Moveit: /opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type typedef std::shared_ptr<Type> Name##Ptr;

Created on 6 Mar 2017 · 5Comments · Source: ros-planning/moveit

Description

I program C++ file with movegroup interface according to the moveit tutorial, the program i built is show in the follwing:

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group_interface.h>
int main(int argc, char **argv)
{
  ros::init(argc, argv, "lesson_move_group");


  ros::AsyncSpinner spinner(1);
  spinner.start();

  moveit::planning_interface::MoveGroup group("manipulator");

  std::map<std::string, double> joints;
  joints["shoulder_pan_joint"] = -0.40;
  joints["shoulder_lift_joint"] =  0.27;
  joints["elbow_joint"] =  0.48;
  joints["wrist_1_joint"] =  0.07;
  joints["wrist_2_joint"] =  0.75;
  joints["wrist_3_joint"] = -0.19;

  group.setJointValueTarget(joints);

  group.move();


}

Overview of your issue here.
After catkin_make the package, the erros are:

In file included from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:0:
/opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:43:2: warning: #warning "This header is deprecated and will go away in ROS lunar." "Please use moveit/move_group_interface/move_group_interface.h" "and the class MoveGroupInterface instead of MoveGroup" [-Wcpp]
 #warning "This header is deprecated and will go away in ROS lunar."\
  ^
In file included from /opt/ros/kinetic/include/moveit/macros/class_forward.h:40:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;                                                                             \
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:50:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(Shape);
 ^
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:53:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<const Type> Name##ConstPtr;
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:50:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(Shape);
....
....

move_group_test/CMakeFiles/move_joint.dir/build.make:62: recipe for target 'move_group_test/CMakeFiles/move_joint.dir/src/move_joint.cpp.o' failed
make[2]: *** [move_group_test/CMakeFiles/move_joint.dir/src/move_joint.cpp.o] Error 1
CMakeFiles/Makefile2:4223: recipe for target 'move_group_test/CMakeFiles/move_joint.dir/all' failed
make[1]: *** [move_group_test/CMakeFiles/move_joint.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

It seems that the problem comes from the library of moveit because of Compatibility or for the other reason. Can yo tell me how to resolve the problem

