定义类里面代码报错

525906221

class ControllerNode : public rclcpp::Node
{
public:
ControllerNode() : Node("controller")
{
subscription = this->create_subscriptionturtlesim::msg::Pose("/turtle1/pose", 10, std::bind(&ControllerNode::topic_callback, this, _1));
publisher = this->create_publisher<geometry_msgs::msg::Twist>("/turtle1/cmd_vel", 10);
path_service_client = this->create_client<custom_interfaces::srv::Trajectory>("plan_path");
pen_service_client = this->create_clientturtlesim::srv::SetPen("turtle1/set_pen");
teleport_service_client = this->create_clientturtlesim::srv::TeleportAbsolute("turtle1/teleport_absolute");
clear_service_client = this->create_client<std_srvs::srv::Empty>("/clear");
timer= this->create_wall_timer(10000ms, std::bind(&ControllerNode::timer_callback, this));
pose_msg = std::make_sharedturtlesim::msg::Pose();

  while (!path_service_client->wait_for_service(1s) || !pen_service_client->wait_for_service(1s) ||!teleport_service_client->wait_for_service(1s)) {
    if (!rclcpp::ok()) {
      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
      return;
    } 
    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again...");
  }

  auto pen_request = std::make_shared<turtlesim::srv::SetPen::Request>();
  pen_request->r = 1;
  pen_request->g = 1;
  pen_request->b = 1;
  pen_request->width = 1;
  pen_request->off = false;
  auto pen_responce_callback = [this](rclcpp::Client<turtlesim::srv::SetPen>::SharedFuture future) {
      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Successed to call service turtle1/set_pen");
      auto response = future.get();          
  };
  pen_service_client->async_send_request(pen_request, pen_responce_callback);
}

private:
void timer_callback()
{
RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "turtle at [x='%f', y='%f']", pose_msg->x, pose_msg->y);
auto path_request = std::make_shared<custom_interfaces::srv::Trajectory::Request>();
path_request->point.x = pose_msg->x;
path_request->point.y = pose_msg->y;

  //call service /clear
  auto clear_request = std::make_shared<std_srvs::srv::Empty::Request>();
  auto clear_responce_callback = 
      [this](rclcpp::Client<std_srvs::srv::Empty>::SharedFuture future) {
        auto response = future.get();
  };
  clear_service_client->async_send_request(clear_request, clear_responce_callback);

  auto path_responce_callback = 
      [this](rclcpp::Client<custom_interfaces::srv::Trajectory>::SharedFuture future) {
      RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Successed to call service plan_path");
      auto response = future.get();          

      for (custom_interfaces::msg::Point2D point : response->trajectorypoints) {
        auto teleport_request = std::make_shared<turtlesim::srv::TeleportAbsolute::Request>();
        teleport_request->x = point.x;
        teleport_request->y = point.y;
        teleport_request->theta = 0;
        RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "move to [x='%f', y='%f']", teleport_request->x, teleport_request->y);
        auto teleport_responce_callback = [this](rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedFuture future) {
          RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Successed to call service turtle1/teleport_absolute");
          auto response = future.get();          
        };
        teleport_service_client->async_send_request(teleport_request, teleport_responce_callback);
      }    
  };

  //delay for 2 seconds
  //std::this_thread::sleep_for(std::chrono::seconds(2));
  if(pose_msg->linear_velocity == 0 && pose_msg->angular_velocity == 0){
    path_service_client->async_send_request(path_request, path_responce_callback);
  }      
}

void topic_callback(const turtlesim::msg::Pose &msg) const
{    
  pose_msg->x = msg.x;
  pose_msg->y = msg.y;
  pose_msg->theta = msg.theta;

  pose_msg->linear_velocity = msg.linear_velocity;
  pose_msg->angular_velocity = msg.angular_velocity;      
}

rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription;
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
rclcpp::Client<custom_interfaces::srv::Trajectory>::SharedPtr path_service_client;
rclcpp::Client<turtlesim::srv::SetPen>::SharedPtr pen_service_client;
rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_service_client;
rclcpp::Client<std_srvs::srv::Empty>::SharedPtr clear_service_client;

rclcpp::TimerBase::SharedPtr timer;
std::shared_ptr<turtlesim::msg::Pose> pose_msg;

};

该代码在subscription = this->create_subscriptionturtlesim::msg::Pose("/turtle1/pose", 10, std::bind(&ControllerNode::topic_callback, this, _1));该行一直报错"没有与这些操作数匹配的 "=" 运算符"

机器人小伊

在您提供的 ControllerNode 类代码中，报错信息指出在创建 subscription 时存在运算符不匹配的问题。这主要是因为代码中存在语法错误，特别是在 create_subscription 方法的调用中缺少了必要的尖括号 < 和 > 来指定消息类型。此外，还有其他几处类似的语法错误需要修正。

