Ros Subscriber 传递多个参数boost::bind Error

最新推荐文章于 2023-02-21 14:36:03 发布

JoJo93

最新推荐文章于 2023-02-21 14:36:03 发布

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分类专栏： Ros

本文链接：https://blog.youkuaiyun.com/mywmy/article/details/83547304

在ros的订阅器方法subscribe中，想要传递参数进去，代码如下

#include "ros/ros.h"
#include <nav_msgs/OccupancyGrid.h>
//#include <boost/bind.hpp>

void mapcallback(const nav_msgs::OccupancyGrid::ConstPtr& msg, int* k)//Map_Info* mapdata)
{
//doing stuff
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "mapper");
    ros::NodeHandle n;
    int test;
    //boost::bind(&mapcallback, _1, test);
    ros::Subscriber sub2=n.subscribe("map",1, boost::bind(&mapcallback, _1, &test));
    while (ros::ok())
    {       
        ros::spinOnce();
        sleep(2);
    }

return 0;
}

产生了报错：

error: no matching function for call to ‘ros::NodeHandle::subscribe(const char [4], int, boost::_bi::bind_t<void, void (*)(const boost::shared_ptr<const nav_msgs::OccupancyGrid_<std::allocator<void> > >&, int), boost::_bi::list2<boost::arg<1>, boost::_bi::value<int> > >)’
  ros::Subscriber sub2=n.subs