tf2_ros::Buffer causes linking error

asked 2020-03-02 00:17:41 -0500

musa.ihtiyar gravatar image

Hi, I wanted to use tfListener in my .cpp file but when i declare an object of tf2_ros::Buffer class ide gives a linking error; however, if I comment that line out error dissappears. I'm sending code and error. My rosdistro: melodic, OS: Ubuntu 18.04.4 LTS gcc: gcc (Ubuntu 7.4.0-1ubuntu1~18.04.1) 7.4.0 Linux distro: Linux version 4.15.0-88-generic (buildd@lgw01-amd64-036) (gcc version 7.4.0 (Ubuntu 7.4.0-1ubuntu1~18.04.1)) #88-Ubuntu SMP Tue Feb 11 20:11:34 UTC 2020 Kernel: 4.15.0-88-generic Ide:Clion

assignment2.cpp:

include "ros/ros.h"

include "std_msgs/Float32.h"

include "geometry_msgs/PoseStamped.h"

include "geometry_msgs/PoseArray.h"

include "sensor_msgs/PointCloud2.h"

include "std_msgs/String.h"

include "std_msgs/Float32.h"

include "kdl/chain.hpp"

include "kdl/chainfksolver.hpp"

include "kdl/chainfksolverpos_recursive.hpp"

include "kdl/chainiksolverpos_lma.hpp"

include "kdl/chainiksolvervel_pinv_givens.hpp"

include "kdl/chainiksolverpos_nr_jl.hpp"

include "kdl/frames_io.hpp"

include "tf2_ros/transform_listener.h"

include "tf2_sensor_msgs/tf2_sensor_msgs.h"

include "tf2_geometry_msgs/tf2_geometry_msgs.h"

include "tf2_ros/message_filter.h"

include "message_filters/subscriber.h"

include "tf2_ros/buffer.h"

include "tf2_ros/buffer_client.h"

include "tf2_ros/buffer_interface.h"

include "tf2_ros/buffer_server.h"

include "tf2_ros/message_filter.h"

include "tf2_ros/static_transform_broadcaster.h"

include "tf2_ros/transform_broadcaster.h"

include <geometry_msgs transformstamped.h="">

include <vector>

define UR10_DOF 6

geometry_msgs::Pose calculatedPosition;

void func1(const sensor_msgs::PointCloud2& pointCloud) { ros::NodeHandle nodeHandle; tf2_ros::Buffer tfBuffer; //tf2_ros::TransformListener tfListener(tfBuffer);

/*ros::Rate rate(10.0);
while (nodeHandle.ok()) {
    sensor_msgs::PointCloud2 transformStamped;
    try {
        tfBuffer.lookupTransform("UR10_base",
                                 "kinect_depth", ros::Time(0));

    } catch (tf2::TransformException &exception) {
        ROS_WARN("%s", exception.what());
        ros::Duration(1.0).sleep();
        continue;
    }
    rate.sleep();
}*/

}

void func2(const std_msgs::String& string) {

}

void func3(const std_msgs::Float32& float1) {

}

void func4(const std_msgs::Float32& float2) {

}

void endEffectorPositionCallback(const geometry_msgs::PoseStampedConstPtr& endEffectorPositionMessage) { std::cout << "End Effector Position :" << "[ "<< endEffectorPositionMessage->pose.position.x << " , " << endEffectorPositionMessage->pose.position.y << " , " << endEffectorPositionMessage->pose.position.z << " ]" << std::endl; }

KDL::Chain initChainUR10() { KDL::Chain chain;

chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,-KDL::PI/2,0), KDL::Vector(  -0.09265011549, 0,  0.0833499655128 ))));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,0,0), KDL::Vector(   0.612088978291, 0,  0.0196119993925 ))));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,0,0), KDL::Vector(   0.572199583054, 0,  -0.00660470128059   ))));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,KDL::PI/2,0), KDL::Vector(   0.0572912693024,    0,0.0584142804146   ))));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,-KDL::PI/2,0), KDL::Vector(  -0.0573025941849,   0,0.0583996772766))));
chain.addSegment(KDL::Segment(KDL::Joint(KDL::Joint::RotZ),KDL::Frame(KDL::Rotation::RPY(0,0,0), KDL::Vector(   0,  0,  0.110513627529  ))));

return chain;

}

int main(int argc, char **argv) { //ROS_INFO_STREAM("321"); ros::init(argc,argv,"UR10_Main");

ros::NodeHandle node;

ros::Subscriber subscriber1 =node.subscribe("/kinect/depth",10,func1);
ros ...
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