error: ‘rclcpp::executor’ has not been declared思考与ROS2的版本号
【摘要】
这个其实是各版本之间不停的改动导致的。
foxy：
That means replace the rclcpp::FutureReturnCode::SUCCESS with rclcpp::executor::FutureReturnCode::SUCCESS.
然后：
galactic：
rclcpp::FutureRet...
这个其实是各版本之间不停的改动导致的。
foxy：
That means replace the rclcpp::FutureReturnCode::SUCCESS with rclcpp::executor::FutureReturnCode::SUCCESS.
然后：
galactic：
rclcpp::FutureReturnCode::SUCCESS
humble：
rclcpp::FutureReturnCode::SUCCESS
那么针对如下出错信息：
修改对应源代码：
/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp:38:13:
将：
-
if (rclcpp::spin_until_future_complete(node, result) ==
-
rclcpp::executor::FutureReturnCode::SUCCESS)
修改为：
-
if (rclcpp::spin_until_future_complete(node, result) ==
-
rclcpp::FutureReturnCode::SUCCESS)
然后就一切ok啦。
全部记录：
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ros@ros:~/RobCode/mobot$ colcon build
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Starting >>> teleop_tools_msgs
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Starting >>> key_teleop
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Starting >>> mobot
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Starting >>> mobot_follow
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Starting >>> mouse_teleop
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Finished <<< key_teleop [2.30s]
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Finished <<< mouse_teleop [2.36s]
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Finished <<< teleop_tools_msgs [12.8s]
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Starting >>> joy_teleop
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Finished <<< joy_teleop [3.74s]
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Starting >>> teleop_tools
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Finished <<< teleop_tools [0.74s]
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Finished <<< mobot_follow [19.8s]
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--- stderr: mobot
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/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp: In function ‘int main(int, char**)’:
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/home/ros/RobCode/mobot/src/mobot/src/send_client.cpp:38:13: error: ‘rclcpp::executor’ has not been declared
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38 | rclcpp::executor::FutureReturnCode::SUCCESS)
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| ^~~~~~~~
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make[2]: *** [CMakeFiles/send_client.dir/build.make:63：CMakeFiles/send_client.dir/src/send_client.cpp.o] 错误 1
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make[1]: *** [CMakeFiles/Makefile2:671：CMakeFiles/send_client.dir/all] 错误 2
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make[1]: *** 正在等待未完成的任务....
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make: *** [Makefile:141：all] 错误 2
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---
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Failed <<< mobot [25.3s, exited with code 2]
-
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Summary: 6 packages finished [25.6s]
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1 package failed: mobot
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1 package had stderr output: mobot
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ros@ros:~/RobCode/mobot$ colcon build
-
Starting >>> teleop_tools_msgs
-
Starting >>> key_teleop
-
Starting >>> mobot
-
Starting >>> mobot_follow
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Starting >>> mouse_teleop
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Finished <<< mobot_follow [0.90s]
-
Finished <<< teleop_tools_msgs [1.00s]
-
Starting >>> joy_teleop
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Finished <<< key_teleop [1.99s]
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Finished <<< mouse_teleop [2.07s]
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Finished <<< joy_teleop [1.48s]
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Starting >>> teleop_tools
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Finished <<< teleop_tools [0.12s]
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Finished <<< mobot [4.66s]
-
-
Summary: 7 packages finished [4.84s]
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ros@ros:~/RobCode/mobot$
-
-
当节点使用服务进行通信时，发送数据请求的节点称为客户端节点，响应请求的节点称为服务节点。 请求和响应的结构由 .srv 文件确定。
When nodes communicate using services, the node that sends a request for data is called the client node, and the one that responds to the request is the service node. The structure of the request and response is determined by a .srv file.
