wsnewman / learning_ros_kinetic

learning-ros updates for ROS Kinetic

learning_ros

This repository accompanies the text "A Systematic Approach to Learning Robot Programming with ROS". This version has been updated for ROS Kinetic.

Code examples reside in folders corresponding to chapters.

This entire repository should be cloned to: ~/ros_ws/src (assuming your ros workspace is named "ros_ws" and resides within your home directory). To do so, navigate to ~/ros_ws/src from a terminal and enter: git clone https://github.com/wsnewman/learning_ros_kinetic.git and also clone the external packages used with: git clone https://github.com/wsnewman/learning_ros_external_packages_kinetic.git

Then, from a terminal, navigate to ~/ros_ws and compile the code with the command: catkin_make

If you are installing ROS for the first time, see the instructions here: installation scripts

The scripts located at this site automate installation of ROS (consistent with the version and packages used with the learning-ROS code examples). These scripts also install a variety of useful tools.

learning_ros_kinetic's Issues

very ok

the code is very ok , no wrong, good

Git Clone of external packages fails files dont exist!

libboost errors

Recent updates to C++ to the C-language are making boost forward declarations become compiler errors. This is affecting large portions of our existing code. You will only notice this if you delete existing code and rebuilt it from scratch.

https://stackoverflow.com/questions/51863797/new-vs-c-update-is-making-boost-forward-declared-code-un-compilable-what-can

Currently in trying to build Part_5/ur10_robot/ur_traj_client/CMakeFiles/ur_traj_client_pre_pose and other modules get these boost errors:

learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:9:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:68:41: error: ‘std::tuple’ has not been declared
           R operator()(Func &func, std::tuple<Args...> args) const
                                         ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:68:46: error: expected ‘,’ or ‘...’ before ‘<’ token
           R operator()(Func &func, std::tuple<Args...> args) const
                                              ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:76:77: error: ‘std::tuple’ has not been declared
           R m_invoke(T *, Func &func, unsigned_meta_array<indices...>, std::tuple<Args...> args) const
                                                                             ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:76:82: error: expected ‘,’ or ‘...’ before ‘<’ token
           R m_invoke(T *, Func &func, unsigned_meta_array<indices...>, std::tuple<Args...> args) const
                                                                                  ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:81:80: error: ‘std::tuple’ has not been declared
           R m_invoke(void *, Func &func, unsigned_meta_array<indices...>, std::tuple<Args...> args) const
                                                                                ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:81:85: error: expected ‘,’ or ‘...’ before ‘<’ token
           R m_invoke(void *, Func &func, unsigned_meta_array<indices...>, std::tuple<Args...> args) const
                                                                                     ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In member function ‘R boost::signals2::detail::call_with_tuple_args<R>::operator()(Func&, int) const’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:72:59: error: ‘args’ was not declared in this scope
           return m_invoke(resolver, func, indices_type(), args);
                                                           ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In member function ‘R boost::signals2::detail::call_with_tuple_args<R>::m_invoke(T*, Func&, boost::signals2::detail::unsigned_meta_array<indices ...>, int) const’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:78:23: error: ‘get’ is not a member of ‘std’
           return func(std::get<indices>(args)...);
                       ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:78:23: note: suggested alternatives:
In file included from /opt/ros/kinetic/include/ros/ros.h:54:0,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:1:
/opt/ros/kinetic/include/ros/param.h:465:18: note:   ‘ros::param::get’
 ROSCPP_DECL bool get(const std::string& key, std::map<std::string, bool>& map);
                  ^
In file included from /usr/local/include/boost/tuple/tuple.hpp:33:0,
                 from /usr/local/include/boost/unordered/detail/emplace_args.hpp:26,
                 from /usr/local/include/boost/unordered/detail/allocator_helpers.hpp:18,
                 from /usr/local/include/boost/unordered/unordered_map.hpp:17,
                 from /usr/local/include/boost/unordered_map.hpp:16,
                 from /opt/ros/kinetic/include/tf/tf.h:44,
                 from /opt/ros/kinetic/include/tf/transform_broadcaster.h:36,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:9:
/usr/local/include/boost/tuple/detail/tuple_basic.hpp:211:1: note:   ‘boost::tuples::get’
 get(cons<HT, TT>& c BOOST_APPEND_EXPLICIT_TEMPLATE_NON_TYPE(int, N)) {
 ^
/usr/local/include/boost/tuple/detail/tuple_basic.hpp:225:1: note:   ‘boost::tuples::get’
 get(const cons<HT, TT>& c BOOST_APPEND_EXPLICIT_TEMPLATE_NON_TYPE(int, N)) {
 ^
In file included from /usr/local/include/boost/signals2/variadic_signal.hpp:21:0,
                 from /usr/local/include/boost/signals2/signal.hpp:38,
                 from /usr/local/include/boost/signals2.hpp:19,
                 from /opt/ros/kinetic/include/tf/tf.h:45,
                 from /opt/ros/kinetic/include/tf/transform_broadcaster.h:36,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:9:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:78:41: error: ‘args’ was not declared in this scope
           return func(std::get<indices>(args)...);
                                         ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In member function ‘R boost::signals2::detail::call_with_tuple_args<R>::m_invoke(void*, Func&, boost::signals2::detail::unsigned_meta_array<indices ...>, int) const’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:83:16: error: ‘get’ is not a member of ‘std’
           func(std::get<indices>(args)...);
                ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:83:16: note: suggested alternatives:
In file included from /opt/ros/kinetic/include/ros/ros.h:54:0,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:1:
/opt/ros/kinetic/include/ros/param.h:465:18: note:   ‘ros::param::get’
 ROSCPP_DECL bool get(const std::string& key, std::map<std::string, bool>& map);
                  ^
In file included from /usr/local/include/boost/tuple/tuple.hpp:33:0,
                 from /usr/local/include/boost/unordered/detail/emplace_args.hpp:26,
                 from /usr/local/include/boost/unordered/detail/allocator_helpers.hpp:18,
                 from /usr/local/include/boost/unordered/unordered_map.hpp:17,
                 from /usr/local/include/boost/unordered_map.hpp:16,
                 from /opt/ros/kinetic/include/tf/tf.h:44,
                 from /opt/ros/kinetic/include/tf/transform_broadcaster.h:36,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:9:
/usr/local/include/boost/tuple/detail/tuple_basic.hpp:211:1: note:   ‘boost::tuples::get’
 get(cons<HT, TT>& c BOOST_APPEND_EXPLICIT_TEMPLATE_NON_TYPE(int, N)) {
 ^
/usr/local/include/boost/tuple/detail/tuple_basic.hpp:225:1: note:   ‘boost::tuples::get’
 get(const cons<HT, TT>& c BOOST_APPEND_EXPLICIT_TEMPLATE_NON_TYPE(int, N)) {
 ^
In file included from /usr/local/include/boost/signals2/variadic_signal.hpp:21:0,
                 from /usr/local/include/boost/signals2/signal.hpp:38,
                 from /usr/local/include/boost/signals2.hpp:19,
                 from /opt/ros/kinetic/include/tf/tf.h:45,
                 from /opt/ros/kinetic/include/tf/transform_broadcaster.h:36,
                 from /media/vmrguser/sdd/ros/kinetic/ros_ws/src/books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/src/mobot_drifty_odom.cpp:9:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:83:34: error: ‘args’ was not declared in this scope
           func(std::get<indices>(args)...);
                                  ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: At global scope:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:116:14: error: ‘tuple’ in namespace ‘std’ does not name a template type
         std::tuple<Args& ...> _args;
              ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In constructor ‘boost::signals2::detail::variadic_slot_invoker<R, Args>::variadic_slot_invoker(Args& ...)’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:94:49: error: class ‘boost::signals2::detail::variadic_slot_invoker<R, Args>’ does not have any field named ‘_args’
         variadic_slot_invoker(Args & ... args): _args(args...)
                                                 ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In member function ‘boost::signals2::detail::variadic_slot_invoker<R, Args>::result_type boost::signals2::detail::variadic_slot_invoker<R, Args>::m_invoke(const ConnectionBodyType&, const boost::signals2::detail::void_type*) const’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:108:92: error: ‘_args’ was not declared in this scope
           return call_with_tuple_args<result_type>()(connectionBody->slot.slot_function(), _args);
                                                                                            ^
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp: In member function ‘boost::signals2::detail::variadic_slot_invoker<R, Args>::result_type boost::signals2::detail::variadic_slot_invoker<R, Args>::m_invoke(const ConnectionBodyType&, ...) const’:
/usr/local/include/boost/signals2/detail/variadic_slot_invoker.hpp:114:92: error: ‘_args’ was not declared in this scope
           return call_with_tuple_args<result_type>()(connectionBody->slot.slot_function(), _args);
                                                                                            ^
books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/CMakeFiles/mobot_drifty_odom.dir/build.make:62: recipe for target 'books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/CMakeFiles/mobot_drifty_odom.dir/src/mobot_drifty_odom.cpp.o' failed
make[2]: *** [books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/CMakeFiles/mobot_drifty_odom.dir/src/mobot_drifty_odom.cpp.o] Error 1
CMakeFiles/Makefile2:32586: recipe for target 'books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/CMakeFiles/mobot_drifty_odom.dir/all' failed
make[1]: *** [books/newman/learning_ros_kinetic/Part_4/mobot_drifty_odom/CMakeFiles/mobot_drifty_odom.dir/all] Error 2