free)
            fputc(254, out);
          } else if (map->data[i] >= threshold_occupied_) { // (occ,255]
            fputc(000, out);
          } else { //occ [0.25,0.65]
            fputc(205, out);
          }
        }
      }

      fclose(out);


      std::string mapmetadatafile = mapname_ + ".yaml";
      ROS_INFO("Writing map occupancy data to %s", mapmetadatafile.c_str());
      FILE* yaml = fopen(mapmetadatafile.c_str(), "w");


      /*
        resolution: 0.100000
        origin: [0.000000, 0.000000, 0.000000]
        #
        negate: 0
        occupied_thresh: 0.65
        free_thresh: 0.196

       */

      //get origin pose
      geometry_msgs::Quaternion orientation = map->info.origin.orientation;
      tf2::Matrix3x3 mat(tf2::Quaternion(
        orientation.x,
        orientation.y,
        orientation.z,
        orientation.w
      ));
      double yaw, pitch, roll;
      mat.getEulerYPR(yaw, pitch, roll);




      //get end pose
      tf2_ros::Buffer tfBuffer;
      tf2_ros::TransformListener tfListener(tfBuffer);
      geometry_msgs::Quaternion rot;
      ros::Time now = ros::Time::now();
      try{
        // tfBuffer.canTransform("/map", "/odom", now, ros::Duration(1.0));
        rot = tfBuffer.lookupTransform("/map", "/odom", now).transform.rotation;
        ROS_INFO(rot);
      }catch(tf2::TransformException &ex){
        ROS_ERROR("lookupTransform Error: %s", ex.what());
      }
      // the incoming geometry_msgs::Quaternion is transformed to a tf2::Quaterion
      tf2::Matrix3x3 mat_end(tf2::Quaternion(
        rot.x,
        rot.y,
        rot.z,
        rot.w
      ));

      // the tf::Quaternion has a method to acess roll pitch and yaw
      double roll_end, pitch_end, yaw_end;
      mat_end.getEulerYPR(yaw_end, pitch_end, roll_end);


      fprintf(yaml, "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nend: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n",
              mapdatafile.c_str(), map->info.resolution, map->info.origin.position.x, map->info.origin.position.y, yaw, odom->pose.pose.position.x, odom->pose.pose.position.y, yaw_end);
      // fprintf(yaml, "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n",
      //         mapdatafile.c_str(), map->info.resolution, map->info.origin.position.x, map->info.origin.position.y, yaw);

      fclose(yaml);

      ROS_INFO("Done\n");
      saved_map_ = true;
    }

};



#define USAGE "Usage: \n" \
              "  map_saver -h\n"\
              "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f <mapname>] [ROS remapping args]"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "map_saver");
  std::string mapname = "map";
  int threshold_occupied = 65;
  int threshold_free = 25;

  for(int i=1; i<argc; i++)
  {
    if(!strcmp(argv[i], "-h"))
    {
      puts(USAGE);
      return 0;
    }
    else if(!strcmp(argv[i], "-f"))
    {
      if(++i < argc)
        mapname = argv[i];
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--occ"))
    {
      if (++i < argc)
      {
        threshold_occupied = std::atoi(argv[i]);
        if (threshold_occupied < 1 || threshold_occupied > 100)
        {
          ROS_ERROR("threshold_occupied must be between 1 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else if (!strcmp(argv[i], "--free"))
    {
      if (++i < argc)
      {
        threshold_free = std::atoi(argv[i]);
        if (threshold_free < 0 || threshold_free > 100)
        {
          ROS_ERROR("threshold_free must be between 0 and 100");
          return 1;
        }

      }
      else
      {
        puts(USAGE);
        return 1;
      }
    }
    else
    {
      puts(USAGE);
      return 1;
    }
  }

  if (threshold_occupied <= threshold_free)
  {
    ROS_ERROR("threshold_free must be smaller than threshold_occupied");
    return 1;
  }

  MapGenerator mg(mapname, threshold_occupied, threshold_free);

  while(!mg.saved_map_ && ros::ok())
    ros::spinOnce();

  return 0;
}

d1865c313d046fa37d716e1feeb7870
d1865c313d046fa37d716e1feeb7870890×818 141 KB

580cefecbd4ecfc213cdffb4a487ef8
580cefecbd4ecfc213cdffb4a487ef8893×817 173 KB

345f1838ff828b260084614996b5839
345f1838ff828b260084614996b5839887×819 184 KB

b53753685d5afd6cbe1f6505aa01cde
b53753685d5afd6cbe1f6505aa01cde891×817 169 KB

3dcf23e644c88283d7901962dc87e54
3dcf23e644c88283d7901962dc87e54890×652 120 KB

I have tried many ways, all ineffective.
Now, I would like to know if you think my idea is feasible, and I would like to ask you to help me debug the code.

