[ros-users] Eigen conflict in pcl/point_types.hpp

[Jordi Pages]

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
thatEigen::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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