‘decltype’ cannot resolve address of overloaded function

小猴同学

系统：ubuntu22.04 ros2 humble
大佬们，你们有没有遇到过这种问题，终端报告下面这样的错误：

Starting >>> ros_ads_msgs
Finished <<< ros_ads_msgs [0.45s]                     
Starting >>> ros_ads_node
--- stderr: ros_ads_node                             
In file included from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_Interface.h:8,
                 from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:9,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const bool&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:14:38: warning: unused parameter ‘value’ [-Wunused-parameter]
   14 |   virtual void operator=(const bool& value){}
      |                          ~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const uint8_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:15:41: warning: unused parameter ‘value’ [-Wunused-parameter]
   15 |   virtual void operator=(const uint8_t& value){}
      |                          ~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const int8_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:16:40: warning: unused parameter ‘value’ [-Wunused-parameter]
   16 |   virtual void operator=(const int8_t& value){}
      |                          ~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const uint16_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:17:42: warning: unused parameter ‘value’ [-Wunused-parameter]
   17 |   virtual void operator=(const uint16_t& value){}
      |                          ~~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const int16_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:18:41: warning: unused parameter ‘value’ [-Wunused-parameter]
   18 |   virtual void operator=(const int16_t& value){}
      |                          ~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const uint32_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:19:42: warning: unused parameter ‘value’ [-Wunused-parameter]
   19 |   virtual void operator=(const uint32_t& value){}
      |                          ~~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const int32_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:20:41: warning: unused parameter ‘value’ [-Wunused-parameter]
   20 |   virtual void operator=(const int32_t& value){}
      |                          ~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const uint64_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:21:42: warning: unused parameter ‘value’ [-Wunused-parameter]
   21 |   virtual void operator=(const uint64_t& value){}
      |                          ~~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const int64_t&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:22:41: warning: unused parameter ‘value’ [-Wunused-parameter]
   22 |   virtual void operator=(const int64_t& value){}
      |                          ~~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const float&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:23:39: warning: unused parameter ‘value’ [-Wunused-parameter]
   23 |   virtual void operator=(const float& value){}
      |                          ~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::operator=(const double&)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:24:40: warning: unused parameter ‘value’ [-Wunused-parameter]
   24 |   virtual void operator=(const double& value){}
      |                          ~~~~~~~~~~~~~~^~~~~
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h: In member function ‘virtual void IAdsVariable::ReadValue(void*)’:
/home/user2/demo02_ws/src/ros_ads_node/include/../lib/ADS/AdsLib/AdsVariable.h:26:32: warning: unused parameter ‘res’ [-Wunused-parameter]
   26 |   virtual void ReadValue(void *res){}
      |                          ~~~~~~^~~
In file included from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:12,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/src/ros_ads_node/include/ADSDecode.h: At global scope:
/home/user2/demo02_ws/src/ros_ads_node/include/ADSDecode.h:28:84: warning: ‘ros_ads_msgs::msg::ADS_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
   28 | std::map<std::string, variant_t> decode(const ros_ads_msgs::msg::ADS::ConstPtr &msg);
      |                                                                                    ^
In file included from /home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/ads.hpp:7,
                 from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:10,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/detail/ads__struct.hpp:129:5: note: declared here
  129 |     ConstPtr;
      |     ^~~~~~~~
In file included from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:78:64: warning: ‘ros_ads_msgs::msg::ADS_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
   78 |     bool Subscriber(const ros_ads_msgs::msg::ADS::ConstPtr& msg);
      |                                                                ^
In file included from /home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/ads.hpp:7,
                 from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:10,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/detail/ads__struct.hpp:129:5: note: declared here
  129 |     ConstPtr;
      |     ^~~~~~~~
/home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp: In constructor ‘ads_node::ADSNode::ADSNode(rclcpp::NodeOptions)’:
/home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:114:24: warning: catching polymorphic type ‘struct AdsException’ by value [-Wcatch-value=]
