编译joint_trajectory_controller出错
vanpersie
vanpersie 494 0
2017-07-31 10:48
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp: 在成员函数‘bool RRbot::prepareSwitch(const ControllerList&, const ControllerList&)’中:
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:23: 错误: ‘InterfaceResources’不是‘hardware_interface’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:23: 错误: ‘InterfaceResources’不是‘hardware_interface’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:61: 错误: 模板第 1 个参数无效
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:61: 错误: 模板第 2 个参数无效
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:79: 错误: invalid type in declaration before ‘iface_it’
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:79: 错误: expected ‘;’ before ‘iface_it’
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:79: 错误: ‘iface_it’在此作用域中尚未声明
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:94: 错误: ‘const struct hardware_interface::ControllerInfo’没有名为‘claimed_resources’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:137: 错误: ‘const struct hardware_interface::ControllerInfo’没有名为‘claimed_resources’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:160: 错误: expected ‘)’ before ‘;’ token
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:164: 错误: ‘iface_it’在此作用域中尚未声明
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:117:172: 错误: expected ‘;’ before ‘)’ token
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:134:3: 错误: expected ‘}’ at end of input
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/test/rrbot.cpp:134:3: 错误: expected ‘}’ at end of input
In file included from /home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.h:253:0,
                 from /home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/src/joint_trajectory_controller.cpp:34:
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:79:1: 错误: ‘ModelSharedPtr’不是命名空间‘urdf’中的一个类型名
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:103:13: 错误: ‘JointConstSharedPtr’不是‘urdf’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:103:13: 错误: ‘JointConstSharedPtr’不是‘urdf’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:103:38: 错误: 模板第 1 个参数无效
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:103:38: 错误: 模板第 2 个参数无效
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h: 在函数‘int joint_trajectory_controller::internal::getUrdfJoints(const urdf::Model&, const std::vector<std::basic_string<char> >&)’中:
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:105:15: 错误: ‘JointConstSharedPtr’不是‘urdf’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:105:15: 错误: ‘JointConstSharedPtr’不是‘urdf’的成员
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:105:40: 错误: 模板第 1 个参数无效
/home/weile/catkin_ws/src/ros_controllers-kinetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller_impl.h:105:40: 错误: 模板第 2 个参数无效



代码是在官网上下载的,有人知道是怎么回事么
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