genom3 » genom3-ros

Part of the error message

/usr/include/boost/bind/bind.hpp : dans l'instantiation de ‘void boost::_bi::list2<A1, A2>::operator()(boost::_bi::type<void>, F&, A&, int) [with F = boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>; A = boost::_bi::list1<const actionlib::ServerGoalHandle<genom::action::MoveDistance>&>; A1 = boost::_bi::value<genom_component_data*>; A2 = boost::arg<1>]’ :
/usr/include/boost/bind/bind.hpp:905:50:   required from ‘boost::_bi::bind_t<R, F, L>::result_type boost::_bi::bind_t<R, F, L>::operator()(A1&&) [with A1 = actionlib::ServerGoalHandle<genom::action::MoveDistance>; R = void; F = boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>; L = boost::_bi::list2<boost::_bi::value<genom_component_data*>, boost::arg<1> >; boost::_bi::bind_t<R, F, L>::result_type = void]’
/usr/include/boost/function/function_template.hpp:159:11:   required from ‘static void boost::detail::function::void_function_obj_invoker1<FunctionObj, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionObj = boost::_bi::bind_t<void, boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>, boost::_bi::list2<boost::_bi::value<genom_component_data*>, boost::arg<1> > >; R = void; T0 = actionlib::ServerGoalHandle<genom::action::MoveDistance>]’
/usr/include/boost/function/function_template.hpp:940:38:   required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>, boost::_bi::list2<boost::_bi::value<genom_component_data*>, boost::arg<1> > >; R = void; T0 = actionlib::ServerGoalHandle<genom::action::MoveDistance>]’
/usr/include/boost/function/function_template.hpp:728:7:   required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<(boost::type_traits::ice_not<(boost::is_integral<Functor>::value)>::value), int>::type) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>, boost::_bi::list2<boost::_bi::value<genom_component_data*>, boost::arg<1> > >; R = void; T0 = actionlib::ServerGoalHandle<genom::action::MoveDistance>; typename boost::enable_if_c<(boost::type_traits::ice_not<(boost::is_integral<Functor>::value)>::value), int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16:   required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<(boost::type_traits::ice_not<(boost::is_integral<Functor>::value)>::value), int>::type) [with Functor = boost::_bi::bind_t<void, boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>, boost::_bi::list2<boost::_bi::value<genom_component_data*>, boost::arg<1> > >; R = void; T0 = actionlib::ServerGoalHandle<genom::action::MoveDistance>; typename boost::enable_if_c<(boost::type_traits::ice_not<(boost::is_integral<Functor>::value)>::value), int>::type = int]’
src/demo_control-task.cc:182:12:   required from here
/usr/include/boost/bind/bind.hpp:313:35: erreur : no match for call to ‘(boost::_mfi::mf1<void, genom_component_data, actionlib::ServerGoalHandle<genom::action::MoveDistance>&>) (genom_component_data*&, const actionlib::ServerGoalHandle<genom::action::MoveDistance>&)’
         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);
         ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/bind/mem_fn.hpp:215:0,
                 from /usr/include/boost/mem_fn.hpp:22,
                 from /usr/include/boost/function/detail/prologue.hpp:18,
                 from /usr/include/boost/function.hpp:24,
                 from /home/adegroote/openrobots/include/ros/forwards.h:39,
                 from /home/adegroote/openrobots/include/ros/common.h:37,
                 from /home/adegroote/openrobots/include/ros/ros.h:43,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/mem_fn_template.hpp:163:7: note : candidate: R boost::_mfi::mf1<R, T, A1>::operator()(T*, A1) const [with R = void; T = genom_component_data; A1 = actionlib::ServerGoalHandle<genom::action::MoveDistance>&] <near match>
     R operator()(T * p, A1 a1) const
       ^~~~~~~~
/usr/include/boost/bind/mem_fn_template.hpp:163:7: note :   conversion of argument 2 would be ill-formed:
In file included from /usr/include/boost/bind.hpp:22:0,
                 from /home/adegroote/openrobots/include/ros/publisher.h:35,
                 from /home/adegroote/openrobots/include/ros/node_handle.h:32,
                 from /home/adegroote/openrobots/include/ros/ros.h:45,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/bind.hpp:313:35: erreur : binding ‘const actionlib::ServerGoalHandle<genom::action::MoveDistance>’ to reference of type ‘actionlib::ServerGoalHandle<genom::action::MoveDistance>&’ discards qualifiers
         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);
         ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/bind/mem_fn.hpp:215:0,
                 from /usr/include/boost/mem_fn.hpp:22,
                 from /usr/include/boost/function/detail/prologue.hpp:18,
                 from /usr/include/boost/function.hpp:24,
                 from /home/adegroote/openrobots/include/ros/forwards.h:39,