  114 |     catch(AdsException e)
      |                        ^
/home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp: At global scope:
/home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:389:69: warning: ‘ros_ads_msgs::msg::ADS_<std::allocator<void> >::ConstPtr’ is deprecated [-Wdeprecated-declarations]
  389 | bool ADSNode::Subscriber(const ros_ads_msgs::msg::ADS::ConstPtr &msg)
      |                                                                     ^
In file included from /home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/ads.hpp:7,
                 from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:10,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/home/user2/demo02_ws/install/ros_ads_msgs/include/ros_ads_msgs/ros_ads_msgs/msg/detail/ads__struct.hpp:129:5: note: declared here
  129 |     ConstPtr;
      |     ^~~~~~~~
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:39,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:23,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /home/user2/demo02_ws/src/ros_ads_node/include/Ads_node.h:7,
                 from /home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:1:
/opt/ros/humble/include/rclcpp/rclcpp/function_traits.hpp: In instantiation of ‘struct rclcpp::function_traits::function_traits<boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > > >’:
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:380:10:   recursively required by substitution of ‘template<class MessageT, class CallbackT> struct rclcpp::detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT, typename std::enable_if<rclcpp::function_traits::same_arguments<CallbackT, std::function<void(std::shared_ptr<_Tp>, const rclcpp::MessageInfo&)> >::value, void>::type> [with MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >]’
/opt/ros/humble/include/rclcpp/rclcpp/any_subscription_callback.hpp:380:10:   required from ‘rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> rclcpp::AnySubscriptionCallback<MessageT, AllocatorT>::set(CallbackT) [with CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >; MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; AllocatorT = std::allocator<void>]’
/opt/ros/humble/include/rclcpp/rclcpp/subscription_factory.hpp:94:32:   required from ‘rclcpp::SubscriptionFactory rclcpp::create_subscription_factory(CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr, std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageType> >) [with MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<ros_ads_msgs::msg::ADS_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> >; ROSMessageType = ros_ads_msgs::msg::ADS_<std::allocator<void> >; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:122:63:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::detail::create_subscription(NodeParametersT&, NodeTopicsT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<ros_ads_msgs::msg::ADS_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> >; NodeParametersT = rclcpp::Node; NodeTopicsT = rclcpp::Node; ROSMessageType = ros_ads_msgs::msg::ADS_<std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/create_subscription.hpp:191:76:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::create_subscription(NodeT&, const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<ros_ads_msgs::msg::ADS_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> >; NodeT = rclcpp::Node; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> > >]’
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:99:47:   required from ‘std::shared_ptr<ROSMessageT> rclcpp::Node::create_subscription(const string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr) [with MessageT = ros_ads_msgs::msg::ADS_<std::allocator<void> >; CallbackT = boost::_bi::bind_t<bool, boost::_mfi::mf1<bool, ads_node::ADSNode, const std::shared_ptr<const ros_ads_msgs::msg::ADS_<std::allocator<void> > >&>, boost::_bi::list2<boost::_bi::value<ads_node::ADSNode*>, boost::_bi::value<std::_Placeholder<1> > > >; AllocatorT = std::allocator<void>; SubscriptionT = rclcpp::Subscription<ros_ads_msgs::msg::ADS_<std::allocator<void> > >; MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> >; std::string = std::__cxx11::basic_string<char>; typename MessageMemoryStrategyT::SharedPtr = std::shared_ptr<rclcpp::message_memory_strategy::MessageMemoryStrategy<ros_ads_msgs::msg::ADS_<std::allocator<void> >, std::allocator<void> > >]’
/home/user2/demo02_ws/src/ros_ads_node/src/Ads_node.cpp:123:73:   required from here
/opt/ros/humble/include/rclcpp/rclcpp/function_traits.hpp:51:9: error: ‘decltype’ cannot resolve address of overloaded function
   51 |   using arguments = typename tuple_tail<
      |         ^~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/function_traits.hpp:57:9: error: ‘decltype’ cannot resolve address of overloaded function
   57 |   using argument_type = typename std::tuple_element<N, arguments>::type;
      |         ^~~~~~~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/function_traits.hpp:59:9: error: ‘decltype’ cannot resolve address of overloaded function
   59 |   using return_type = typename function_traits<decltype( &FunctionT::operator())>::return_type;
      |         ^~~~~~~~~~~
gmake[2]: *** [CMakeFiles/ros_ads_node.dir/build.make:90：CMakeFiles/ros_ads_node.dir/src/Ads_node.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:154：CMakeFiles/ros_ads_node.dir/all] 错误 2
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< ros_ads_node [5.20s, exited with code 2]

