marinakollmitz / omni_path_follower Goto Github PK

Right now, the current path segment for following is chosen incrementally, always jumping to the next segment once the robot passed a waypoint. This may be a problem if the robot pose jumps, e.g. because of amcl. Choose path segment globally, considering entire path.

Set path velocity, rotation velocity and behavior configs (rotate to path, rotate at start) by ros service or dynamic reconfigure, not via topic. We get feedback if the config was changed successfully.

Hi, when I tried compile the code via catkin_make, I met below issues.

Scanning dependencies of target omni_path_follower_generate_messages_check_deps_Config
[ 0%] Built target std_msgs_generate_messages_nodejs
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[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_py
[ 18%] Built target global_planner_link
[ 18%] Built target omni_path_follower_generate_messages_check_deps_Config
Scanning dependencies of target omni_path_follower_generate_messages_nodejs
Scanning dependencies of target omni_path_follower_generate_messages_eus
Scanning dependencies of target omni_path_follower_generate_messages_cpp
Scanning dependencies of target omni_path_follower_generate_messages_py
Scanning dependencies of target omni_path_follower_generate_messages_lisp
[ 63%] Generating Python from MSG omni_path_follower/Config
[ 63%] Generating C++ code from omni_path_follower/Config.msg
[ 63%] Generating EusLisp code from omni_path_follower/Config.msg
[ 63%] Generating Lisp code from omni_path_follower/Config.msg
[ 63%] Generating Javascript code from omni_path_follower/Config.msg
[ 63%] Built target omni_path_follower_generate_messages_nodejs
[ 63%] Built target omni_path_follower_generate_messages_lisp
[ 72%] Built target omni_path_follower_generate_messages_eus
[ 72%] Built target omni_path_follower_generate_messages_cpp
[ 81%] Generating Python msg init.py for omni_path_follower
Scanning dependencies of target omni_path_follower
[ 90%] Building CXX object omni_path_follower/CMakeFiles/omni_path_follower.dir/src/omni_path_follower.cpp.o
[ 90%] Built target omni_path_follower_generate_messages_py
Scanning dependencies of target omni_path_follower_generate_messages
[ 90%] Built target omni_path_follower_generate_messages
/home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp: In member function ‘virtual bool omni_path_follower::PathFollower::computeVelocityCommands(geometry_msgs::Twist&)’:
/home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:95:46: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stampedtf::Transform&)’
if(!costmap_ros->getRobotPose(robot_pose))
^
In file included from /home/main/catkin_ws/src/omni_path_follower/include/omni_path_follower/omni_path_follower.h:4:0,
from /home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:1:
/opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:125:8: note: candidate: bool costmap_2d::Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped&) const
bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const;
^~~~~~~~~~~~
/opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:125:8: note: no known conversion for argument 1 from ‘tf::Stampedtf::Transform’ to ‘geometry_msgs::PoseStamped& {aka geometry_msgs::PoseStamped<std::allocator >&}’
In file included from /opt/ros/melodic/include/class_loader/class_loader_core.hpp:47:0,
from /opt/ros/melodic/include/class_loader/class_loader.hpp:46,
from /opt/ros/melodic/include/class_loader/multi_library_class_loader.hpp:42,
from /opt/ros/melodic/include/pluginlib/class_loader.hpp:38,
from /opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:50,
from /home/main/catkin_ws/src/omni_path_follower/include/omni_path_follower/omni_path_follower.h:4,
from /home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:1:
/opt/ros/melodic/include/class_loader/meta_object.hpp: In instantiation of ‘B* class_loader::impl::MetaObject<C, B>::create() const [with C = omni_path_follower::PathFollower; B = nav_core::BaseLocalPlanner]’:
/home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:307:1: required from here
/opt/ros/melodic/include/class_loader/meta_object.hpp:196:12: error: invalid new-expression of abstract class type ‘omni_path_follower::PathFollower’
return new C;
^~~~~
In file included from /home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:1:0:
/home/main/catkin_ws/src/omni_path_follower/include/omni_path_follower/omni_path_follower.h:26:7: note: because the following virtual functions are pure within ‘omni_path_follower::PathFollower’:
class PathFollower : public nav_core::BaseLocalPlanner
^~~~~~~~~~~~
In file included from /home/main/catkin_ws/src/omni_path_follower/include/omni_path_follower/omni_path_follower.h:6:0,
from /home/main/catkin_ws/src/omni_path_follower/src/omni_path_follower.cpp:1:
/opt/ros/melodic/include/nav_core/base_local_planner.h:78:20: note: virtual void nav_core::BaseLocalPlanner::initialize(std::__cxx11::string, tf2_ros::Buffer*, costmap_2d::Costmap2DROS*)
virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;
^~~~~~~~~~
omni_path_follower/CMakeFiles/omni_path_follower.dir/build.make:62: recipe for target 'omni_path_follower/CMakeFiles/omni_path_follower.dir/src/omni_path_follower.cpp.o' failed
make[2]: *** [omni_path_follower/CMakeFiles/omni_path_follower.dir/src/omni_path_follower.cpp.o] Error 1
CMakeFiles/Makefile2:2881: recipe for target 'omni_path_follower/CMakeFiles/omni_path_follower.dir/all' failed
make[1]: *** [omni_path_follower/CMakeFiles/omni_path_follower.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed