@gvdhoorn: ah yes this seemed to do the trick, along with the tweaking of other lines in the code Found out a method which was to compare 2 same codes from diff versions side by side (i compared goal_functions.cpp from Indigo and Melodic era) and simply played spot the difference

this is the edited code which compiled:

geometry_msgs::PoseStamped robot_pose; if(dynamic_costmap_->getStaticROSCostmap()->getRobotPose(robot_pose)) { conti_pose.pose.position.x = robot_pose.pose.position.x; conti_pose.pose.position.y = robot_pose.pose.position.y;

thanks for your help, it was greatly appreciated :)

@gvdhoorn: ah yes this seemed to do the trick, along with the tweaking of other lines in the code Found out a method which was to compare 2 same codes from diff versions side by side (i compared goal_functions.cpp from Indigo and Melodic era) and simply played spot the difference

this is the edited code which compiled:

geometry_msgs::PoseStamped robot_pose; if(dynamic_costmap_->getStaticROSCostmap()->getRobotPose(robot_pose)) { conti_pose.pose.position.x = robot_pose.pose.position.x; conti_pose.pose.position.y = robot_pose.pose.position.y;

also i added a few header files

include <tf2 linearmath="" matrix3x3.h="">

include <tf2 utils.h="">

include <tf2_geometry_msgs tf2_geometry_msgs.h="">

thanks for your help, it was greatly appreciated :)

@gvdhoorn: ah yes this seemed to do the trick, along with the tweaking of other lines in the code Found out a method which was to compare 2 same codes from diff versions side by side (i compared goal_functions.cpp from Indigo and Melodic era) and simply played spot the difference

this is the edited code which compiled:

geometry_msgs::PoseStamped robot_pose; if(dynamic_costmap_->getStaticROSCostmap()->getRobotPose(robot_pose)) { conti_pose.pose.position.x = robot_pose.pose.position.x; conti_pose.pose.position.y = robot_pose.pose.position.y;

also i added a few header files

include <tf2 linearmath="" matrix3x3.h="">

include <tf2 utils.h="">

include <tf2_geometry_msgs tf2_geometry_msgs.h="">

thanks for your help, it was greatly appreciated :)

@gvdhoorn: ah yes this seemed to do the trick, along with the tweaking of other lines in the code Found out a method which was to compare 2 same codes from diff versions side by side (i compared goal_functions.cpp from Indigo and Melodic era) and simply played spot the difference

this is the edited code which compiled:

 geometry_msgs::PoseStamped robot_pose;
      if(dynamic_costmap_->getStaticROSCostmap()->getRobotPose(robot_pose))
      {
        conti_pose.pose.position.x = robot_pose.pose.position.x;
        conti_pose.pose.position.y = robot_pose.pose.position.y;
robot_pose.pose.position.y;

#include <tf2/LinearMath/Matrix3x3.h>
#include <tf2/utils.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>