Summary: 1 package finished [5.80s]
  1 package failed: ros_ads_node
  1 package had stderr output: ros_ads_node

前面的警告我觉得应该没有什么大的问题，初步猜测是定义订阅者对象和设置回调函数时可能出错，但是我看了看，和基础ROS2的设置教程没什么区别：
设置如下：

try
    {
        m_subscriber = this->create_subscription<ros_ads_msgs::msg::ADS>("command", 10, boost::bind(&ADSNode::Subscriber, this, _1));
        m_on_event_publisher = this->create_publisher<ros_ads_msgs::msg::ADS>("report_event", 10);
        m_on_timer_publisher = this->create_publisher<ros_ads_msgs::msg::ADS>("report_timer", 10);
        m_state_publisher = this->create_publisher<ros_ads_msgs::msg::State>("state", 10);


/*         m_subscriber = n.subscribe<ros_ads_msgs::msg::ADS>("command", 10, boost::bind(&ADSNode::Subscriber, this, _1));
        m_on_event_publisher = n.advertise<ros_ads_msgs::msg::ADS>("report_event", 10);
        m_on_timer_publisher = n.advertise<ros_ads_msgs::msg::ADS>("report_timer", 10);
        m_state_publisher = n.advertise<ros_ads_msgs::msg::ADS>("state", 10); */
    }
    catch (...)
    {
        RCLCPP_ERROR(rclcpp::get_logger("rclcpp"),"ERROR in creating subscriber");
/*         return 0; */
    }

    m_timer_thread   = std::make_shared<boost::thread>(&ADSNode::publishOnTimer,this, m_rate_publish);
    m_update_thread  = std::make_shared<boost::thread>(&ADSNode::update,this, m_rate_update);
    m_checker_thread = std::make_shared<boost::thread>(&ADSNode::publishOnEvent,this, m_rate_update);
    m_state_thread   = std::make_shared<boost::thread>(&ADSNode::publishState,this, m_rate_state);

订阅者的回调函数如下：

bool ADSNode::Subscriber(const ros_ads_msgs::msg::ADS::ConstPtr &msg)
{
    m_state_publisher->publish(m_state_msg);
    bool result = true;
    auto command = ros_ads_msgs::decode(msg);

    try {
        if(m_ADS.getState())
        {
            for (auto &[name, value]: command)
            {
                m_ADS.adsWriteValue(name, value);
            }
        }
    }
    catch (...)
    {
        result = false;
    }

    return result;
}

这个问题应该怎么处理呢？请大佬指教

Lorry

@yudonghou123 建议多看看小鱼的话题实现代码。你写的订阅者的代码格式不符合要求

小猴同学

@Lorry 您好，非常感谢您的解答，这个程序其实是PLC倍福提供的关于ROS节点的，原本是ros1的，但是我目前把它迁移到ros2上，我改过程中按照教程进行修改并没有报错，但是终端始终输出上面的问题，您觉得是回调函数的问题吗

Lorry

@yudonghou123 没有报错不代表能够正常编译。你上面的代码不全，我只能看出来你的回调函数不符合要求，建议你先学习一下ros2的用法。我把ros代码迁移到ros2，都是直接重写一遍，我不太了解你说的教程是哪种

小猴同学

@Lorry 好的，感谢，那我去看看，我看报错好像也是提醒这个

桥代码

你好，我也遇到了一样的问题，请问你最后解决了吗，方便告知一下方法吗，感谢感谢

桥代码

不用了，感谢解决了