I am trying to introduce one new planner to my ompl. This is the reason that I need to install source ompl. I successfully built source ompl but failed when I tried to build moveit. Here is my reuslt of catkin build. Anybody has the similar problem?
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp: In member function ‘ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstraintApproximation(const ModelBasedPlanningContextPtr&, const Constraints&, const Constraints&, const ompl_interface::ConstraintApproximationConstructionOptions&, ompl_interface::ConstraintApproximationConstructionResults&)’:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:439:116: error: no matching function for call to ‘ompl::base::StateStorageWithMetadata, std::map>>>::StateStorageWithMetadata(const ModelBasedStateSpacePtr&)’
ConstraintApproximationStateStorage* cass = new ConstraintApproximationStateStorage(pcontext->getOMPLStateSpace());
^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:48:0,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
/opt/ros/indigo/include/ompl/base/StateStorage.h:221:13: note: candidate: ompl::base::StateStorageWithMetadata::StateStorageWithMetadata(const StateSpacePtr&) [with M = std::pair, std::map>>; ompl::base::StateSpacePtr = std::shared_ptr]
StateStorageWithMetadata(const StateSpacePtr &space) : StateStorage(space)
^
/opt/ros/indigo/include/ompl/base/StateStorage.h:221:13: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘const StateSpacePtr& {aka const std::shared_ptr&}’
/opt/ros/indigo/include/ompl/base/StateStorage.h:214:15: note: candidate: ompl::base::StateStorageWithMetadata, std::map>>>::StateStorageWithMetadata(const ompl::base::StateStorageWithMetadata, std::map>>>&)
class StateStorageWithMetadata : public StateStorage
^
/opt/ros/indigo/include/ompl/base/StateStorage.h:214:15: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘const ompl::base::StateStorageWithMetadata, std::map>>>&’
/opt/ros/indigo/include/ompl/base/StateStorage.h:214:15: note: candidate: ompl::base::StateStorageWithMetadata, std::map>>>::StateStorageWithMetadata(ompl::base::StateStorageWithMetadata, std::map>>>&&)
/opt/ros/indigo/include/ompl/base/StateStorage.h:214:15: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘ompl::base::StateStorageWithMetadata, std::map>>>&&’
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:471:63: error: no matching function for call to ‘ompl::base::ScopedState<>::ScopedState(const ModelBasedStateSpacePtr&)’
ompl::base::ScopedState<> temp(pcontext->getOMPLStateSpace());
^
In file included from /opt/ros/indigo/include/ompl/base/ProblemDefinition.h:48:0,
from /opt/ros/indigo/include/ompl/base/Planner.h:41,
from /opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
/opt/ros/indigo/include/ompl/base/ScopedState.h:124:13: note: candidate: ompl::base::ScopedState::ScopedState(ompl::base::StateSpacePtr, const ompl::base::State*) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr]
ScopedState(StateSpacePtr space, const State *state) : space_(std::move(space))
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:124:13: note: candidate expects 2 arguments, 1 provided
/opt/ros/indigo/include/ompl/base/ScopedState.h:105:13: note: candidate: template ompl::base::ScopedState::ScopedState(const ompl::base::ScopedState&)
ScopedState(const ScopedState&other)
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:105:13: note: template argument deduction/substitution failed:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:471:63: note: ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ is not derived from ‘const ompl::base::ScopedState’
ompl::base::ScopedState<> temp(pcontext->getOMPLStateSpace());
^
In file included from /opt/ros/indigo/include/ompl/base/ProblemDefinition.h:48:0,
from /opt/ros/indigo/include/ompl/base/Planner.h:41,
from /opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
/opt/ros/indigo/include/ompl/base/ScopedState.h:96:13: note: candidate: ompl::base::ScopedState::ScopedState(const ompl::base::ScopedState&) [with T = ompl::base::StateSpace]
ScopedState(const ScopedState&other) : space_(other.getSpace())
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:96:13: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘const ompl::base::ScopedState<>&’
/opt/ros/indigo/include/ompl/base/ScopedState.h:84:22: note: candidate: ompl::base::ScopedState::ScopedState(ompl::base::StateSpacePtr) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr]
explicit ScopedState(StateSpacePtr space) : space_(std::move(space))
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:84:22: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘ompl::base::StateSpacePtr {aka std::shared_ptr}’
/opt/ros/indigo/include/ompl/base/ScopedState.h:71:22: note: candidate: ompl::base::ScopedState::ScopedState(const SpaceInformationPtr&) [with T = ompl::base::StateSpace; ompl::base::SpaceInformationPtr = std::shared_ptr]
explicit ScopedState(const SpaceInformationPtr &si) : space_(si->getStateSpace())
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:71:22: note: no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr&}’
