ros中的时间同步错误小记

最近在做传感器数据的同步,但是出现了一些问题,在此记录一下。

1.是在编译时出现错误,下面只是开始的一点点,显示主要集中在boost库上,后面发现是由于在callback函数的参数里面没加constPtr。第一个问题暂时解决。

/usr/include/boost/bind/bind.hpp: In instantiation of ‘void boost::_bi::list2::operator()(boost::_bi::type
, F&, A&, int) [with F = void (*)(const sensor_msgs::LaserScan_ >&, const
nav_msgs::Odometry_ >&); A = boost::_bi::list9 sensor_msgs::LaserScan_ > >&, const boost::shared_ptr nav_msgs::Odometry_ > >&, const boost::shared_ptr&,
const boost::shared_ptr&, const boost::shared_ptr message_filters::NullType>&, const boost::shared_ptr&,
const boost::shared_ptr&, const boost::shared_ptr message_filters::NullType>&, const boost::shared_ptr&>; A1 = boost::arg<1>;
A2 = boost::arg<2>]’:

2.下一个问题是在链接的时候出现问题,下面也仅仅是问题的一部分,

[100%] Linking CXX executable /home/issr/Documents/catkin_ws/devel/lib/mybot/message_filter
CMakeFiles/message_filter.dir/src/message_filter.cpp.o: In function `message_filters::Synchronizer
>,
nav_msgs::Odometry_ >, message_filters::NullType, message_filters::NullType,
 message_filters::NullType, message_filters::NullType, message_filters::NullType, message_filters::NullType,
message_filters::NullType> >::disconnectAll()':
/opt/ros/kinetic/include/message_filters/synchronizer.h:351: undefined reference to
`message_filters::Connection::disconnect()'
CMakeFiles/message_filter.dir/src/message_filter.cpp.o: In function `message_filters::Connection


一般在链接是出现问题可能会考虑是不是cmakelists.txt文件里面链接库出现了错,然后在cmakelists.txt里添上后面的库路径就编译成功了。

target_link_libraries (message_filter /opt/ros/kinetic/lib/libmessage_filters.so

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