compilation error in ros action server code

asked 2018-06-13 15:29:37 -0500

saurabh
73 ●13 ●16 ●22

updated 2018-06-15 02:16:59 -0500

Hello,

I am using below code to implement a simple_action_server:

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <robot_calibration_msgs/GripperLedCommandAction.h>

typedef actionlib::SimpleActionServer<robot_calibration_msgs::GripperLedCommandAction> led_actn_srvr_t;

class led_action
{

ros::NodeHandle nh;
led_actn_srvr_t ls;
std::string action_name;
public:

led_action(std::string name):
    ls(nh, name, boost::bind(&led_action::execute_cb, this, _1), false),
    action_name(name)
{
    ls.start();
}
void execute_cb(const robot_calibration_msgs::GripperLedCommandActionConstPtr &action)
{
}
};

int main(int argc, char** argv)
{
    return 0;
}

While compiling this code, I am getting below error:

/usr/include/boost/bind/mem_fn_template.hpp:184:7: note:   no known conversion for argument 1 from ‘led_action*’ to ‘led_action&’

I searched for the solution of this compilation issue, but not able to figure out the problem.

Can someone please help to solve this problem.

Saurabh

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answered 2018-06-16 05:03:15 -0500

saurabh
73 ●13 ●16 ●22

I got the solution for this problem. Actually what I found out is like, whenever we use any action in our code, and with that 7 messages are generated, as below:

XXXGoal.msg
XXXFeedback.msg
XXXResult.msg
XXXAction.msg
XXXActionGoal.msg
XXXActionFeedback.msg
XXXActionResult.msg

So the problem here is that, we have to use XXXGoal.msg in the callback. But I was using XXXActionGoal.msg in the callback. And that why I was getting the compilation error.

Now I changed to void execute_cb(const robot_calibration_msgs::GripperLedCommandConstPtr &action) instead of void execute_cb(const robot_calibration_msgs::GripperLedCommandActionConstPtr &action). And it is compiling and I am able to use it.

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answered 2018-06-14 03:28:40 -0500

marguedas

3606 ●17 ●109 ●57

It looks like your variables are not initialized, for example your node is never initialized. Did you try using a main function similar to the tutorial ?

int main(int argc, char** argv)
{
  ros::init(argc, argv, "my_led_action");

  LedAction my_led_action("my_led_action");
  ros::spin();

  return 0;
}

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Hello Marguedas, thanks for your response. I tried with initialising the node too. But getting the same error.

saurabh ( 2018-06-14 03:51:16 -0500 )edit

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