这里使用的例子是一个简单的目标前进系统； 一个节点目标前进服务器，另一个客户端接收对应坐标。
到达目标点附近，任务完成。
这个比导航行动要简单，但是比速度控制反馈等要复杂一些。
给定目标点，到达目标点。
当然也可以用行动来完成，显示距离目标点完成的百分比。
服务器端：
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#include <iostream>
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#include <chrono>
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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "mobot/srv/drivegoalsrv.hpp"
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#include <geometry_msgs/msg/twist.hpp>
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#include "nav_msgs/msg/odometry.hpp"
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using namespace std::chrono_literals;
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-
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bool drive_flag=0;
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float goal_x=0;
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float goal_y=0;
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float vel_x=0;
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float vel_z=0;
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float pid_z=2.0;
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void get(const std::shared_ptr<mobot::srv::Drivegoalsrv::Request> request,
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std::shared_ptr<mobot::srv::Drivegoalsrv::Response> response)
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{
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if(request->x>0.0)
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{
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drive_flag=1;
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response->success=drive_flag;
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goal_x=request->x;
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goal_y=request->y;
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RCLCPP_INFO(rclcpp::get_logger("service"), "Driving");
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//RCLCPP_INFO(rclcpp::get_logger("service"), "Get Goal\nx: %lf" " y: %lf",
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// request->x, request->y);
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//RCLCPP_INFO(rclcpp::get_logger("service"), "Flag: [%d]", response->success);
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}
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else
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{
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drive_flag=0;
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response->success=drive_flag;
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goal_x=request->x;
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goal_y=request->y;
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//RCLCPP_INFO(rclcpp::get_logger("service"), "Error, x>0!!!\nx: %lf" " y: %lf",
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// request->x, request->y);
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//RCLCPP_INFO(rclcpp::get_logger("service"), "Flag: [%d]", response->success);
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}
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}
-
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void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
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{
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if(drive_flag)
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{
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vel_x=goal_x-msg->pose.pose.position.x;
-
vel_z=pid_z*(goal_y-msg->pose.pose.position.y)*vel_x*vel_x;
-
if(vel_z>0.5)
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{
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vel_z=0.5;
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}
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if(vel_z<-0.5)
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{
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vel_z=-0.5;
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}
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if(vel_x>1.0)
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{
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vel_x=1.0;
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}
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if(vel_x<-1.0)
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{
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vel_x=-1.0;
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}
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if((vel_x<0.05)&&(vel_x>-0.05))
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if((vel_z<0.05)&&(vel_z>-0.05))
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{
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RCLCPP_INFO(rclcpp::get_logger("service"), "Mission complete!");
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RCLCPP_INFO(rclcpp::get_logger("service"), "Ready to get goal.");
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drive_flag=0;
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}
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}
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else
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{
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vel_x=0;
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vel_z=0;
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}
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// RCLCPP_INFO(rclcpp::get_logger("odom_sub"), "I heard: mobot odom position(x,y)='%f','%f'", msg->pose.pose.position.x, msg->pose.pose.position.y);
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}
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
-
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std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("get_goal_server");
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rclcpp::Service<mobot::srv::Drivegoalsrv>::SharedPtr service =
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node->create_service<mobot::srv::Drivegoalsrv>("get_goal", &get);
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rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub =
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node->create_publisher<geometry_msgs::msg::Twist>("mobot/cmd_vel", 10);
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geometry_msgs::msg::Twist mobot_vel;
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rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub =
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node->create_subscription<nav_msgs::msg::Odometry>("/mobot/odom", 100, odom_callback);
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RCLCPP_INFO(rclcpp::get_logger("service"), "Ready to get goal.");
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rclcpp::WallRate loop_rate(100ms);
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while (rclcpp::ok()) {
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mobot_vel.linear.x = vel_x;
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mobot_vel.angular.z = vel_z;
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//RCLCPP_INFO(rclcpp::get_logger("vel_pub"), "Publishing mobot cmd_vel : linear='%f',angular='%f'", mobot_vel.linear.x, mobot_vel.angular.z);
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vel_pub->publish(mobot_vel);
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rclcpp::spin_some(node);
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loop_rate.sleep();
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}
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rclcpp::shutdown();
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return 0;
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}
客户端：
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#include "rclcpp/rclcpp.hpp"
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#include "mobot/srv/drivegoalsrv.hpp"
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#include <chrono>
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#include <cstdlib>
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#include <memory>
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using namespace std::chrono_literals;
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
-
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if (argc != 3) {
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RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "usage: send_goal_position_client X Y");
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return 1;
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}
-
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std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("send_goal_client");
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rclcpp::Client<mobot::srv::Drivegoalsrv>::SharedPtr client =
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node->create_client<mobot::srv::Drivegoalsrv>("get_goal");
-
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auto request = std::make_shared<mobot::srv::Drivegoalsrv::Request>();
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request->x = atoll(argv[1]);
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request->y = atoll(argv[2]);
-
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while (!client->wait_for_service(1s)) {
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if (!rclcpp::ok()) {
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RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Interrupted while waiting for the service. Exiting.");
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return 0;
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}
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RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "service not available, waiting again...");
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}
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auto result = client->async_send_request(request);
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// Wait for the result.
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if (rclcpp::spin_until_future_complete(node, result) ==
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rclcpp::FutureReturnCode::SUCCESS)
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{
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RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Flag: %d", result.get()->success);
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} else {
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RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Failed to call service get_goal");
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}
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rclcpp::shutdown();
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return 0;
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}
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/125380659
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