Your environment

ROS Distro: Kinetic
OS Version: e.g. Ubuntu 16.04

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Expected behaviour

Tell us what should happen

Actual behaviour

Tell us what happens instead

Backtrace or Console output

[ 25%] Built target ur_msgs_generate_messages_nodejs
[ 27%] Building CXX object move_group_test/CMakeFiles/move_joint.dir/src/move_joint.cpp.o
[ 43%] Built target ur_msgs_generate_messages_eus
[ 60%] Built target ur_msgs_generate_messages_py
[ 74%] Built target ur_msgs_generate_messages_cpp
[ 87%] Built target ur_msgs_generate_messages_lisp
[ 91%] Built target ur10_moveit_plugin
[ 91%] Built target ur_msgs_generate_messages
[ 94%] Built target ur5_moveit_plugin
[ 98%] Built target ur3_moveit_plugin
In file included from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:0:
/opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:43:2: warning: #warning "This header is deprecated and will go away in ROS lunar." "Please use moveit/move_group_interface/move_group_interface.h" "and the class MoveGroupInterface instead of MoveGroup" [-Wcpp]
 #warning "This header is deprecated and will go away in ROS lunar."\
  ^
In file included from /opt/ros/kinetic/include/moveit/macros/class_forward.h:40:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;                                                                             \
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:50:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(Shape);
 ^
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:53:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<const Type> Name##ConstPtr;
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:50:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(Shape);
 ^
In file included from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:42:0,
                 from /opt/ros/kinetic/include/moveit/robot_model/robot_model.h:48,
                 from /opt/ros/kinetic/include/moveit/robot_state/robot_state.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:43,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:174:21: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
   const std::vector<shapes::ShapeConstPtr>& getShapes() const
                     ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:174:21: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:174:42: error: template argument 1 is invalid
   const std::vector<shapes::ShapeConstPtr>& getShapes() const
                                          ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:174:42: error: template argument 2 is invalid
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:179:38: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
   void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Affine3d& origins);
                                      ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:179:38: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:179:59: error: template argument 1 is invalid
   void setGeometry(const std::vector<shapes::ShapeConstPtr>& shapes, const EigenSTL::vector_Affine3d& origins);
                                                           ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:179:59: error: template argument 2 is invalid
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:254:15: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
   std::vector<shapes::ShapeConstPtr> shapes_;
               ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:254:15: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:254:36: error: template argument 1 is invalid
   std::vector<shapes::ShapeConstPtr> shapes_;
                                    ^
/opt/ros/kinetic/include/moveit/robot_model/link_model.h:254:36: error: template argument 2 is invalid
In file included from /opt/ros/kinetic/include/moveit/macros/class_forward.h:40:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;                                                                             \
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/kinematics_base/kinematics_base.h:137:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(KinematicsBase);
 ^
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:53:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<const Type> Name##ConstPtr;
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/kinematics_base/kinematics_base.h:137:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(KinematicsBase);
 ^
In file included from /opt/ros/kinetic/include/moveit/robot_model/robot_model.h:48:0,
                 from /opt/ros/kinetic/include/moveit/robot_state/robot_state.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:43,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:56:25: error: ‘KinematicsBasePtr’ is not a member of ‘kinematics’
 typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> SolverAllocatorFn;
                         ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:56:25: error: ‘KinematicsBasePtr’ is not a member of ‘kinematics’
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:56:77: error: a function call cannot appear in a constant-expression
 typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> SolverAllocatorFn;
                                                                             ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:56:78: error: template argument 1 is invalid
 typedef boost::function<kinematics::KinematicsBasePtr(const JointModelGroup*)> SolverAllocatorFn;
                                                                              ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:101:17: error: ‘KinematicsBaseConstPtr’ in namespace ‘kinematics’ does not name a type
     kinematics::KinematicsBaseConstPtr solver_instance_const_;
                 ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:103:17: error: ‘KinematicsBasePtr’ in namespace ‘kinematics’ does not name a type
     kinematics::KinematicsBasePtr solver_instance_;
                 ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:529:21: error: ‘KinematicsBaseConstPtr’ in namespace ‘kinematics’ does not name a type
   const kinematics::KinematicsBaseConstPtr& getSolverInstance() const
                     ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:534:21: error: ‘KinematicsBasePtr’ in namespace ‘kinematics’ does not name a type
   const kinematics::KinematicsBasePtr& getSolverInstance()
                     ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h: In member function ‘moveit::core::JointModelGroup::KinematicsSolver::operator bool() const’:
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:81:51: error: ‘solver_instance_’ was not declared in this scope
       return allocator_ && !bijection_.empty() && solver_instance_;
                                                   ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h: In member function ‘void moveit::core::JointModelGroup::KinematicsSolver::reset()’:
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:86:7: error: ‘solver_instance_’ was not declared in this scope
       solver_instance_.reset();
       ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:87:7: error: ‘solver_instance_const_’ was not declared in this scope
       solver_instance_const_.reset();
       ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h: In member function ‘bool moveit::core::JointModelGroup::setRedundantJoints(const std::vector<std::__cxx11::basic_string<char> >&)’:
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:543:33: error: ‘struct moveit::core::JointModelGroup::KinematicsSolver’ has no member named ‘solver_instance_’
     if (group_kinematics_.first.solver_instance_)
                                 ^
/opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:544:38: error: ‘struct moveit::core::JointModelGroup::KinematicsSolver’ has no member named ‘solver_instance_’
       return group_kinematics_.first.solver_instance_->setRedundantJoints(joints);
                                      ^
In file included from /opt/ros/kinetic/include/moveit/macros/class_forward.h:40:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:41,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/robot_model/robot_model.h: At global scope:
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;                                                                             \
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/robot_model.h:64:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(RobotModel);
 ^
/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:53:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<const Type> Name##ConstPtr;
                ^
/opt/ros/kinetic/include/moveit/macros/class_forward.h:51:3: note: in expansion of macro ‘MOVEIT_DECLARE_PTR’
   MOVEIT_DECLARE_PTR(C, C);
   ^
/opt/ros/kinetic/include/moveit/robot_model/robot_model.h:64:1: note: in expansion of macro ‘MOVEIT_CLASS_FORWARD’
 MOVEIT_CLASS_FORWARD(RobotModel);
 ^
In file included from /opt/ros/kinetic/include/moveit/robot_state/robot_state.h:41:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:43,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/robot_model/robot_model.h:601:11: error: ‘ShapePtr’ in namespace ‘shapes’ does not name a type
   shapes::ShapePtr constructShape(const urdf::Geometry* geom);
           ^
In file included from /opt/ros/kinetic/include/moveit/robot_state/robot_state.h:42:0,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group_interface.h:43,
                 from /opt/ros/kinetic/include/moveit/move_group_interface/move_group.h:40,
                 from /home/lkj/catkin_ws/src/move_group_test/src/move_joint.cpp:2:
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:63:80: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
   AttachedBody(const LinkModel* link, const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
                                                                                ^
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:63:80: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:63:101: error: template argument 1 is invalid
   AttachedBody(const LinkModel* link, const std::string& id, const std::vector<shapes::ShapeConstPtr>& shapes,
                                                                                                     ^
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:63:101: error: template argument 2 is invalid
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:88:21: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
   const std::vector<shapes::ShapeConstPtr>& getShapes() const
                     ^
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:88:21: error: ‘ShapeConstPtr’ is not a member of ‘shapes’
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:88:42: error: template argument 1 is invalid
   const std::vector<shapes::ShapeConstPtr>& getShapes() const
                                          ^
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:88:42: error: template argument 2 is invalid
/opt/ros/kinetic/include/moveit/robot_state/attached_body.h:141:15: error: ‘ShapeConstPtr’ is not a member of ‘shapes’

