[ros-users] OccupancyGrid message: expected unqualified-id before numeric constant

[Steven Martin]

Thanks fixed. 

Also changing #define resolution to res  fixed problem as well.  

Sent from my iPhone

On 14/07/2011, at 11:28 PM, Ivan Dryanovski <ivan.dryanovski at gmail.com> wrote:

> This is mostly a shot in the dark, but have you tried removing the
> #defines and using const doubles?
> 
> Ivan
> 
> On Thu, Jul 14, 2011 at 4:49 AM, Steven Martin <steven.martin at qut.edu.au> wrote:
>> Hi Guys,
>> 
>> I am just trying to set the resolution in my Occupancy Grid message.
>> 
>>    nav_msgs::OccupancyGrid costmap;
>>    costmap.info.resolution = 1.0;
>> 
>> but I get this compile error
>> 
>>  /src/costmap.cpp: In function ‘void chatterCallback(const sensor_msgs::LaserScan_<std::allocator<void> >::ConstPtr&)’:
>>  /src/costmap.cpp:19:18: error: expected unqualified-id before numeric constant
>>  /src/costmap.cpp:19:18: error: expected ‘;’ before numeric constant
>> 
>> 
>> Any ideas? One of the other students in the lab had a similar issue with setting "g" in a rgb colour message. "r" and "b" could set but "g" threw the same error. Interestingly both were Float32 message variables.
>> 
>> 
>> Steve
>> 
>> -----------------------------------
>> 
>> #include "ros/ros.h"
>> #include "sensor_msgs/LaserScan.h"
>> #include "nav_msgs/OccupancyGrid.h"
>> #include "nav_msgs/MapMetaData.h"
>> 
>> #include <math.h>
>> #include <iostream>
>> 
>> #define resolution 0.5
>> #define size 30  //+10m , -10m
>> const int length = size/resolution;
>> ros::Publisher costmap_pub;
>> 
>> 
>> void chatterCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
>> {
>>    nav_msgs::OccupancyGrid costmap;
>>    costmap.data.resize(length*length,0);
>>    costmap.info.resolution = 1.0;
>>    costmap.info.width = length;
>>    costmap.info.height = length;
>>    costmap.header.stamp = ros::Time::now();
>> 
>>    float angle = msg->angle_min;
>>    int points = (int)(msg->angle_max - msg->angle_min)/msg->angle_increment;
>> 
>> 
>> ....
>> 
>> 
>> 
>> 
>> Steven Martin
>> steven.martin at qut.edu.au
>> 
>> PhD Student
>> Queensland University of Technology
>> Gardens Point, S1107
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