teb_local_planner compilation error

asked 2019-07-29 20:03:59 -0600

Tansor
40 ●4 ●5 ●9

ROS:kinetic:

image description

error:

teb_local_planner_ros.cpp:229:40: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stampedtf::Transform&)’
costmap_ros_->getRobotPose(robot_pose);

/opt/ros/kinetic/include/class_loader/meta_object.hpp:198:16: error: invalid new-expression of abstract class type ‘teb_local_planner::TebLocalPlannerROS’
return new C;

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answered 2019-07-30 03:48:04 -0600

croesmann
2531 ●21 ●36 ●38

updated 2019-07-30 03:52:40 -0600

It seems like you are mixing kinetic and melodic sources. The method

virtual void initialize(std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) = 0;

from nav_core (see here) is pure virtual and not implemented in teb_local_planner according to your build log. The method indicates the tf2 dependency which was introduced to ROS navigation and teb_local_planner in melodic. So it seems that you are trying to compile the kinetic version of teb_local_planner with the melodic version of the navigation stack. Make sure to clone the correct branch, e.g. for melodic:

git clone -b melodic-devel https://github.com/ros-planning/navigation.git
git clone -b melodic-devel https://github.com/rst-tu-dortmund/teb_local_planner.git

Or use the correct ROS distribution for your APT repositories.