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It is usually the very first errors in the error output that are important and all you need to post- error: no match for ‘operator==’ (operand types are ‘Point2dc’ and ‘const Point2dc’) means you haven't define the == operator for your class. If there is an operator == in your point2dc.cpp file (and it compiles until you include ros.h?) then something else is preventing it from getting compiled properly.

Possibly it is the 'using namespace' in the header (see http://stackoverflow.com/questions/5849457/using-namespace-in-c-headers ).

It is usually the very first errors in the error output that are important and all you need to post- error: no match for ‘operator==’ (operand types are ‘Point2dc’ and ‘const Point2dc’) means you haven't define the == operator for your class. If there is an operator == in your point2dc.cpp file (and it compiles until you include ros.h?) then something else is preventing it from getting compiled properly.

Possibly it is the 'using namespace' using namespace std and ros in the header (see http://stackoverflow.com/questions/5849457/using-namespace-in-c-headers ).

It is usually the very first errors in the error output that are important and all you need to post- error: no match for ‘operator==’ (operand types are ‘Point2dc’ and ‘const Point2dc’) means you haven't define defined the == operator for your class. If there is an operator == in your point2dc.cpp file (and it compiles until you include ros.h?) then something else is preventing it from getting compiled properly.

Possibly it is the using namespace std and ros in the header (see http://stackoverflow.com/questions/5849457/using-namespace-in-c-headers ).