编译一个官方动作服务器节点时，出现“‘NodeOptions’ in namespace ‘rclcpp’ does not name a type”

[z_xu_dong]

错误信息

error: ‘NodeOptions’ in namespace ‘rclcpp’ does not name a type
42 | create_node_instance(const rclcpp::NodeOptions & options) = 0;
| ^~~~~~~~~~~
In file included from /opt/ros/humble/include/rclcpp_components/rclcpp_components/register_node_macro.hpp:19,
from /home/dong/projects/learning_ros2/src/learning_action/src/ActionServer.c++:5:
/opt/ros/humble/include/rclcpp_components/rclcpp_components/node_factory_template.hpp:43:38：
** error: ‘NodeOptions’ in namespace ‘rclcpp’ does not name a type**
43 | create_node_instance(const rclcpp::NodeOptions & options) override

系统及ROS版本

Ubuntu22.04+ros humble

具体操作

我在编写一个动作服务器节点时，编译总是不通过。我编写的代码如下：

#include <memory>
#include <string>
#include <functional>

#include "rclcpp_components/register_node_macro.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"

#include "learning_interfaces/action/move_action.hpp"

using namespace std::placeholders;

class ActionSeverNode : public rclcpp::Node
{
  using MoveAction = learning_interfaces::action::MoveAction;
  using GoalHandle = rclcpp_action::ServerGoalHandle<MoveAction>;

public:
  explicit ActionSeverNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())
      : Node("ServerNode", options) //explicit?
  {
    sever_ = rclcpp_action::create_server<MoveAction>(this,
                                                      "move_action",
                                                      std::bind(&ActionSeverNode::goalCallback, this, _1, _2),
                                                      std::bind(&ActionSeverNode::cancelCallback, this, _1),
                                                      std::bind(&ActionSeverNode::AcceptCallback, this, _1));
  }

private:
  rclcpp_action::GoalResponse goalCallback(const rclcpp_action::GoalUUID uuid,
                                           MoveAction::Goal::ConstSharedPtr goal_) 
  {
    RCLCPP_INFO(this->get_logger(), "Received goal.dist = %ld", goal_->dist);
    (void)uuid; 
    return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
  }
  rclcpp_action::CancelResponse cancelCallback(const std::shared_ptr<GoalHandle> handle_)
  {
    RCLCPP_INFO(this->get_logger(), "Received request to cancle goal.");
    (void)handle_; 
    return rclcpp_action::CancelResponse::ACCEPT;
  }
  void AcceptCallback(const std::shared_ptr<GoalHandle> handle_)
  {
    std::thread(std::bind(&ActionSeverNode::excute_action, this, _1), handle_).detach(); // learn thread.
  }

  void excute_action(const std::shared_ptr<GoalHandle> handle_)
  {
    rclcpp::Rate loop_rate(1);
    auto goal = handle_->get_goal();
    auto feedback = std::make_shared<MoveAction::Feedback>();
    auto state = feedback->state;
    auto result = std::make_shared<MoveAction::Result>();
    if (goal->enable)
    {
      if (handle_->is_canceling())
      {
        result->finish = false;
        handle_->canceled(result);
        RCLCPP_INFO(this->get_logger(), "cancel.");
        return;
      }
      for (int i = 0; i < goal->dist; ++i)
      {
        state = i;
        handle_->publish_feedback(feedback);
      }
      loop_rate.sleep();
    }

    if (rclcpp::ok())
    {
      result->finish = true;
      handle_->succeed(result);
      RCLCPP_INFO(this->get_logger(), "successed.");
    }
  }

private:
  rclcpp_action::Server<MoveAction>::SharedPtr sever_;
};

RCLCPP_COMPONENTS_REGISTER_NODE(ActionSeverNode);

[z_xu_dong]

@z_xu_dong 我知道原因了，因为我在登记节点宏那行末尾加了分号

RCLCPP_COMPONENTS_REGISTER_NODE(ActionSeverNode);   ❌
RCLCPP_COMPONENTS_REGISTER_NODE(ActionSeverNode)   ✔

[z_xu_dong]

@z_xu_dong 最后一行创建组件的问题 但不知道问题具体出在哪

[z_xu_dong]

@z_xu_dong 我知道原因了，因为我在登记节点宏那行末尾加了分号

RCLCPP_COMPONENTS_REGISTER_NODE(ActionSeverNode);   ❌
RCLCPP_COMPONENTS_REGISTER_NODE(ActionSeverNode)   ✔