add_compile_options(-std=c++11)

Question

I am having the following errors:

home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:9:6: error: ‘AsyncSpinner’ was not declared in this scope
  ros:AsyncSpinner async_spinner(1);


/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:10:2: error: ‘spinner’ was not declared in this scope
  spinner.start();
  ^
/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:13:2: error: ‘move_group_interface’ has not been declared
  move_group_interface::MoveGroupInterface move_group("arm");
  ^
/home/marcus/catkin_ws/src/seven_dof_arm_test/src/test_random.cpp:15:2: error: ‘group’ was not declared in this scope
  group.setRandomTarget();

OBS: I have already copied the following code from github: "spinner,h" inside the moveit library and edited the cmakelists...to include this library....I am using kinetic so this library did not existed in the "/opt/ros/kinetic/include/moveit/movegroupinterface$"

It only existed the movegroup.h and the movegroupinterface.h .....so I created the spinner.h too However You can see that in the error ....."the spinner" ..."the movegroup"...."the movegroupinterface" was not declared...

My test_random.cpp is below:

//Movelt! header file
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/move_group_interface/spinner.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
    ros::init(argc, argv, "test_random_node", ros::init_options::AnonymousName);
    //start a ROS spinning thread
    ros:AsyncSpinner async_spinner(1);
    spinner.start();
    //this connects to a running instance of the move_group node
    //Here the Planning group is "arm"
    move_group_interface::MoveGroupInterface move_group("arm");
    //Specify that our target will be a random one
    group.setRandomTarget();
    //plan the motion and then move the group to the sampled target 
    group.move();
ros::waitForShutdown();
}

Edit: To link with roscpp I wrote in C.makeLists:

cmake_minimum_required(VERSION 2.8.3)
project(seven_dof_arm_test)

add_compile_options(-std=c++11)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  interactive_markers
  cmake_modules
  moveit_core
  moveit_ros_perception
  moveit_ros_planning_interface
  pluginlib
  roscpp
  std_msgs
).....................................etc....

and I included <ros/ros.h> and removed the spinner.h in include....However the terminal displayed the same error unfortunately.

Do you have another suggestion my friend?

Asked by Vini71 on 2019-06-20 15:46:56 UTC

Answer 1

//Movelt! header file
#include <moveit/move_group_interface/move_group_interface.h>
#include <moveit/move_group_interface/spinner.h>
#include <moveit/move_group_interface/move_group.h>

I don't think this has anything to do with Kinetic vs Indigo: you're not including the required headers.

Remove the spinner.h you created and add

#include <ros/ros.h>

That should resolve your issues.

Be sure to also link against roscpp.

Asked by gvdhoorn on 2019-06-20 16:21:33 UTC

Comments

Thanks it worked. I think I am with probllems in C++ and in to comprehend ROS errors...I having another problem with the test_custom.cpp in arm tutorial from chapter 10 of Mastering ROS....I am very sad..

Asked by Vini71 on 2019-06-23 16:18:44 UTC

Answer 2

Your line ros:AsyncSpinner async_spinner(1); is missing a colon for the namespace. Add the colon to make it ros::AsyncSpinner async_spinner(1);.

Asked by ssnover on 2019-06-21 16:02:37 UTC

Ch10 mastering ROS: AsyncSpinner not found (Kinetic)

Comments

Compile as C++11, supported in ROS Kinetic and newer

add_compile_options(-std=c++11)

Find catkin macros and libraries

if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

is used, also find other catkin packages

System dependencies are found with CMake's conventions

Uncomment this if the package has a setup.py. This macro ensures

modules and global scripts declared therein get installed

See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

catkin_python_setup()

include

include

include

Answers

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