ros2订阅pointcloud2话题出错

小鱼

@972032232 一看就是发帖前必看没有看，我帮你修改好了格式~

提前安装依赖

sudo apt install ros-foxy-pcl*

文件1：src/subscription_pcl.cpp

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>

class PclSub : public rclcpp::Node
{

public:
    PclSub(std::string name)
        : Node(name)
    {
        using std::placeholders::_1;
        sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("sexy_girl", 10, std::bind(&PclSub::topic_callback, this, std::placeholders::_1));
    }

private:
    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_novel;

    void topic_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
    {
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud =
            boost::make_shared<pcl::PointCloud<pcl::PointXYZRGB>>();
        pcl::fromROSMsg(*msg, *cloud);
        RCLCPP_INFO(this->get_logger(), "points_size(%d,%d)",msg->height,msg->width);
    };
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<PclSub>("pclsub");
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

文件2：CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(ros2pcl_test)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(ros2pcl_test_sub 
  src/subscription_pcl.cpp
)
ament_target_dependencies(ros2pcl_test_sub 
  rclcpp 
  sensor_msgs
  PCL
)

ament_package()

-

@小鱼好的鱼哥，下次我发帖注意哈哈，明天我试试这行代码

-

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>
using std::placeholders::_1;

class PclSub : public rclcpp::Node
{

public:
    PclSub()
        : Node("name")
    {
        sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("sexy_girl", 10, std::bind(&PclSub::topic_callback, this, _1));
    }

private:
    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_novel;

    void topic_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
    {
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud =
            boost::make_shared<pcl::PointCloud<pcl::PointXYZRGB>>();
        pcl::fromROSMsg(*msg, *cloud);
        
    };
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<PclSub>("pclsub"));
    rclcpp::shutdown();
    return 0;
}

这是cpp文件。

cmake_minimum_required(VERSION 3.5)
project(ros_ws)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
add_executable(ros2pcl_test_sub 
  src/subscription_pcl.cpp
)
ament_target_dependencies(ros2pcl_test_sub 
  rclcpp 
  sensor_msgs
  pcl_ros
  pcl_conversions
)


ament_package()

这是cmake文件

Starting >>> ros_ws  
--- stderr: ros_ws                             
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp: In constructor ‘PclSub::PclSub()’:
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:18:136: error: reference to ‘_1’ is ambiguous
   18 | 2>("sexy_girl", 10, std::bind(&PclSub::topic_callback, this, _1));
      |                                                              ^~

