my code:
#include
#include
#include
#include
#include
typedef actionlib::SimpleActionClient MoveBaseClient;
int main(int argc, char** argv){
ros::init(argc, argv, "navigation_goals");
MoveBaseClient ac("move_base", true);
while(!ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server");
}
move_base_msgs::MoveBaseGoal goal;
goal.target_pose.header.frame_id = "map";
goal.target_pose.header.stamp = ros::Time::now();
goal.target_pose.pose.position.x = 1.0;
goal.target_pose.pose.position.y = 1.0;
goal.target_pose.pose.orientation.w = 1.0;
ROS_INFO("Sending goal");
ac.sendGoal(goal);
ac.waitForResult();
if(ac.getState() == actionlib::SimpleClientGoalState::SUCCEEDED)
ROS_INFO("You have arrived to the goal position");
else{
ROS_INFO("The base failed for some reason");
}
return 0;
}
when I catkin_make, error:
CMakeFiles/t3_sendGoals.dir/src/t3_sendGoals.cpp.o：在函数‘actionlib::GoalManager>>::initGoal(move_base_msgs::MoveBaseGoal_> const&, boost::function>>)>, boost::function>>, boost::shared_ptr> const> const&)>)’中：
t3_sendGoals.cpp:(.text._ZN9actionlib11GoalManagerIN14move_base_msgs15MoveBaseAction_ISaIvEEEE8initGoalERKNS1_13MoveBaseGoal_IS3_EEN5boost8functionIFvNS_16ClientGoalHandleIS4_EEEEENSB_IFvSD_RKNSA_10shared_ptrIKNS1_17MoveBaseFeedback_IS3_EEEEEEE[_ZN9actionlib11GoalManagerIN14move_base_msgs15MoveBaseAction_ISaIvEEEE8initGoalERKNS1_13MoveBaseGoal_IS3_EEN5boost8functionIFvNS_16ClientGoalHandleIS4_EEEEENSB_IFvSD_RKNSA_10shared_ptrIKNS1_17MoveBaseFeedback_IS3_EEEEEEE]+0xc1)：对‘actionlib::GoalIDGenerator::generateID()’未定义的引用
CMakeFiles/t3_sendGoals.dir/src/t3_sendGoals.cpp.o：在函数‘actionlib::GoalManager>>::GoalManager(boost::shared_ptr const&)’中：
t3_sendGoals.cpp:(.text._ZN9actionlib11GoalManagerIN14move_base_msgs15MoveBaseAction_ISaIvEEEEC2ERKN5boost10shared_ptrINS_16DestructionGuardEEE[_ZN9actionlib11GoalManagerIN14move_base_msgs15MoveBaseAction_ISaIvEEEEC5ERKN5boost10shared_ptrINS_16DestructionGuardEEE]+0x72)：对‘actionlib::GoalIDGenerator::GoalIDGenerator()’未定义的引用
CMakeFiles/t3_sendGoals.dir/src/t3_sendGoals.cpp.o：在函数‘actionlib::ActionClient>>::initClient(ros::CallbackQueueInterface*)’中：
t3_sendGoals.cpp:
(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE]+0x3aa)：对‘actionlib::ConnectionMonitor::ConnectionMonitor(ros::Subscriber&, ros::Subscriber&)’未定义的引用
t3_sendGoals.cpp:(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueue
InterfaceE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE]+0x3e8)：对‘actionlib::ConnectionMonitor::goalDisconnectCallback(ros::SingleSubscriberPublisher const&)’未定义的引用
t3_sendGoals.cpp:(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE]+0x46f)：对‘actionlib::ConnectionMonitor::goalConnectCallback(ros::SingleSubscriberPublisher const&)’未定义的引用
t3_sendGoals.cpp:
(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE]+0x61d)：对‘actionlib::ConnectionMonitor::cancelDisconnectCallback(ros::SingleSubscriberPublisher const&)’未定义的引用
t3_sendGoals.cpp:(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE10initClientEPN3ros22CallbackQueueInterfaceE]+0x6b1)：对‘actionlib::ConnectionMonitor::cancelConnectCallback(ros::SingleSubscriberPublisher const&)’未定义的引用
CMakeFiles/t3_sendGoals.dir/src/t3_sendGoals.cpp.o：在函数‘actionlib::ActionClient>>::statusCb(ros::MessageEvent> const> const&)’中：
t3_sendGoals.cpp:(.text._ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE8statusCbERKN3ros12MessageEventIKN14actionlib_msgs16GoalStatusArray_IS3_EEEE[_ZN9actionlib12ActionClientIN14move_base_msgs15MoveBaseAction_ISaIvEEEE8statusCbERKN3ros12MessageEventIKN14actionlib_msgs16GoalStatusArray_IS3_EEEE]+0x1dd)：
对‘actionlib::ConnectionMonitor::processStatus(boost::shared_ptr> const> const&, std::__cxx11::basic_string, std::allocator> const&)’未定义的引用
collect2: error: ld returned 1 exit status
t3_robot/CMakeFiles/t3_sendGoals.dir/build.make:113: recipe for target '/home/jason/catkin_ws/devel/lib/t3_robot/t3_sendGoals' failed
make[2]: *** [/home/jason/catkin_ws/devel/lib/t3_robot/t3_sendGoals] Error 1
CMakeFiles/Makefile2:2081: recipe for target 't3_robot/CMakeFiles/t3_sendGoals.dir/all' failed
make[1]: *** [t3_robot/CMakeFiles/t3_sendGoals.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
↧