Thank you very much.

2

Hi @zlwnge,

Since the error is raised in the ROS Console package, I suppose the error is in the logging-related functions/macros that you are calling.

My suggestion would be to start commenting out the ROS_INFO and ROS_ERROR functions in the mapCallback method, and then try to compile the code again.

Assuming everything compiled fine, I would be putting back each ROS_INFO or ROS_ERROR, one by one, and compiling the code each time, until you find the exact one giving the error.

By knowing exactly where the error is, it is much easier to have it solved.

3

With a quick look, the ROS_INFO(rot); call looks like a good candidate for the error.

4

Hi Sir,

Thank you for your help first.

And I done it just now, but I get error even commenting all of ROS_INFO and ROS_ERROR functions.

#include "geometry_msgs/Quaternion.h"
#include "nav_msgs/GetMap.h"
#include "nav_msgs/OccupancyGrid.h"
#include "nav_msgs/Odometry.h"
#include "ros/console.h"
#include "ros/ros.h"
#include "tf2/LinearMath/Matrix3x3.h"
#include "tf2/LinearMath/Quaternion.h"
#include "tf2_ros/transform_listener.h"
#include <cstdio>
// #include "message_filters/subscriber.h"
// #include "message_filters/synchronizer.h"
// #include "message_filters/sync_policies/approximate_time.h"

using namespace std;

/**
 * @brief Map generation node.
 */
class MapGenerator {

public:
  std::string mapname_;
  ros::Subscriber map_sub_;
  ros::Subscriber imu_sub_;
  bool saved_map_;
  int threshold_occupied_;
  int threshold_free_;

  MapGenerator(const std::string &mapname, int threshold_occupied,
               int threshold_free)
      : mapname_(mapname), saved_map_(false),
        threshold_occupied_(threshold_occupied),
        threshold_free_(threshold_free) {
    ros::NodeHandle n;
    // ROS_INFO("Waiting for the map");
    imu_sub_ = n.subscribe<nav_msgs::Odometry>("/odom", 1000, this);
    map_sub_ = n.subscribe<nav_msgs::OccupancyGrid>(
        "/map", 1000, boost::bind(&MapGenerator::mapCallback, this, _1, _2));

    // message_filters::Subscriber<nav_msgs::OccupancyGrid> map_sub(n, "map",
    // 1); message_filters::Subscriber<nav_msgs::Odometry> imu_sub(n, "odom",
    // 1);

    // typedef
    // message_filters::sync_policies::ApproximateTime<nav_msgs::OccupancyGrid,
    // nav_msgs::Odometry> MySyncPolicy;
    // message_filters::Synchronizer<MySyncPolicy> sync(MySyncPolicy(10),
    // imu_sub, map_sub);
    // sync.registerCallback(boost::bind(&MapGenerator::mapCallback, this, _1,
    // _2));

    // ros::spin();
  }

  void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr &map,
                   const nav_msgs::Odometry::ConstPtr &odom) {
    // ROS_INFO("Received a %d X %d map @ %.3f m/pix", map->info.width,
    //          map->info.height, map->info.resolution);

    std::string mapdatafile = mapname_ + ".pgm";
    // ROS_INFO("Writing map occupancy data to %s", mapdatafile.c_str());
    FILE *out = fopen(mapdatafile.c_str(), "w");
    if (!out) {
      //   ROS_ERROR("Couldn't save map file to %s", mapdatafile.c_str());
      return;
    }

    fprintf(out, "P5\n# CREATOR: map_saver.cpp %.3f m/pix\n%d %d\n255\n",
            map->info.resolution, map->info.width, map->info.height);
    for (unsigned int y = 0; y < map->info.height; y++) {
      for (unsigned int x = 0; x < map->info.width; x++) {
        unsigned int i = x + (map->info.height - y - 1) * map->info.width;
        if (map->data[i] >= 0 && map->data[i] <= threshold_free_) { // [0,free)
          fputc(254, out);
        } else if (map->data[i] >= threshold_occupied_) { // (occ,255]
          fputc(000, out);
        } else { // occ [0.25,0.65]
          fputc(205, out);
        }
      }
    }

    fclose(out);

    std::string mapmetadatafile = mapname_ + ".yaml";
    // ROS_INFO("Writing map occupancy data to %s", mapmetadatafile.c_str());
    FILE *yaml = fopen(mapmetadatafile.c_str(), "w");