In file included from /usr/include/boost/bind/bind.hpp:2356,
                 from /usr/include/boost/bind.hpp:22,
                 from /usr/include/boost/signals2/slot.hpp:15,
                 from /usr/include/boost/signals2/connection.hpp:24,
                 from /usr/include/boost/signals2/signal.hpp:22,
                 from /usr/include/boost/signals2.hpp:19,
                 from /usr/include/pcl-1.10/pcl/io/boost.h:64,
                 from /usr/include/pcl-1.10/pcl/io/file_io.h:42,
                 from /usr/include/pcl-1.10/pcl/io/pcd_io.h:44,
                 from /home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:7:
/usr/include/boost/bind/placeholders.hpp:46:38: note: candidates are: ‘constexpr const boost::arg<1> boost::placeholders::_1’
   46 | BOOST_STATIC_CONSTEXPR boost::arg<1> _1;
      |                                      ^~
In file included from /opt/ros/foxy/include/rclcpp/context.hpp:19,
                 from /opt/ros/foxy/include/rclcpp/contexts/default_context.hpp:18,
                 from /opt/ros/foxy/include/rclcpp/executor.hpp:32,
                 from /opt/ros/foxy/include/rclcpp/executors/multi_threaded_executor.hpp:26,
                 from /opt/ros/foxy/include/rclcpp/executors.hpp:21,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:146,
                 from /home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:1:
/usr/include/c++/9/functional:211:34: note:                 ‘const std::_Placeholder<1> std::placeholders::_1’
  211 |     extern const _Placeholder<1> _1;
      |                                  ^~
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp: In member function ‘void PclSub::topic_callback(sensor_msgs::msg::PointCloud2_<std::allocator<void> >::SharedPtr)’:
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:24:72: warning: unused parameter ‘msg’ [-Wunused-parameter]
   24 |     void topic_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
      |                         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
In file included from /usr/include/x86_64-linux-gnu/c++/9/bits/c++allocator.h:33,
                 from /usr/include/c++/9/bits/allocator.h:46,
                 from /usr/include/c++/9/memory:63,
                 from /opt/ros/foxy/include/rclcpp/rclcpp.hpp:144,
                 from /home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:1:
/usr/include/c++/9/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = PclSub; _Args = {const char (&)[7]}; _Tp = PclSub]’:
/usr/include/c++/9/bits/alloc_traits.h:483:4:   required from ‘static void std::allocator_traits<std::allocator<_Tp1> >::construct(std::allocator_traits<std::allocator<_Tp1> >::allocator_type&, _Up*, _Args&& ...) [with _Up = PclSub; _Args = {const char (&)[7]}; _Tp = PclSub; std::allocator_traits<std::allocator<_Tp1> >::allocator_type = std::allocator<PclSub>]’
/usr/include/c++/9/bits/shared_ptr_base.h:548:39:   required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {const char (&)[7]}; _Tp = PclSub; _Alloc = std::allocator<PclSub>; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:679:16:   required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = PclSub; _Alloc = std::allocator<PclSub>; _Args = {const char (&)[7]}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr_base.h:1344:71:   required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<PclSub>; _Args = {const char (&)[7]}; _Tp = PclSub; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/9/bits/shared_ptr.h:359:59:   required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = std::allocator<PclSub>; _Args = {const char (&)[7]}; _Tp = PclSub]’
/usr/include/c++/9/bits/shared_ptr.h:701:14:   required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = PclSub; _Alloc = std::allocator<PclSub>; _Args = {const char (&)[7]}]’
/usr/include/c++/9/bits/shared_ptr.h:717:39:   required from ‘std::shared_ptr<_Tp> std::make_shared(_Args&& ...) [with _Tp = PclSub; _Args = {const char (&)[7]}]’
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:33:51:   required from here
/usr/include/c++/9/ext/new_allocator.h:146:4: error: no matching function for call to ‘PclSub::PclSub(const char [7])’
  146 |  { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
      |    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:15:5: note: candidate: ‘PclSub::PclSub()’
   15 |     PclSub()
      |     ^~~~~~
/home/a/ros2_ws/src/ros_ws/src/subscription_pcl.cpp:15:5: note:   candidate expects 0 arguments, 1 provided
make[2]: *** [CMakeFiles/ros2pcl_test_sub.dir/build.make:63：CMakeFiles/ros2pcl_test_sub.dir/src/subscription_pcl.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:78：CMakeFiles/ros2pcl_test_sub.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
---
Failed   <<< ros_ws [4.91s, exited with code 2]

Summary: 0 packages finished [5.06s]
  1 package failed: ros_ws
  1 package had stderr output: ros_ws

我不太明白问题出现在了哪里，也总是解决不了，我尝试把 46 | BOOST_STATIC_CONSTEXPR boost::arg<1> _1;文件这条注释掉，他仍然不可运行

小鱼

@972032232 你用的PCL哪个版本的

-

@小鱼用的ros2环境中的pcl，应该是1.10

-

@小鱼就是foxy自带的pcl 1.10，pcl_ros和conversions是我用apt下载的，命令是 sudo apt install ros-foxy-pcl*

小鱼

@972032232 更新了下代码，你再试试

@小鱼在 ros2订阅pointcloud2话题出错中说：

@972032232 一看就是发帖前必看没有看，我帮你修改好了格式~

提前安装依赖

sudo apt install ros-foxy-pcl*

文件1：src/subscription_pcl.cpp

#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h>

class PclSub : public rclcpp::Node
{

public:
    PclSub(std::string name)
        : Node(name)
    {
        using std::placeholders::_1;
        sub_novel = this->create_subscription<sensor_msgs::msg::PointCloud2>("sexy_girl", 10, std::bind(&PclSub::topic_callback, this, std::placeholders::_1));
    }

private:
    rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr sub_novel;

    void topic_callback(const sensor_msgs::msg::PointCloud2::SharedPtr msg)
    {
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud =
            boost::make_shared<pcl::PointCloud<pcl::PointXYZRGB>>();
        pcl::fromROSMsg(*msg, *cloud);
        RCLCPP_INFO(this->get_logger(), "points_size(%d,%d)",msg->height,msg->width);
    };
};

int main(int argc, char **argv)
{
    rclcpp::init(argc, argv);
    auto node = std::make_shared<PclSub>("pclsub");
    rclcpp::spin(node);
    rclcpp::shutdown();
    return 0;
}

