Mavros: Простая проблема с получателем сообщений mavlink

Созданный на 16 мая 2017  ·  5Комментарии  ·  Источник: mavlink/mavros

Версия и платформа МАВРОС

Маврос: 0,19,0
ROS: кинетическая
Ubuntu: 16.04

Детали проблемы

Привет,

В настоящее время я пытаюсь написать приемник сообщений mavlink с использованием библиотеки libmavconn, но, к сожалению, по какой-то причине я не могу скомпилировать свой код. Вот мой код:

mavlink_receiver_test.h:

#ifndef PROJECT_MAVLINK_RECEIVER_TEST_H
#define PROJECT_MAVLINK_RECEIVER_TEST_H

#include <ros/ros.h>
#include <mavconn/interface.h>
#include <mavlink/v2.0/common/mavlink_msg_set_attitude_target.h>

using mavlink::mavlink_message_t;

class MavlinkReceiverTest {
public:
    MavlinkReceiverTest(const std::string& fcu_url);

protected:
    void handle_message(const mavlink_message_t* message, const mavconn::Framing framing);

    void handle_msg_set_attitude_target(const mavlink_message_t* message);

    mavconn::MAVConnInterface::Ptr link_;
};


#endif //PROJECT_MAVLINK_RECEIVER_TEST_H

mavlink_receiver_test.cpp:

#include "aft_controller/mavlink_receiver_test.h"

MavlinkReceiverTest::MavlinkReceiverTest(const std::string& fcu_url) {
    link_ = mavconn::MAVConnInterface::open_url(fcu_url);

    link_->message_received_cb = std::bind(&MavlinkReceiverTest::handle_message, this, std::placeholders::_1,
                                           std::placeholders::_2);
}

void MavlinkReceiverTest::handle_message(const mavlink_message_t* message, const mavconn::Framing framing) {
    switch (message->msgid) {
        case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
            ROS_INFO_STREAM("it's working");
            handle_msg_set_attitude_target(message);
            break;
        default:
            break;
    }
}

void MavlinkReceiverTest::handle_msg_set_attitude_target(const mavlink_message_t* message) {
    (void) message;
}

int main(int argc, char** argv) {
    ros::init(argc, argv, "mavlink_receiver_test");
    ros::NodeHandle nh;

    MavlinkReceiverTest mavlink("udp://localhost:14557<strong i="19">@localhost</strong>:14565");
    ros::spin();

    return 0;
}

А вот вывод команды catkin_make :

