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:
/opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp:
In member function ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>, 0>
pcl::_PointXYZ::getVector4fMap()’:
/opt/ros/cturtle/stacks/point_cloud_perception/pcl/src/pcl/point_types.hpp:73:
error: conversion from ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>,
1>’ to non-scalar type ‘Eigen::Map<Eigen::Matrix<float, 4, 1, 0, 4, 1>,
0>’ requested
I have taken a look to point_types.hpp and it seems that
Eigen::Vector4f::MapAligned (data)) does not return an aligned Map when
it should?
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?
Thanks
--
Jordi Pages, PhD
Researcher
Pal Robotics S.L.
Tel: +34.93.414.53.47
Fax: +34.93.209.11.09
C/ Pujades 77-79 4º 4ª 08005 Barcelona, Spain.
http://www.pal-robotics.com/
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