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Heyii , I am trying to do almost the same thing. Trying to subcribe data from the topic "/distance_sensors" .... I had the same problem and I did the thing that were suggested here. But I am having another error..... [100%] Built target robotino_node In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0, from /usr/include/boost/function/detail/function_iterate.hpp:14, from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52, from /usr/include/boost/function.hpp:64, from /opt/ros/indigo/include/ros/forwards.h:40, from /opt/ros/indigo/include/ros/common.h:37, from /opt/ros/indigo/include/ros/ros.h:43, from /opt/ros/indigo/include/pcl_ros/point_cloud.h:4, from /home/ras/kinect_ws/src/beginner_tutorials/src/listener.cpp:30: /usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_invoker1<functionptr, r,="" t0="">::invoke(boost::detail::function::function_buffer&, T0) [with FunctionPtr = void ()(const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgb=""> >&); R = void; T0 = const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyz=""> >&]’: /usr/include/boost/function/function_template.hpp:934:38: required from ‘void boost::function1<r, t1="">::assign_to(Functor) [with Functor = void ()(const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgb=""> >&); R = void; T0 = const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyz=""> >&]’ /usr/include/boost/function/function_template.hpp:722:7: required from ‘boost::function1<r, t1="">::function1(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<functor>::value>::value, int>::type) [with Functor = void ()(const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgb=""> >&); R = void; T0 = const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyz=""> >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<functor>::value>::value, int>::type = int]’ /usr/include/boost/function/function_template.hpp:1069:16: required from ‘boost::function<r(t0)&gt;::function(functor, typename="" boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<functor="">::value>::value, int>::type) [with Functor = void ()(const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgb=""> >&); R = void; T0 = const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyz=""> >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<functor>::value>::value, int>::type = int]’ /home/ras/kinect_ws/src/beginner_tutorials/src/listener.cpp:102:109: required from here /usr/include/boost/function/function_template.hpp:112:11: error: invalid initialization of reference of type ‘const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyzrgb=""> >&’ from expression of type ‘const boost::shared_ptr<const pcl::pointcloud<pcl::pointxyz=""> >’ BOOST_FUNCTION_RETURN(f(BOOST_FUNCTION_ARGS)); ^ make[2]: * [beginner_tutorials/CMakeFiles/listener.dir/src/listener.cpp.o] Error 1 make[1]: [beginner_tutorials/CMakeFiles/listener.dir/all] Error 2 make: ** [all] Error 2

Invoking "make -j4 -l4" failed

can you please help me regarding this issue? I am very new to ros and working with robotino. I am using ros indigo and ubuntu 14.04. Thank you in advance.