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp: In member function ‘virtual void ompl_interface::ModelBasedPlanningContext::configure()’:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:199:64: error: no matching function for call to ‘ompl::base::ScopedState<>::ScopedState(ompl_interface::ModelBasedStateSpacePtr&)’
ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
^
In file included from /opt/ros/indigo/include/ompl/base/ProblemDefinition.h:48:0,
from /opt/ros/indigo/include/ompl/base/Planner.h:41,
from /opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:37:
/opt/ros/indigo/include/ompl/base/ScopedState.h:124:13: note: candidate: ompl::base::ScopedState::ScopedState(ompl::base::StateSpacePtr, const ompl::base::State*) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr]
ScopedState(StateSpacePtr space, const State *state) : space_(std::move(space))
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:124:13: note: candidate expects 2 arguments, 1 provided
/opt/ros/indigo/include/ompl/base/ScopedState.h:105:13: note: candidate: template ompl::base::ScopedState::ScopedState(const ompl::base::ScopedState&)
ScopedState(const ScopedState&other)
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:105:13: note: template argument deduction/substitution failed:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:199:64: note: ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ is not derived from ‘const ompl::base::ScopedState’
ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
^
In file included from /opt/ros/indigo/include/ompl/base/ProblemDefinition.h:48:0,
from /opt/ros/indigo/include/ompl/base/Planner.h:41,
from /opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:37:
/opt/ros/indigo/include/ompl/base/ScopedState.h:96:13: note: candidate: ompl::base::ScopedState::ScopedState(const ompl::base::ScopedState&) [with T = ompl::base::StateSpace]
ScopedState(const ScopedState&other) : space_(other.getSpace())
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:96:13: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘const ompl::base::ScopedState<>&’
/opt/ros/indigo/include/ompl/base/ScopedState.h:84:22: note: candidate: ompl::base::ScopedState::ScopedState(ompl::base::StateSpacePtr) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr]
explicit ScopedState(StateSpacePtr space) : space_(std::move(space))
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:84:22: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘ompl::base::StateSpacePtr {aka std::shared_ptr}’
/opt/ros/indigo/include/ompl/base/ScopedState.h:71:22: note: candidate: ompl::base::ScopedState::ScopedState(const SpaceInformationPtr&) [with T = ompl::base::StateSpace; ompl::base::SpaceInformationPtr = std::shared_ptr]
explicit ScopedState(const SpaceInformationPtr &si) : space_(si->getStateSpace())
^
/opt/ros/indigo/include/ompl/base/ScopedState.h:71:22: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr&}’
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp: In member function ‘ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(const planning_interface::PlannerConfigurationSettings&, const StateSpaceFactoryTypeSelector&, const MotionPlanRequest&) const’:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:239:101: error: no matching function for call to ‘ompl::geometric::SimpleSetup::SimpleSetup(ompl_interface::ModelBasedStateSpacePtr&)’
context_spec.ompl_simple_setup_.reset(new ompl::geometric::SimpleSetup(context_spec.state_space_));
^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45:0,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:37:
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:70:22: note: candidate: ompl::geometric::SimpleSetup::SimpleSetup(const StateSpacePtr&)
explicit SimpleSetup(const base::StateSpacePtr &space);
^
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:70:22: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘const StateSpacePtr& {aka const std::shared_ptr&}’
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:67:22: note: candidate: ompl::geometric::SimpleSetup::SimpleSetup(const SpaceInformationPtr&)
explicit SimpleSetup(const base::SpaceInformationPtr &si);
^
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:67:22: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr&}’
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:63:15: note: candidate: ompl::geometric::SimpleSetup::SimpleSetup(const ompl::geometric::SimpleSetup&)
class SimpleSetup
^
/opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:63:15: note: no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr}’ to ‘const ompl::geometric::SimpleSetup&’
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/constraints_library.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/model_based_planning_context.cpp.o] Error 1
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/planning_context_manager.cpp.o] Error 1
make[1]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2
make: *** [all] Error 2
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