[ros-users] Problem with Reading Point Cloud data from BAG files

[#TAN ZHI PING#]

 Hi all,

I try to run bag_read.cpp from this website:

http://www.ros.org/wiki/pcl/Tutorials/Reading%20Point%20Cloud%20data%20from%20BAG%20files

But when i compile. these are the error messages produced:
---------------------------------------------------------------------------------------------------------------------Debug----------------------------------------------------------------------------------------------------
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp: In function ‘int main(int, char**)’:
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:10: error: ‘sensor_msgs’ has not been declared
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:10: error: expected ‘;’ before ‘cloud_blob’
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:11: error: ‘PointCloud’ is not a member of ‘pcl’
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:11: error: expected primary-expression before ‘>’ token
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:11: error: ‘cloud’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:13: error: ‘pcl_ros’ has not been declared
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:13: error: expected ‘;’ before ‘reader’
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:14: error: ‘reader’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:16: error: ‘ROS_ERROR’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:23: error: ‘cloud_blob_prev’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:23: error: ‘cloud_blob’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:24: error: ‘reader’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:27: error: ‘point_cloud’ has not been declared
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:28: error: ‘ROS_INFO’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:32: error: ‘cloud_blob’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:32: error: ‘cloud_blob_prev’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:34: error: ‘ROS_INFO’ was not declared in this scope
---------------------------------------------------------------------------------------------------------------------End Debug----------------------------------------------------------------------------------------------------
i tried to solve these problems by adding more headers to the file namely

#include "pcl_ros/io/bag_io.h"
#include "pcl/point_types.h"
#include "pcl/point_cloud.h"                                            //<--Just Added
#include "sensor_msgs/point_cloud_conversion.h"        //<--Just Added

---------------------------------------------------------------------------------------------------------------------Debug----------------------------------------------------------------------------------------------------
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp: In function ‘int main(int, char**)’:
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:13: error: ‘pcl_ros’ has not been declared
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:13: error: expected ‘;’ before ‘reader’
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:14: error: ‘reader’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:24: error: ‘reader’ was not declared in this scope
  /home/snoopy/robot/ros-pkg/stacks/point_cloud_perception/trunk/pcl/src/examples/bag_read.cpp:27: error: ‘point_cloud’ has not been declared
---------------------------------------------------------------------------------------------------------------------End Debug----------------------------------------------------------------------------------------------------

How do i solve the remaining problems ?

With thanks,
Zhiping




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