image_common
image_common copied to clipboard
ros-perception
image_transport build error with ros2
Ubuntu 18.04
I've already installed ROS2 crystal via source code build (master branch), but build image_transport fail, below are fail log.
image_transport
In file included from /usr/include/x86_64-linux-gnu/c++/7/bits/c++allocator.h:33:0,
from /usr/include/c++/7/bits/allocator.h:46,
from /usr/include/c++/7/string:41,
from /usr/include/c++/7/bits/locale_classes.h:40,
from /usr/include/c++/7/bits/ios_base.h:41,
from /usr/include/c++/7/ios:42,
from /usr/include/c++/7/ostream:38,
from /home/intel/rap_framework/out_Release/amr/ros2/install/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:55,
from /home/intel/rap_framework/src/amr/ros2/modules/ros-perception/image_common/image_transport/test/test_remapping.cpp:1:
/usr/include/c++/7/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = rclcpp::Node; _Args = {const char (&)[11], const char (&)[10], std::shared_ptrrclcpp::contexts::default_context::DefaultContext&, std::vector<std::__cxx11::basic_string<char, std::char_traits
it's seems ROS2 RCLCPP updated, https://github.com/ros2/rclcpp/commit/10d7b7c72bc243e4e6da0546f9d17e39460df55c.
I meet the same error, test_remapping.cpp build fails as rclcpp Node changed. https://github.com/ros2/rclcpp/commit/0f9098e9b65169c9c4902a3b504733144f4bcab2
Bump. Same issue. Could this be a toolchain thing? When I use clang6, I get "no matching constructor for initialization of 'image_transport::ImageTransport'", even though I'm using the exact code recommended here.
Build log attached:
robotos@jetson-agx:~/ros2_ws$ colcon build --packages-select opencv_demos
Starting >>> opencv_demos
--- stderr: opencv_demos
/home/robotos/ros2_ws/src/opencv_demos/src/image_converter.cpp:22:9: error: static_assert failed due to requirement '::std::is_same<typename std::remove_reference<typename std::remove_cv<decltype("cv_bridge exception: %s")>::type>::type, typename ::rclcpp::Logger>::value' "First argument to logging macros must be an rclcpp::Logger"
RCLCPP_ERROR("cv_bridge exception: %s", e.what());
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/dashing/include/rclcpp/logging.hpp:490:5: note: expanded from macro 'RCLCPP_ERROR'
static_assert( \
^
/home/robotos/ros2_ws/src/opencv_demos/src/image_converter.cpp:22:9: error: member reference base type 'const char [24]' is not a structure or union
RCLCPP_ERROR("cv_bridge exception: %s", e.what());
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/dashing/include/rclcpp/logging.hpp:495:13: note: expanded from macro 'RCLCPP_ERROR'
logger.get_name(), \
~~~~~~^~~~~~~~~
/opt/ros/dashing/include/rcutils/logging_macros.h:996:63: note: expanded from macro 'RCUTILS_LOG_ERROR_NAMED'
RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
^~~~
/opt/ros/dashing/include/rcutils/logging_macros.h:70:47: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
if (rcutils_logging_logger_is_enabled_for(name, severity)) { \
^~~~
/home/robotos/ros2_ws/src/opencv_demos/src/image_converter.cpp:22:9: error: member reference base type 'const char [24]' is not a structure or union
RCLCPP_ERROR("cv_bridge exception: %s", e.what());
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/opt/ros/dashing/include/rclcpp/logging.hpp:495:13: note: expanded from macro 'RCLCPP_ERROR'
logger.get_name(), \
~~~~~~^~~~~~~~~
/opt/ros/dashing/include/rcutils/logging_macros.h:996:63: note: expanded from macro 'RCUTILS_LOG_ERROR_NAMED'
RCUTILS_LOG_CONDITION_EMPTY, RCUTILS_LOG_CONDITION_EMPTY, name, \
^~~~
/opt/ros/dashing/include/rcutils/logging_macros.h:72:58: note: expanded from macro 'RCUTILS_LOG_COND_NAMED'
rcutils_log(&__rcutils_logging_location, severity, name, __VA_ARGS__); \
^~~~
/home/robotos/ros2_ws/src/opencv_demos/src/image_converter.cpp:43:37: error: no matching constructor for initialization of 'image_transport::ImageTransport'
image_transport::ImageTransport it(node_.get());
^ ~~~~~~~~~~~
/opt/ros/dashing/include/image_transport/image_transport.h:108:8: note: candidate constructor (the implicit copy constructor) not viable: no known conversion from 'std::__shared_ptr<rclcpp::Node, __gnu_cxx::_S_atomic>::element_type *' (aka 'rclcpp::Node *') to 'const image_transport::ImageTransport' for 1st argument
class ImageTransport
^
/opt/ros/dashing/include/image_transport/image_transport.h:116:12: note: candidate constructor not viable: no known conversion from 'std::__shared_ptr<rclcpp::Node, __gnu_cxx::_S_atomic>::element_type *' (aka 'rclcpp::Node *') to 'rclcpp::Node::SharedPtr' (aka 'shared_ptr<rclcpp::Node>') for 1st argument
explicit ImageTransport(rclcpp::Node::SharedPtr node);
^
4 errors generated.
make[2]: *** [CMakeFiles/image_converter.dir/src/image_converter.cpp.o] Error 1
make[1]: *** [CMakeFiles/image_converter.dir/all] Error 2
make: *** [all] Error 2
---
Failed <<< opencv_demos [ Exited with code 2 ]
Summary: 0 packages finished [14.1s]
1 package failed: opencv_demos
1 package had stderr output: opencv_demos
The workaround is to avoid instantiating an ImageTransport object, and use the static create_publisher and create_subscription methods. See gist for example
rmw_qos_profile_t custom_qos = rmw_qos_profile_default;
pub_ = image_transport::create_publisher(this, "out_image_base_topic", custom_qos);
sub_ = image_transport::create_subscription(this, "in_image_base_topic",
std::bind(&ImageConverter::imageCallback, this, std::placeholders::_1), "raw", custom_qos);