    /*
      resolution: 0.100000
      origin: [0.000000, 0.000000, 0.000000]
      #
      negate: 0
      occupied_thresh: 0.65
      free_thresh: 0.196

     */

    // get origin pose
    geometry_msgs::Quaternion orientation = map->info.origin.orientation;
    tf2::Matrix3x3 mat(tf2::Quaternion(orientation.x, orientation.y,
                                       orientation.z, orientation.w));
    double yaw, pitch, roll;
    mat.getEulerYPR(yaw, pitch, roll);

    // get end pose
    tf2_ros::Buffer tfBuffer;
    tf2_ros::TransformListener tfListener(tfBuffer);
    geometry_msgs::Quaternion rot;
    ros::Time now = ros::Time::now();
    try {
      // tfBuffer.canTransform("/map", "/odom", now, ros::Duration(1.0));
      rot = tfBuffer.lookupTransform("/map", "/odom", now).transform.rotation;
      //   ROS_INFO(rot);
    } catch (tf2::TransformException &ex) {
      //   ROS_ERROR("lookupTransform Error: %s", ex.what());
    }
    // the incoming geometry_msgs::Quaternion is transformed to a tf2::Quaterion
    tf2::Matrix3x3 mat_end(tf2::Quaternion(rot.x, rot.y, rot.z, rot.w));

    // the tf::Quaternion has a method to acess roll pitch and yaw
    double roll_end, pitch_end, yaw_end;
    mat_end.getEulerYPR(yaw_end, pitch_end, roll_end);

    fprintf(yaml,
            "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nend: [%f, %f, "
            "%f]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n",
            mapdatafile.c_str(), map->info.resolution,
            map->info.origin.position.x, map->info.origin.position.y, yaw,
            odom->pose.pose.position.x, odom->pose.pose.position.y, yaw_end);
    // fprintf(yaml, "image: %s\nresolution: %f\norigin: [%f, %f, %f]\nnegate:
    // 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n",
    //         mapdatafile.c_str(), map->info.resolution,
    //         map->info.origin.position.x, map->info.origin.position.y, yaw);

    fclose(yaml);

    ROS_INFO("Done\n");
    saved_map_ = true;
  }
};

#define USAGE                                                                  \
  "Usage: \n"                                                                  \
  "  map_saver -h\n"                                                           \
  "  map_saver [--occ <threshold_occupied>] [--free <threshold_free>] [-f "    \
  "<mapname>] [ROS remapping args]"

int main(int argc, char **argv) {
  ros::init(argc, argv, "map_saver");
  std::string mapname = "map";
  int threshold_occupied = 65;
  int threshold_free = 25;

  for (int i = 1; i < argc; i++) {
    if (!strcmp(argv[i], "-h")) {
      puts(USAGE);
      return 0;
    } else if (!strcmp(argv[i], "-f")) {
      if (++i < argc)
        mapname = argv[i];
      else {
        puts(USAGE);
        return 1;
      }
    } else if (!strcmp(argv[i], "--occ")) {
      if (++i < argc) {
        threshold_occupied = std::atoi(argv[i]);
        if (threshold_occupied < 1 || threshold_occupied > 100) {
          ROS_ERROR("threshold_occupied must be between 1 and 100");
          return 1;
        }

      } else {
        puts(USAGE);
        return 1;
      }
    } else if (!strcmp(argv[i], "--free")) {
      if (++i < argc) {
        threshold_free = std::atoi(argv[i]);
        if (threshold_free < 0 || threshold_free > 100) {
          ROS_ERROR("threshold_free must be between 0 and 100");
          return 1;
        }

      } else {
        puts(USAGE);
        return 1;
      }
    } else {
      puts(USAGE);
      return 1;
    }
  }

  if (threshold_occupied <= threshold_free) {
    ROS_ERROR("threshold_free must be smaller than threshold_occupied");
    return 1;
  }

  MapGenerator mg(mapname, threshold_occupied, threshold_free);

  while (!mg.saved_map_ && ros::ok())
    ros::spinOnce();

  return 0;
}


Scanning dependencies of target map_server-map_saver
[ 50%] Building CXX object navigation/map_server/CMakeFiles/map_server-map_saver.dir/src/map_saver.cpp.o
In file included from /usr/include/boost/function/detail/maybe_include.hpp:22,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:53,
                 from /usr/include/boost/function.hpp:71,
                 from /opt/ros/noetic/include/ros/forwards.h:40,
                 from /opt/ros/noetic/include/ros/common.h:37,
                 from /opt/ros/noetic/include/ros/ros.h:43,
                 from /home/user/catkin_ws/src/navigation/map_server/src/map_saver.cpp:36:
/usr/include/boost/function/function_template.hpp: In instantiation of 'static void boost::detail::function::void_function_invoker1<FunctionPtr, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionPtr = MapGenerator*; R = void; T0 = const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&]':
/usr/include/boost/function/function_template.hpp:931:38:   required from 'void boost::function1<R, T1>::assign_to(Functor) [with Functor = MapGenerator*; R = void; T0 = const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&]'
/usr/include/boost/function/function_template.hpp:720:7:   required from 'boost::function1<R, T1>::function1(Functor, typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type) [with Functor = MapGenerator*; R = void; T0 = const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&; typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type = int]'
/usr/include/boost/function/function_template.hpp:1068:16:   required from 'boost::function<R(T0)>::function(Functor, typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type) [with Functor = MapGenerator*; R = void; T0 = const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&; typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type = int]'
/home/user/catkin_ws/src/navigation/map_server/src/map_saver.cpp:67:67:   required from here
/usr/include/boost/function/function_template.hpp:117:11: error: 'f' cannot be used as a function
  117 |           BOOST_FUNCTION_RETURN(f(BOOST_FUNCTION_ARGS));
      |           ^~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/bind.hpp:22,
                 from /opt/ros/noetic/include/ros/publisher.h:35,
                 from /opt/ros/noetic/include/ros/node_handle.h:32,
                 from /opt/ros/noetic/include/ros/ros.h:45,
                 from /home/user/catkin_ws/src/navigation/map_server/src/map_saver.cpp:36:
/usr/include/boost/bind/bind.hpp: In instantiation of 'void boost::_bi::list3<A1, A2, A3>::operator()(boost::_bi::type<void>, F&, A&, int) [with F = boost::_mfi::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>; A = boost::_bi::rrlist1<const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&>; A1 = boost::_bi::value<MapGenerator*>; A2 = boost::arg<1>; A3 = boost::arg<2>]':
/usr/include/boost/bind/bind.hpp:1306:50:   required from 'boost::_bi::bind_t<R, F, L>::result_type boost::_bi::bind_t<R, F, L>::operator()(A1&&) [with A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&; R = void; F = boost::_mfi::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>; L = boost::_bi::list3<boost::_bi::value<MapGenerator*>, boost::arg<1>, boost::arg<2> >; boost::_bi::bind_t<R, F, L>::result_type = void]'
/usr/include/boost/function/function_template.hpp:158:11:   required 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::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>, boost::_bi::list3<boost::_bi::value<MapGenerator*>, boost::arg<1>, boost::arg<2> > >; R = void; T0= const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
/usr/include/boost/function/function_template.hpp:931:38:   required from 'void boost::function1<R, T1>::assign_to(Functor) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>, boost::_bi::list3<boost::_bi::value<MapGenerator*>, boost::arg<1>, boost::arg<2> > >; R = void; T0 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
/usr/include/boost/function/function_template.hpp:720:7:   required from 'boost::function1<R, T1>::function1(Functor, typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>, boost::_bi::list3<boost::_bi::value<MapGenerator*>, boost::arg<1>, boost::arg<2> > >; R = void; T0 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&; typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type = int]'
/usr/include/boost/function/function_template.hpp:1068:16:   required from 'boost::function<R(T0)>::function(Functor, typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf2<void, MapGenerator, const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, const boost::shared_ptr<const nav_msgs::Odometry_<std::allocator<void> > >&>, boost::_bi::list3<boost::_bi::value<MapGenerator*>, boost::arg<1>, boost::arg<2> > >; R = void; T0 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&; typename boost::enable_if_<(! boost::is_integral<Functor>::value), int>::type = int]'
/home/user/catkin_ws/src/navigation/map_server/src/map_saver.cpp:69:76:   required from here
/usr/include/boost/bind/bind.hpp:398:75: error: no match for 'operator[]' (operand types are 'boost::_bi::rrlist1<const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&>' and 'boost::arg<2>()')
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
/usr/include/boost/bind/bind.hpp:882:11: note: candidate: 'A1&& boost::_bi::rrlist1<A1>::operator[](boost::arg<1> (*)()) const [with A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]' <near match>
