Nav2源码安装编译，nav2_mppi_controller报错

[1367426346]

两台电脑编译，都是相同的错误。

-- stderr: nav2_mppi_controller                                 
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp: In member function ‘virtual void NoiseGeneratorTest_NoiseGeneratorLifecycle_Test::TestBody()’:
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:32: error: ‘rclcpp_lifecycle’ was not declared in this scope
   45 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |                                ^~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:20: error: parse error in template argument list
   45 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:64: error: no matching function for call to ‘make_shared<<expression error> >(const char [5])’
   45 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
In file included from /usr/include/c++/11/memory:77,
                 from /opt/ros/humble/src/gtest_vendor/include/gtest/gtest.h:57,
                 from /home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:18:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
  875 |     make_shared(_Args&&... __args)
      |     ^~~~~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:875:5: note:   template argument deduction/substitution failed:
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:45:64: error: template argument 1 is invalid
   45 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:47:3: error: ‘ParametersHandler’ was not declared in this scope
   47 |   ParametersHandler handler(node);
      |   ^~~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:49:55: error: ‘handler’ was not declared in this scope
   49 |   generator.initialize(settings, false, "test_name", &handler);
      |                                                       ^~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp: In member function ‘virtual void NoiseGeneratorTest_NoiseGeneratorMain_Test::TestBody()’:
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:32: error: ‘rclcpp_lifecycle’ was not declared in this scope
   57 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |                                ^~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:20: error: parse error in template argument list
   57 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:64: error: no matching function for call to ‘make_shared<<expression error> >(const char [5])’
   57 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
In file included from /usr/include/c++/11/memory:77,
                 from /opt/ros/humble/src/gtest_vendor/include/gtest/gtest.h:57,
                 from /home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:18:
/usr/include/c++/11/bits/shared_ptr.h:875:5: note: candidate: ‘template<class _Tp, class ... _Args> std::shared_ptr<_Tp> std::make_shared(_Args&& ...)’
  875 |     make_shared(_Args&&... __args)
      |     ^~~~~~~~~~~
/usr/include/c++/11/bits/shared_ptr.h:875:5: note:   template argument deduction/substitution failed:
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:57:64: error: template argument 1 is invalid
   57 |   auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("node");
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:59:3: error: ‘ParametersHandler’ was not declared in this scope
   59 |   ParametersHandler handler(node);
      |   ^~~~~~~~~~~~~~~~~
/home/gree/fishbot_ws/src/navigation2/nav2_mppi_controller/test/noise_generator_test.cpp:81:55: error: ‘handler’ was not declared in this scope
   81 |   generator.initialize(settings, false, "test_name", &handler);
      |                                                       ^~~~~~~
gmake[2]: *** [test/CMakeFiles/noise_generator_test.dir/build.make:76：test/CMakeFiles/noise_generator_test.dir/noise_generator_test.cpp.o] 错误 1
gmake[1]: *** [CMakeFiles/Makefile2:334：test/CMakeFiles/noise_generator_test.dir/all] 错误 2
gmake[1]: *** 正在等待未完成的任务....
gmake: *** [Makefile:146：all] 错误 2
---
Failed   <<< nav2_mppi_controller [16.8s, exited with code 2]

[小鱼]

@1367426346 代码版本不匹配估计

[1367426346]

@小鱼 啊？我按照你的教程装的呀，就是humble版本呀

[小鱼]

@1367426346 先直接二进制安装试试

[1367426346]

@小鱼 二进制安装可以，但是这样就看不到代码了…

[ws13610612715]

@1367426346 解决了么 ？ 我也出现这个问题 。 还有另外一个问题就是

[小鱼]

@1367426346 可以 下载源码直接 看，或者回退源码版本和系统nav2同样版本即可

[1367426346]

@ws13610612715 没解决，只能二进制安装了。

[1932088526]

@1367426346 二进制怎么安装navigation2啊？

[3110379921]

我也遇到了相同的问题，报错信息是一样的，我是按照Nav2官方教程的Released Distribution Binaries进行的安装

source /opt/ros/<distro>/setup.bash
mkdir -p ~/nav2_ws/src && cd ~/nav2_ws
git clone https://github.com/ros-planning/navigation2.git --branch $ROS_DISTRO ./src/navigation2
rosdep install -y \
  --from-paths ./src \
  --ignore-src
colcon build \
  --symlink-install

现在还没解决

[531466838]

@3110379921 解决了不，我遇到同样问题。

[2761607729]

@1367426346 兄弟，你解决了嘛