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sbpl_lattice_planner on Fuerte

asked 2012-06-13 07:18:42 -0500

Hi all

I'm trying to compile the sbpl_lattice_planner package from the navigation_experimental Stack, i have installed all the dependencies but the compilation fails.

After checking the log of the compilation it seems that it could not found the sbpl/headers.h header file

Here is a part of the build_output.log,

Scanning dependencies of target rosbuild_premsgsrvgen [ 0%] Built target rosbuild_premsgsrvgen Scanning dependencies of target ROSBUILD_genmsg_py [ 40%] Built target ROSBUILD_genmsg_py Scanning dependencies of target ROSBUILD_genmsg_cpp [ 60%] Built target ROSBUILD_genmsg_cpp Scanning dependencies of target ROSBUILD_genmsg_lisp [ 80%] Built target ROSBUILD_genmsg_lisp Scanning dependencies of target rospack_genmsg [ 80%] Built target rospack_genmsg Scanning dependencies of target rospack_genmsg_all [ 80%] Built target rospack_genmsg_all Scanning dependencies of target rospack_genmsg_libexe [ 80%] Built target rospack_genmsg_libexe Scanning dependencies of target rosbuild_precompile [ 80%] Built target rosbuild_precompile Scanning dependencies of target sbpl_lattice_planner [100%] Building CXX object CMakeFiles/sbpl_lattice_planner.dir/src/sbpl_lattice_planner.o In file included from /home/mario/ros_workspace/navigation_experimental/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp:38: /home/mario/ros_workspace/navigation_experimental/sbpl_lattice_planner/include/sbpl_lattice_planner/sbpl_lattice_planner.h:16:26: error: sbpl/headers.h: No such file or directory In file included from /home/mario/ros_workspace/navigation_experimental/sbpl_lattice_planner/src/sbpl_lattice_planner.cpp:38: /home/mario/ros_workspace/navigation_experimental/sbpl_lattice_planner/include/sbpl_lattice_planner/sbpl_lattice_planner.h:69: error: ISO C++ forbids declaration of ‘SBPLPlanner’ with no type

Any ideas?

thanks a lot


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1 Answer

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answered 2012-06-25 01:21:59 -0500

Hi all

I was able to find the error, it was a matter of the include directories for the sbpl_lattice_planner. I search for the "headers.h" file using the command

$sudo find /opt/ros/ -name "headers.h"

and get as the result:


so it seems that this path was not correctly established on the CMakeList.txt file, so i add it to the include directories, just adding this line to the file


then rebuild the package and now seems to work fine



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was sbpl included as dependency for sbpl_lattice_planner in manifest.xml?? If yes, manual inclusion for sbpl header directory is not required!

prince gravatar image prince  ( 2012-06-25 01:43:49 -0500 )edit

The problem (that I also ran into) is that find_package(sbpl) returns "/opt/ros/fuerte/include/" as include path, which requires all includes to be changed from "sbpl/headers.h" into "sbpl/sbpl/headers.h".

AHornung gravatar image AHornung  ( 2012-06-25 03:52:28 -0500 )edit

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Asked: 2012-06-13 07:18:42 -0500

Seen: 503 times

Last updated: Jun 25 '12