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb.

Source

lkj1114889770

Most helpful comment

/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;

Have you enabled C++11 in your CMakeLists.txt? If not, that is most likely the cause of your issue.

moveit_core/CMakeLists.txt shows one way to do that.

gavanderhoorn on 6 Mar 2017

👍10

All 5 comments

/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;

Have you enabled C++11 in your CMakeLists.txt? If not, that is most likely the cause of your issue.

moveit_core/CMakeLists.txt shows one way to do that.

gavanderhoorn on 6 Mar 2017

👍10

YES! It works to add C++11 in CMakeList.txt.

lkj1114889770 on 6 Mar 2017

@lkj1114889770 cool same issue, and thanks @gavanderhoorn . Did you rebuild moveIt with C++11 from source ? I'm migrating code from indigo to kinectic, and add add_compile_options(-std=c++11) in every custom ros package CMakeLists.txt. But not yet rebuild moveit from source.

YuehChuan on 29 Oct 2017

@YuehChuan You don't have to build MoveIt yourself, but all packages that include MoveIt headers have to be compiles with -std=c++11 which is what adding add_compile_options(-std=c++11) to the beginning of all the respective package/CMakeLists.txt does.

v4hn on 17 Nov 2017

👍3

/opt/ros/kinetic/include/moveit/macros/declare_ptr.h:52:16: error: ‘shared_ptr’ in namespace ‘std’ does not name a template type
   typedef std::shared_ptr<Type> Name##Ptr;
Have you enabled C++11 in your CMakeLists.txt? If not, that is most likely the cause of your issue.

moveit_core/CMakeLists.txt shows one way to do that.

yes,good job.Thanks