文件2：CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(ros2pcl_test)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(ros2pcl_test_sub 
  src/subscription_pcl.cpp
)
ament_target_dependencies(ros2pcl_test_sub 
  rclcpp 
  sensor_msgs
  PCL
)

ament_package()

-

@小鱼我好像又遇到新问题了，在我打算将接受的点云保存为实时点云时，添加了

pcl::io::savePCDFileASCII ("asd.pcd", *cloud);

结果在编译时候报错

/usr/bin/ld: CMakeFiles/ros2pcl_test_sub.dir/src/subscription_pcl.cpp.o: in function `pcl::PCDWriter::write(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, bool)':
subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter5writeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSC_10QuaternionIfLi0EEEb[_ZN3pcl9PCDWriter5writeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSC_10QuaternionIfLi0EEEb]+0x47): undefined reference to `pcl::PCDWriter::writeBinary(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter5writeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSC_10QuaternionIfLi0EEEb[_ZN3pcl9PCDWriter5writeERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_14PCLPointCloud2ERKN5Eigen6MatrixIfLi4ELi1ELi0ELi4ELi1EEERKNSC_10QuaternionIfLi0EEEb]+0x6e): undefined reference to `pcl::PCDWriter::writeASCII(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PCLPointCloud2 const&, Eigen::Matrix<float, 4, 1, 0, 4, 1> const&, Eigen::Quaternion<float, 0> const&, int)'
/usr/bin/ld: CMakeFiles/ros2pcl_test_sub.dir/src/subscription_pcl.cpp.o: in function `int pcl::PCDWriter::writeBinary<pcl::PointXYZRGB>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PointCloud<pcl::PointXYZRGB> const&)':
subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE]+0x27b): undefined reference to `pcl::PCDWriter::setLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE]+0x487): undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE]+0x5c4): undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE]+0x8bc): undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE[_ZN3pcl9PCDWriter11writeBinaryINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EE]+0x978): undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: CMakeFiles/ros2pcl_test_sub.dir/src/subscription_pcl.cpp.o: in function `int pcl::PCDWriter::writeASCII<pcl::PointXYZRGB>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, pcl::PointCloud<pcl::PointXYZRGB> const&, int)':
subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter10writeASCIIINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EEi[_ZN3pcl9PCDWriter10writeASCIIINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EEi]+0x2e0): undefined reference to `pcl::PCDWriter::setLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
/usr/bin/ld: subscription_pcl.cpp:(.text._ZN3pcl9PCDWriter10writeASCIIINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EEi[_ZN3pcl9PCDWriter10writeASCIIINS_11PointXYZRGBEEEiRKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEERKNS_10PointCloudIT_EEi]+0xbff): undefined reference to `pcl::PCDWriter::resetLockingPermissions(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, boost::interprocess::file_lock&)'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/ros2pcl_test_sub.dir/build.make:156：ros2pcl_test_sub] 错误 1
make[1]: *** [CMakeFiles/Makefile2:78：CMakeFiles/ros2pcl_test_sub.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
---
Failed   <<< ros2pcl_test [8.44s, exited with code 2]

这个是因为什么愿意呢

小鱼

@972032232 在 ros2订阅pointcloud2话题出错中说：

undefined reference to `pcl::PCDWriter::setLockingPermissions

要么库没link上，要么版本有问题

-

@小鱼如何添加库呢

小鱼

@972032232 修改下Cmake即可

cmake_minimum_required(VERSION 3.5)
project(ros2pcl_test)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable(ros2pcl_test_sub 
  src/subscription_pcl.cpp
)
ament_target_dependencies(ros2pcl_test_sub 
  rclcpp 
  sensor_msgs
)

target_link_libraries(ros2pcl_test_sub ${PCL_LIBRARIES})

ament_package()