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I am trying to migrate some code from ros diamondback to ros fuerte and I am getting this compiler error:
error: ‘const PointCloud’ has no member named ‘serializationLength’
The PointCloud type it mentions is specifically a sensor_msgs::PointCloud. I am including <pcl_ros point_cloud.h=""> as some posts have suggested. What is wrong?
Here is what was working under diamondback:
void serializePointCloudROS(const sensor_msgs::PointCloud& cloud, ostream& out) {
out << "Cloud" << endl;
out << "serialization_length" << endl;
out << cloud.serializationLength() << endl;
uint8_t data[cloud.serializationLength()];
cloud.serialize(data, 0);
assert(sizeof(char*) == sizeof(uint8_t*));
out.write((char*)data, cloud.serializationLength());
}
And here is what I am replacing it with in fuerte.
void serializePointCloudROS(const sensor_msgs::PointCloud& cloud, ostream& out) {
assert(sizeof(char*) == sizeof(uint8_t*));
uint32_t serial_size = ros::serialization::serializationLength(cloud);
boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
ros::serialization::OStream stream(buffer.get(), serial_size);
stream << cloud;
out << "Cloud" << endl;
out << "serialization_length" << endl;
out << serial_size << endl;
out.write((char*)stream.getData(), serial_size);
}
And for the deserialization, this is what I had in diamondback:
bool deserializePointCloudROS(std::istream& istrm, sensor_msgs::PointCloud* cloud) {
string line;
getline(istrm, line);
if(line.compare("Cloud") != 0)
return false;
getline(istrm, line);
if(line.compare("serialization_length") != 0)
return false;
uint32_t serialization_length = 0;
istrm >> serialization_length;
getline(istrm, line);
uint8_t data[serialization_length];
istrm.read((char*)data, serialization_length);
cloud->deserialize(data);
getline(istrm, line);
return true;
}
And here is what I am replacing it with in fuerte.
bool deserializePointCloudROS(std::istream& istrm, sensor_msgs::PointCloud* cloud) {
string line;
getline(istrm, line);
if(line.compare("Cloud") != 0)
return false;
getline(istrm, line);
if(line.compare("serialization_length") != 0)
return false;
uint32_t serialization_length = 0;
istrm >> serialization_length;
getline(istrm, line);
boost::shared_array<uint8_t> buffer(new uint8_t[serialization_length]);
istrm.read((char*)buffer.get(), serialization_length);
ros::serialization::IStream stream(buffer.get(), serialization_length);
stream >> *cloud;
getline(istrm, line);
return true;
}
It compiles, but I haven't tested it yet.
Asked: 2013-01-24 07:00:16 -0500
Seen: 1,613 times
Last updated: Feb 01 '13
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Are you trying to reuse the same workspace in Fuerte you had previously built using Diamondback?
I'm not using ros workspaces.
If you're not using ROS this is the wrong forum.
I think he meant he is not using workspaces as in rosws. So I am reopening, as I am facing the same issue, and I am proposing a solution