以下是修改后的代码，包括修正语法错误和一些潜在的逻辑问题：

#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <turtlesim/msg/pose.hpp>
#include <turtlesim/srv/set_pen.hpp>
#include <turtlesim/srv/teleport_absolute.hpp>
#include <std_srvs/srv/empty.hpp>
#include <custom_interfaces/srv/trajectory.hpp>
#include <chrono>

class ControllerNode : public rclcpp::Node
{
public:
    ControllerNode() : Node("controller")
    {
        subscription = this->create_subscription<turtlesim::msg::Pose>(
            "/turtle1/pose", 10, std::bind(&ControllerNode::topic_callback, this, std::placeholders::_1));

        publisher = this->create_publisher<geometry_msgs::msg::Twist>("/turtle1/cmd_vel", 10);

        path_service_client = this->create_client<custom_interfaces::srv::Trajectory>("plan_path");
        pen_service_client = this->create_client<turtlesim::srv::SetPen>("turtle1/set_pen");
        teleport_service_client = this->create_client<turtlesim::srv::TeleportAbsolute>("turtle1/teleport_absolute");
        clear_service_client = this->create_client<std_srvs::srv::Empty>("/clear");

        timer = this->create_wall_timer(
            10000ms, std::bind(&ControllerNode::timer_callback, this));

        pose_msg = std::make_shared<turtlesim::msg::Pose>();

        while (!path_service_client->wait_for_service(1s) ||
               !pen_service_client->wait_for_service(1s) ||
               !teleport_service_client->wait_for_service(1s)) {
            if (!rclcpp::ok()) {
                RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
                return;
            }
            RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Service not available, waiting again...");
        }

        auto pen_request = std::make_shared<turtlesim::srv::SetPen::Request>();
        pen_request->r = 1;
        pen_request->g = 1;
        pen_request->b = 1;
        pen_request->width = 1;
        pen_request->off = false;

        auto pen_response_callback = [this](rclcpp::Client<turtlesim::srv::SetPen>::SharedFuture future) {
            RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Succeeded to call service turtle1/set_pen");
            auto response = future.get();
        };
        pen_service_client->async_send_request(pen_request, pen_response_callback);
    }

private:
    void timer_callback()
    {
        RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Turtle at [x='%f', y='%f']", pose_msg->x, pose_msg->y);

        auto path_request = std::make_shared<custom_interfaces::srv::Trajectory::Request>();
        path_request->point.x = pose_msg->x;
        path_request->point.y = pose_msg->y;

        // Call service /clear
        auto clear_request = std::make_shared<std_srvs::srv::Empty::Request>();
        auto clear_response_callback = [this](rclcpp::Client<std_srvs::srv::Empty>::SharedFuture future) {
            auto response = future.get();
        };
        clear_service_client->async_send_request(clear_request, clear_response_callback);

        auto path_response_callback = [this](rclcpp::Client<custom_interfaces::srv::Trajectory>::SharedFuture future) {
            RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Succeeded to call service plan_path");
            auto response = future.get();

            for (const auto& point : response->trajectory_points) {
                auto teleport_request = std::make_shared<turtlesim::srv::TeleportAbsolute::Request>();
                teleport_request->x = point.x;
                teleport_request->y = point.y;
                teleport_request->theta = 0;
                RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Move to [x='%f', y='%f']", teleport_request->x, teleport_request->y);

                auto teleport_response_callback = [this](rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedFuture future) {
                    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Succeeded to call service turtle1/teleport_absolute");
                    auto response = future.get();
                };
                teleport_service_client->async_send_request(teleport_request, teleport_response_callback);
            }
        };

        // Delay for 2 seconds (uncomment if needed)
        // std::this_thread::sleep_for(std::chrono::seconds(2));

        if (pose_msg->linear_velocity == 0 && pose_msg->angular_velocity == 0) {
            path_service_client->async_send_request(path_request, path_response_callback);
        }
    }

    void topic_callback(const turtlesim::msg::Pose& msg) const
    {
        *pose_msg = msg;
    }

    rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription;
    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
    rclcpp::Client<custom_interfaces::srv::Trajectory>::SharedPtr path_service_client;
    rclcpp::Client<turtlesim::srv::SetPen>::SharedPtr pen_service_client;
    rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_service_client;
    rclcpp::Client<std_srvs::srv::Empty>::SharedPtr clear_service_client;

    rclcpp::TimerBase::SharedPtr timer;
    std::shared_ptr<turtlesim::msg::Pose> pose_msg;
};

主要修正点：

尖括号 < > 的使用：在创建 subscription, publisher, client 时正确使用了尖括号来指定模板参数。
占位符 _1 的命名空间：使用 std::placeholders::_1 替代 _1，确保正确绑定回调函数的参数。
消息赋值：在 topic_callback 中使用 *pose_msg = msg; 替代逐字段赋值，以避免潜在的错误。
注释和代码格式：改善了代码的可读性，增加了必要的注释。

确保所有必要的头文件都已包含，并且 custom_interfaces::srv::Trajectory 是您项目中正确定义的服务。如果 custom_interfaces 不是标准 ROS 2 的一部分，请确保它已正确导入和编译。

以上为生成回答，仅供参考～