Does not compile

[edhage]

When I compile it , the compiler complains that it does not know Plan or PlanItem.

When I manually change this to plansys2_msgs::msg::PlanItem and plansys2_msgs::msg::Plan than it complains later the functions push_back and empty which cannot be used with these types.

First complaint (no alterations code):

-- stderr: plansys2_tfd_plan_solver                                                
In file included from /home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:24:
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/include/plansys2_tfd_plan_solver/tfd_plan_solver.hpp:34:17: error: ‘Plan’ was not declared in this scope; did you mean ‘plansys2_msgs::msg::Plan’?
   34 |   std::optional<Plan> getPlan(
      |                 ^~~~
      |                 plansys2_msgs::msg::Plan
In file included from /home/edward/plansys2_ws/install/plansys2_msgs/include/plansys2_msgs/msg/plan.hpp:7,
                 from /home/edward/plansys2_ws/install/plansys2_core/include/plansys2_core/PlanSolverBase.hpp:22,
                 from /home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/include/plansys2_tfd_plan_solver/tfd_plan_solver.hpp:22,
                 from /home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:24:
/home/edward/plansys2_ws/install/plansys2_msgs/include/plansys2_msgs/msg/detail/plan__struct.hpp:117:7: note: ‘plansys2_msgs::msg::Plan’ declared here
  117 | using Plan =
      |       ^~~~
In file included from /home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:24:
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/include/plansys2_tfd_plan_solver/tfd_plan_solver.hpp:34:21: error: template argument 1 is invalid
   34 |   std::optional<Plan> getPlan(
      |                     ^
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/include/plansys2_tfd_plan_solver/tfd_plan_solver.hpp:34:23: error: conflicting return type specified for ‘virtual int plansys2::TFDPlanSolver::getPlan(const string&, const string&, const string&)’
   34 |   std::optional<Plan> getPlan(

Second complaint after altering code:

--- stderr: plansys2_tfd_plan_solver                                                                                     
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp: In member function ‘virtual std::optional<plansys2_msgs::msg::Plan_<std::allocator<void> > > plansys2::TFDPlanSolver::getPlan(const string&, const string&, const string&)’:
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:116:11: error: ‘using Plan = struct plansys2_msgs::msg::Plan_<std::allocator<void> >’ {aka ‘struct plansys2_msgs::msg::Plan_<std::allocator<void> >’} has no member named ‘push_back’
  116 |       ret.push_back(item);
      |           ^~~~~~~~~
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:125:11: error: ‘using Plan = struct plansys2_msgs::msg::Plan_<std::allocator<void> >’ {aka ‘struct plansys2_msgs::msg::Plan_<std::allocator<void> >’} has no member named ‘empty’
  125 |   if (ret.empty()) {
      |           ^~~~~
/home/edward/plansys2_ws/src/plansys2_tfd_plan_solver/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp:130:1: warning: control reaches end of non-void function [-Wreturn-type]
  130 | }
      | ^
make[2]: *** [CMakeFiles/plansys2_tfd_plan_solver.dir/build.make:63: CMakeFiles/plansys2_tfd_plan_solver.dir/src/plansys2_tfd_plan_solver/tfd_plan_solver.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:164: CMakeFiles/plansys2_tfd_plan_solver.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

[edhage]

I looked at the message-structure and came to this alteration:

ret.push_back(item); --> ret.items.push_back(item);
ret.empty() --> ret.items.empty()

than it fails on the unit-test. I disabled the unittest and now it compiles, don't know if it is working.

Has the Plan-msg been altered?
I am using ROS galactic

[edhage]

closed the issue by mistake. Please SOLVE

[fmrico]

It shouldn't be changed. Give me a couple of days to check it.

[roveri-marco]

I've prepared a patch. You can find it here.
compile_patch.txt
If I'm allowed I can create a merge request with the fix

[edhage]

Thanks! From: Marco Roveri ***@***.***> Sent: Thursday, 13 January 2022 16:40 To: IntelligentRoboticsLabs/plansys2_tfd_plan_solver ***@***.***> Cc: edhage ***@***.***>; State change ***@***.***> Subject: Re: [IntelligentRoboticsLabs/plansys2_tfd_plan_solver] Does not compile (Issue #8) I've prepared a patch. You can find it here. compile_patch.txt <https://github.com/IntelligentRoboticsLabs/plansys2_tfd_plan_solver/files/7863935/compile_patch.txt> If I'm allowed I can create a merge request with the fix — Reply to this email directly, view it on GitHub <#8 (comment)> , or unsubscribe <https://github.com/notifications/unsubscribe-auth/AB6MSJOKDZUO6GSGTZQOA23UV3W5PANCNFSM5JYW5NMQ> . Triage notifications on the go with GitHub Mobile for iOS <https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android <https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub> . You are receiving this because you modified the open/close state. <https://github.com/notifications/beacon/AB6MSJMTYHLN66CGPCKJRRLUV3W5PA5CNFSM5JYW5NM2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOHRK4ISQ.gif> Message ID: ***@***.*** ***@***.***> >

[fmrico]

Hi @roveri-marco

I've prepared a patch. You can find it here. compile_patch.txt If I'm allowed I can create a merge request with the fix

Can you create a Pull Request to start working on it?

Thanks!!!

[roveri-marco]

Hi @fmrico
I'll fork, create the fix there and I'll then create a push request. Although it would be much easier to work on this repo without having to fork!
Thanks,
Marco