catkin_make errors #4
Description
Thanks to the author for sharing such an excellent works.The following two errors occurred when I reproduced the above work.
The first question is about the use of DSP_map:
When I run this perception algorithm, the corresponding rviz's perception camera position is fixed in the middle of rviz, and cannot change with the camera position. How should I modify it so that the perception position can change with the camera position?
The second question is about catkin_make of RAST_corridor_planning:
When I run catkin_make, I get a lot of errors. The relevant errors are as follows:
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:40:12: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
40 | inline c_int setMats(Eigen::SparseMatrix &P,
| ^~~~~
| u_int
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:101:12: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
101 | inline c_int solve() const
| ^~~~~
| u_int
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:106:12: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
106 | inline c_int getStatus() const
| ^~~~~
| u_int
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:120:5: error: ‘OSQPData’ does not name a type
120 | OSQPData pData;
| ^~~~~~~~
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp: In constructor ‘IOSQP::IOSQP()’:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:20:15: error: class ‘IOSQP’ does not have any field named ‘pData’
20 | pData(nullptr)
| ^~~~~
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:22:37: error: ‘c_malloc’ was not declared in this scope; did you mean ‘malloc’?
22 | pSettings = (OSQPSettings )c_malloc(sizeof(OSQPSettings));
| ^~~~~~~~
| malloc
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:23:9: error: ‘pData’ was not declared in this scope
23 | pData = (OSQPData )c_malloc(sizeof(OSQPData));
| ^~~~~
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:23:18: error: ‘OSQPData’ was not declared in this scope
23 | pData = (OSQPData )c_malloc(sizeof(OSQPData));
| ^~~~~~~~
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:23:28: error: expected primary-expression before ‘)’ token
23 | pData = (OSQPData )c_malloc(sizeof(OSQPData));
| ^
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp: In destructor ‘IOSQP::~IOSQP()’:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:31:26: error: cannot convert ‘OSQPWorkspace’ {aka ‘OSQPWorkspace_’} to ‘OSQPSolver’
31 | osqp_cleanup(pWork);
| ^~~~~
| |
| OSQPWorkspace {aka OSQPWorkspace_}
In file included from /usr/local/include/osqp/osqp.h:9,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:4,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/usr/local/include/osqp/osqp_api_functions.h:133:43: note: initializing argument 1 of ‘OSQPInt osqp_cleanup(OSQPSolver*)’
133 | OSQP_API OSQPInt osqp_cleanup(OSQPSolver* solver);
| ~~~~~~~~~~~~^~~~~~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:4,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/usr/local/include/osqp/osqp_api_types.h:135:16: note: class type ‘OSQPWorkspace’ {aka ‘OSQPWorkspace_’} is incomplete
135 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
In file included from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:33:13: error: ‘c_free’ was not declared in this scope; did you mean ‘free’?
33 | c_free(pSettings);
| ^~~~~~
| free
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:34:13: error: ‘pData’ was not declared in this scope
34 | if (pData)
| ^~~~~
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:35:13: error: ‘c_free’ was not declared in this scope; did you mean ‘free’?
35 | c_free(pData);
| ^~~~~~
| free
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp: In member function ‘Eigen::VectorXd IOSQP::getPrimalSol() const’:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:113:55: error: invalid use of incomplete type ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
113 | return Eigen::Map(pWork->solution->x,
| ^~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:4,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/usr/local/include/osqp/osqp_api_types.h:135:16: note: forward declaration of ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
135 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
In file included from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:114:55: error: invalid use of incomplete type ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
114 | pWork->data->n);
| ^~
In file included from /usr/local/include/osqp/osqp.h:8,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/iosqp.hpp:4,
from /home/whj/RAST/src/RAST_corridor_planning/include/CorridorMiniSnap/corridor_minisnap.h:19,
from /home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:12:
/usr/local/include/osqp/osqp_api_types.h:135:16: note: forward declaration of ‘OSQPWorkspace’ {aka ‘struct OSQPWorkspace_’}
135 | typedef struct OSQPWorkspace_ OSQPWorkspace;
| ^~~~~~~~~~~~~~
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp: In member function ‘bool traj_opt::MiniSnap::solveQP()’:
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:361:10: error: ‘class IOSQP’ has no member named ‘setMats’
361 | solver.setMats(Q, q, A, _lb, _ub, 1e-3, 1e-3);
| ^~~~~~~
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:362:10: error: ‘class IOSQP’ has no member named ‘solve’
362 | solver.solve();
| ^~~~~
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp: In member function ‘bool traj_opt::CorridorMiniSnap::primarySolveQP()’:
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:574:3: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
574 | c_int flag = solver.setMats(Q, q, A, _lb, _ub, 1e-3, 1e-3);
| ^~~~~
| u_int
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:576:7: error: ‘flag’ was not declared in this scope
576 | if (flag != 0) {
| ^~~~
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:580:10: error: ‘class IOSQP’ has no member named ‘solve’
580 | solver.solve();
| ^~~~~
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:581:8: error: expected ‘;’ before ‘status’
581 | c_int status = solver.getStatus();
| ^~~~~~~
| ;
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:584:7: error: ‘status’ was not declared in this scope; did you mean ‘static’?
584 | if (status == 1 || status == 2) {
| ^~~~~~
| static
/home/whj/RAST/src/RAST_corridor_planning/src/corridor_minisnap.cpp:566:9: warning: control reaches end of non-void function [-Wreturn-type]
566 | IOSQP solver;
| ^~~~~~
make[2]: *** [RAST_corridor_planning/CMakeFiles/MINIMUM_SNAP_CORRIDOR.dir/build.make:76：RAST_corridor_planning/CMakeFiles/MINIMUM_SNAP_CORRIDOR.dir/src/corridor_minisnap.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1699：RAST_corridor_planning/CMakeFiles/MINIMUM_SNAP_CORRIDOR.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
[ 96%] Linking CXX executable /home/whj/RAST/devel/lib/rast_corridor_planning/map_sim_example
How should I modify to solve the above error？