How to override /opt/ros/melodic/include/move_base/move_base.h?

edit

I didn't understand the last paragraph.

If you put the modified header file in my_explore_lite/include/move_base.h and include it with #include "move_base.h", the modified header file will be loaded first.

This gives the following errors -

CMakeFiles/main_node.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0x294f): undefined reference to `move_base::MoveBase::MoveBase(tf2_ros::Buffer&, costmap_2d::Costmap2DROS*&, costmap_2d::Costmap2DROS*&)'
main.cpp:(.text+0x296d): undefined reference to `move_base::MoveBase::~MoveBase()'
main.cpp:(.text+0x2b8a): undefined reference to `move_base::MoveBase::~MoveBase()'

This indicates that my_explore_lite / include / move_base.h has been successfully included. Either the constructor and deconstructor have not been created, or the linkage has failed to be set.

move_base.h file in the move_base package (the one inside my catkin workspace) has constructors and destructors defined.

How can I check for the linkage issue?

Do you mean that you have an implementation as well?

My guess is that you also need to bring move_base.cppinto your package and update it. In the original move_base.cpp, the implementation of the deconstructor is here. ( https://github.com/ros-planning/navig... )

In addition, the CMakeLists.txt needs to be changed.

add_executable(main_node src/main.cpp src/move_base.cpp)

I am currently working on a package named my_explore_lite. This package is present at ~/catkin_ws/src/my_explore_lite. I also have move_base package inside my catkin_ws at ~/catkin_ws/src/navigation/move_base.

I have a cpp file named main.cpp inside the src folder of my_explore_lite package (~/catkin_ws/src/my_explore_lite/src/main.cpp).

I have the following line of code inisde the main.cpp file -

move_base::MoveBase my_move_base(buffer, global_costmap, local_costmap);

As mentioned in the original post, I have modified the original constructor for the MoveBase class.

MoveBase(tf2_ros::Buffer& tf, costmap_2d::Costmap2DROS* &planner_costmap_ros_, costmap_2d::Costmap2DROS* &controller_costmap_ros_ );

is not the only part that actually works.

Please try adding the following to main.cpp. I think it will solve the link issue for now. (But it does not work.).

namespace move_base {
MoveBase::MoveBase(tf2_ros::Buffer& tf, costmap_2d::Costmap2DROS* &planner_costmap_ros_, costmap_2d::Costmap2DROS* &controller_costmap_ros_ )
{
}
MoveBase::~MoveBase()
{
}
} // namespace

@miura Even when I am using the original move_base constructor, I am getting the following erorr -

Errors     << my_explore_lite:make /home/skpro19/catkin_ws/logs/my_explore_lite/build.make.052.log                                  
CMakeFiles/main_node.dir/src/main.cpp.o: In function `main':
main.cpp:(.text+0x28b1): undefined reference to `move_base::MoveBase::MoveBase(tf2_ros::Buffer&)'
main.cpp:(.text+0x28c0): undefined reference to `move_base::MoveBase::~MoveBase()'
collect2: error: ld returned 1 exit status
make[2]: *** [/home/skpro19/catkin_ws/devel/.private/my_explore_lite/lib/my_explore_lite/main_node] Error 1
make[1]: *** [CMakeFiles/main_node.dir/all] Error 2
make: *** [all] Error 2

(I have removed the modified move_base.h file from my_explore_lite package's include folder. In the main.cpp, I am using move_base::MoveBase my_move_base(buffer); )