ros2订阅pointcloud2话题出错
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@小鱼 好的鱼哥，下次我发帖注意哈哈，明天我试试这行代码
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#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
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9 972032232 将这个主题标记为已解决，在
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@972032232 你用的PCL哪个版本的
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@小鱼 用的ros2环境中的pcl，应该是1.10
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@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*
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@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
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@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
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@小鱼 如何添加库呢
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@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()