  882 |     A1 && operator[] (boost::arg<1> (*) ()) const { return std::forward<A1>( a1_ ); }
      |           ^~~~~~~~
/usr/include/boost/bind/bind.hpp:882:11: note:   conversion of argument 1 would be ill-formed:
/usr/include/boost/bind/bind.hpp:398:75: error: invalid conversion from 'boost::arg<2> (*)()' to 'boost::arg<1> (*)()' [-fpermissive]
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
      |                                                                           |
      |                                                                           boost::arg<2> (*)()
/usr/include/boost/bind/bind.hpp:880:11: note: candidate: 'A1&& boost::_bi::rrlist1<A1>::operator[](boost::arg<1>) const [with A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  880 |     A1 && operator[] (boost::arg<1>) const { return std::forward<A1>( a1_ ); } // not static_cast because of g++ 4.9
      |           ^~~~~~~~
/usr/include/boost/bind/bind.hpp:880:23: note:   no known conversion for argument 1 from 'boost::arg<2>()' to 'boost::arg<1>'
  880 |     A1 && operator[] (boost::arg<1>) const { return std::forward<A1>( a1_ ); } // not static_cast because of g++ 4.9
      |                       ^~~~~~~~~~~~~
/usr/include/boost/bind/bind.hpp:884:27: note: candidate: 'template<class T> T& boost::_bi::rrlist1<A1>::operator[](boost::_bi::value<T>&) const [with T = T; A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  884 |     template<class T> T & operator[] ( _bi::value<T> & v ) const { return v.get(); }
      |                           ^~~~~~~~
/usr/include/boost/bind/bind.hpp:884:27: note:   template argument deduction/substitution failed:
/usr/include/boost/bind/bind.hpp:398:75: note:   mismatched types 'boost::_bi::value<T>' and 'boost::arg<2>()'
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
/usr/include/boost/bind/bind.hpp:886:33: note: candidate: 'template<class T> const T& boost::_bi::rrlist1<A1>::operator[](const boost::_bi::value<T>&) const [with T = T; A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  886 |     template<class T> T const & operator[] ( _bi::value<T> const & v ) const { return v.get(); }
      |                                 ^~~~~~~~
/usr/include/boost/bind/bind.hpp:886:33: note:   template argument deduction/substitution failed:
/usr/include/boost/bind/bind.hpp:398:75: note:   mismatched types 'const boost::_bi::value<T>' and 'boost::arg<2>()'
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
/usr/include/boost/bind/bind.hpp:888:27: note: candidate: 'template<class T> T& boost::_bi::rrlist1<A1>::operator[](const boost::reference_wrapper<FunctionObj>&) const [with T = T; A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  888 |     template<class T> T & operator[] (reference_wrapper<T> const & v) const { return v.get(); }
      |                           ^~~~~~~~
/usr/include/boost/bind/bind.hpp:888:27: note:   template argument deduction/substitution failed:
/usr/include/boost/bind/bind.hpp:398:75: note:   mismatched types 'const boost::reference_wrapper<T>' and 'boost::arg<2>()'
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
/usr/include/boost/bind/bind.hpp:890:76: note: candidate: 'template<class R, class F, class L> typename boost::_bi::result_traits<R, F>::type boost::_bi::rrlist1<A1>::operator[](boost::_bi::bind_t<R, F, L>&) const [with R= R; F = F; L = L; A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  890 |     template<class R, class F, class L> typename result_traits<R, F>::type operator[] (bind_t<R, F, L>& b) const
      |                                                                            ^~~~~~~~
/usr/include/boost/bind/bind.hpp:890:76: note:   template argument deduction/substitution failed:
/usr/include/boost/bind/bind.hpp:398:75: note:   mismatched types 'boost::_bi::bind_t<R, F, L>' and 'boost::arg<2>()'
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
/usr/include/boost/bind/bind.hpp:896:76: note: candidate: 'template<class R, class F, class L> typename boost::_bi::result_traits<R, F>::type boost::_bi::rrlist1<A1>::operator[](const boost::_bi::bind_t<R, F, L>&) const [with R = R; F = F; L = L; A1 = const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&]'
  896 |     template<class R, class F, class L> typename result_traits<R, F>::type operator[] (bind_t<R, F, L>const & b) const
      |                                                                            ^~~~~~~~
/usr/include/boost/bind/bind.hpp:896:76: note:   template argument deduction/substitution failed:
/usr/include/boost/bind/bind.hpp:398:75: note:   mismatched types 'const boost::_bi::bind_t<R, F, L>' and 'boost::arg<2>()'
  398 |         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_], a[base_type::a3_]);
      |                                                                          ~^
make[2]: *** [navigation/map_server/CMakeFiles/map_server-map_saver.dir/build.make:63: navigation/map_server/CMakeFiles/map_server-map_saver.dir/src/map_saver.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:472: navigation/map_server/CMakeFiles/map_server-map_saver.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
Invoking "make -j8 -l8" failed
5

I’m inspired by your suggestion, and I’m guessing that the callback function I call when subscribe /map topics should not use booster::bind(), but I can’t think of a better way than that.

I use booster::bind() inspired by ROS Answers and stackoverflow

1 Like
6

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