Hi, I have installed ROS c-turtle last release and I have created a service offering PCL capabilities through ROS messages. I need to call this service from code written apart from ROS that is linking to Eigen 3. The client should transform our own point cloud data structure to PointCloud2 message and then communicate with the service in order to perform filtering, segmentation, etc. Such architecture worked before installing the last release. However, now I get compilation problems related to file pcl/point_types.hpp. I have seen that this file has recently changed the way the different point clouds data types are defined. One of the compilation errors is as follows:<br>
<br>/opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp: In member function ‘Eigen::Map&lt;Eigen::Matrix&lt;float, 4, 1, 0, 4, 1&gt;, 0&gt; pcl::_PointXYZ::getVector4fMap()’:<br>/opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp:73: error: conversion from ‘Eigen::Map&lt;Eigen::Matrix&lt;float, 4, 1, 0, 4, 1&gt;, 1&gt;’ to non-scalar type ‘Eigen::Map&lt;Eigen::Matrix&lt;float, 4, 1, 0, 4, 1&gt;, 0&gt;’ requested<br clear="all">
<br>I have taken a look to point_types.hpp and it seems that<span style="color: rgb(51, 51, 255);"> Eigen::Vector4f::MapAligned (data))</span> does not return an aligned Map when it should? <br><br>It is not the first time I get these type of compilation errors. I guess that most of them appear due to conflicts between Eigen 2 and Eigen 3. That is why I try to isolate pure ROS code in services and use minimal ROS dependencies in clients that make use of our own Eigen 3 based code. I have read that Eigen 3 is being used in the unstable trunk of ROS. Nevertheless, has anybody faced these problems before? Am I doing something wrong?<br>
<br>Thanks<br><br>-- <br>Jordi Pages, PhD<br>Researcher<br>Pal Robotics S.L.<br><br>Tel: +34.93.414.53.47<br>Fax: +34.93.209.11.09<br>C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.<br><a href="http://www.pal-robotics.com/">http://www.pal-robotics.com/</a><br>
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