                 from /home/adegroote/openrobots/include/ros/common.h:37,
                 from /home/adegroote/openrobots/include/ros/ros.h:43,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/mem_fn_template.hpp:168:25: note : candidate: template<class U> R boost::_mfi::mf1<R, T, A1>::operator()(U&, A1) const [with U = U; R = void; T = genom_component_data; A1 = actionlib::ServerGoalHandle<genom::action::MoveDistance>&]
     template<class U> R operator()(U & u, A1 a1) const
                         ^~~~~~~~
/usr/include/boost/bind/mem_fn_template.hpp:168:25: note :   template argument deduction/substitution failed:
In file included from /usr/include/boost/bind.hpp:22:0,
                 from /home/adegroote/openrobots/include/ros/publisher.h:35,
                 from /home/adegroote/openrobots/include/ros/node_handle.h:32,
                 from /home/adegroote/openrobots/include/ros/ros.h:45,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/bind.hpp:313:35: note :   cannot convert ‘(& a)->boost::_bi::list1<A1>::operator[]<const actionlib::ServerGoalHandle<genom::action::MoveDistance>&>(boost::_bi::storage2<A1, boost::arg<I> >::a2_<boost::_bi::value<genom_component_data*>, 1>)’ (type ‘const actionlib::ServerGoalHandle<genom::action::MoveDistance>’) to type ‘actionlib::ServerGoalHandle<genom::action::MoveDistance>&’
         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);
         ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/bind/mem_fn.hpp:215:0,
                 from /usr/include/boost/mem_fn.hpp:22,
                 from /usr/include/boost/function/detail/prologue.hpp:18,
                 from /usr/include/boost/function.hpp:24,
                 from /home/adegroote/openrobots/include/ros/forwards.h:39,
                 from /home/adegroote/openrobots/include/ros/common.h:37,
                 from /home/adegroote/openrobots/include/ros/ros.h:43,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/mem_fn_template.hpp:176:25: note : candidate: template<class U> R boost::_mfi::mf1<R, T, A1>::operator()(const U&, A1) const [with U = U; R = void; T = genom_component_data; A1 = actionlib::ServerGoalHandle<genom::action::MoveDistance>&]
     template<class U> R operator()(U const & u, A1 a1) const
                         ^~~~~~~~
/usr/include/boost/bind/mem_fn_template.hpp:176:25: note :   template argument deduction/substitution failed:
In file included from /usr/include/boost/bind.hpp:22:0,
                 from /home/adegroote/openrobots/include/ros/publisher.h:35,
                 from /home/adegroote/openrobots/include/ros/node_handle.h:32,
                 from /home/adegroote/openrobots/include/ros/ros.h:45,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/bind.hpp:313:35: note :   cannot convert ‘(& a)->boost::_bi::list1<A1>::operator[]<const actionlib::ServerGoalHandle<genom::action::MoveDistance>&>(boost::_bi::storage2<A1, boost::arg<I> >::a2_<boost::_bi::value<genom_component_data*>, 1>)’ (type ‘const actionlib::ServerGoalHandle<genom::action::MoveDistance>’) to type ‘actionlib::ServerGoalHandle<genom::action::MoveDistance>&’
         unwrapper<F>::unwrap(f, 0)(a[base_type::a1_], a[base_type::a2_]);
         ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/include/boost/bind/mem_fn.hpp:215:0,
                 from /usr/include/boost/mem_fn.hpp:22,
                 from /usr/include/boost/function/detail/prologue.hpp:18,
                 from /usr/include/boost/function.hpp:24,
                 from /home/adegroote/openrobots/include/ros/forwards.h:39,
                 from /home/adegroote/openrobots/include/ros/common.h:37,
                 from /home/adegroote/openrobots/include/ros/ros.h:43,
                 from src/demo_control-task.cc:24:
/usr/include/boost/bind/mem_fn_template.hpp:184:7: note : candidate: R boost::_mfi::mf1<R, T, A1>::operator()(T&, A1) const [with R = void; T = genom_component_data; A1 = actionlib::ServerGoalHandle<genom::action::MoveDistance>&]
     R operator()(T & t, A1 a1) const
       ^~~~~~~~
/usr/include/boost/bind/mem_fn_template.hpp:184:7: note :   no known conversion for argument 1 from ‘genom_component_data*’ to ‘genom_component_data&’
In file included from /usr/include/boost/bind.hpp:22:0,
                 from /home/adegroote/openrobots/include/ros/publisher.h:35,
                 from /home/adegroote/openrobots/include/ros/node_handle.h:32,
                 from /home/adegroote/openrobots/include/ros/ros.h:45,
                 from src/demo_control-task.cc:24:

My understand of this gory message (yes, they improve error messages in 6.1 ...) is that the signature of MoveDistance_rqstcb (and cie) are not correct. The expected signature from the documentation is

boost::function<void (GoalHandle)> 

while the signature of the generated code is

boost::function<void (GoalHandle&)>

I don't know why clang++ and older gcc accept it. See the attached patch to fix it