[  2%] Built target aft_math_tools
[  3%] Built target aft_draw_tools
[  4%] Built target aft_mavros_tools
[  5%] Built target aft_plane
[  5%] Built target std_msgs_generate_messages_eus
[  5%] Built target geometry_msgs_generate_messages_eus
[  6%] Built target aft_bond_tools
[  6%] Built target actionlib_msgs_generate_messages_eus
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionFeedback
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionResult
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionActionResult
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionGoal
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionAction
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognition
[  6%] Built target std_msgs_generate_messages_lisp
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionActionFeedback
[  6%] Built target _aft_image_processing_generate_messages_check_deps_PatternRecognitionActionGoal
[  6%] Built target geometry_msgs_generate_messages_lisp
[  6%] Built target actionlib_msgs_generate_messages_lisp
[  6%] Built target geometry_msgs_generate_messages_cpp
[  6%] Built target actionlib_msgs_generate_messages_cpp
[  6%] Built target std_msgs_generate_messages_cpp
[  6%] Built target geometry_msgs_generate_messages_nodejs
[  6%] Built target std_msgs_generate_messages_nodejs
[  6%] Built target actionlib_msgs_generate_messages_nodejs
[  6%] Built target actionlib_msgs_generate_messages_py
[  6%] Built target geometry_msgs_generate_messages_py
[  6%] Built target std_msgs_generate_messages_py
[  7%] Built target pattern_draw
[  8%] Built target pattern_recognition_test
[ 12%] Built target color_object_tracking
[ 12%] Built target pattern_recognition_real_time
[ 13%] Built target bounding_box
[ 15%] Built target camera_calibration
[ 17%] Built target harris_corner_detection
[ 18%] Built target camera_test
[ 19%] Built target contour
[ 21%] Built target face_recognition
[ 22%] Built target optical_flow
[ 24%] Built target sequential_motion_tracking
[ 25%] Built target image_read
[ 26%] Built target shape_detection
[ 27%] Built target geofencing
[ 28%] Built target system_watchdog_test
[ 29%] Built target mavlink_attitude_publisher
[ 31%] Built target offb_example
[ 33%] Built target attitude_controller_example
[ 34%] Building CXX object aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/src/mavlink_receiver_test.cpp.o
[ 44%] Built target rc_reader_test
[ 45%] Built target dji_control_test
[ 56%] Built target attitude_controller_test
[ 57%] Built target nofly_vertex_plugin
[ 58%] Built target model_push_plugin
[ 59%] Built target hello_world
[ 65%] Built target aft_image_processing_generate_messages_eus
[ 67%] Built target transform_broadcaster_plugin
[ 72%] Built target aft_image_processing_generate_messages_lisp
[ 77%] Built target aft_image_processing_generate_messages_cpp
[ 80%] Built target grid_size_plugin
[ 86%] Built target aft_image_processing_generate_messages_nodejs
[ 86%] Built target aft_image_processing_gencpp
[ 92%] Built target aft_image_processing_generate_messages_py
[ 96%] Built target pattern_recognition_client
[ 96%] Built target pattern_recognition_action_server
[ 98%] Built target pattern_recognition_server
[ 98%] Built target aft_image_processing_generate_messages
In file included from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:43:0,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:79:102: error: ‘mavlink_message_t’ has not been declared
 static inline uint16_t mavlink_msg_set_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                                                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint16_t mavlink_msg_set_attitude_target_pack(uint8_t, uint8_t, int*, uint32_t, uint8_t, uint8_t, uint8_t, const float*, float, float, float, float)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:84:43: error: ‘_mav_put_uint32_t’ was not declared in this scope
     _mav_put_uint32_t(buf, 0, time_boot_ms);
                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:85:43: error: ‘_mav_put_float’ was not declared in this scope
     _mav_put_float(buf, 20, body_roll_rate);
                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:89:44: error: ‘_mav_put_uint8_t’ was not declared in this scope
     _mav_put_uint8_t(buf, 36, target_system);
                                            ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:92:38: error: ‘_mav_put_float_array’ was not declared in this scope
     _mav_put_float_array(buf, 4, q, 4);
                                      ^
In file included from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../message.hpp:15:0,
                 from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/common.hpp:16,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:23,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../mavlink_types.h:158:56: error: request for member ‘payload64’ in ‘* msg’, which is of non-class type ‘int’
 #define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
                                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:93:16: note: in expansion of macro ‘_MAV_PAYLOAD_NON_CONST’
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
                ^
In file included from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:43:0,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:108:10: error: request for member ‘msgid’ in ‘* msg’, which is of non-class type ‘int’
     msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET;
          ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:109:189: error: ‘mavlink_finalize_message’ was not declared in this scope
     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
                                                                                                                                                                                             ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:109:189: note: suggested alternative:
In file included from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../message.hpp:32:0,
                 from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/common.hpp:16,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:23,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../mavlink_helpers.h:273:25: note:   ‘mavlink::mavlink_finalize_message’
 MAVLINK_HELPER uint16_t mavlink_finalize_message(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id, 
                         ^
In file included from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:43:0,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:130:32: error: ‘mavlink_message_t’ has not been declared
                                mavlink_message_t* msg,
                                ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint16_t mavlink_msg_set_attitude_target_pack_chan(uint8_t, uint8_t, uint8_t, int*, uint32_t, uint8_t, uint8_t, uint8_t, const float*, float, float, float, float)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:135:43: error: ‘_mav_put_uint32_t’ was not declared in this scope
     _mav_put_uint32_t(buf, 0, time_boot_ms);
                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:136:43: error: ‘_mav_put_float’ was not declared in this scope
     _mav_put_float(buf, 20, body_roll_rate);
                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:140:44: error: ‘_mav_put_uint8_t’ was not declared in this scope
     _mav_put_uint8_t(buf, 36, target_system);
                                            ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:143:38: error: ‘_mav_put_float_array’ was not declared in this scope
     _mav_put_float_array(buf, 4, q, 4);
                                      ^
In file included from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../message.hpp:15:0,
                 from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/common.hpp:16,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:23,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../mavlink_types.h:158:56: error: request for member ‘payload64’ in ‘* msg’, which is of non-class type ‘int’
 #define _MAV_PAYLOAD_NON_CONST(msg) ((char *)(&((msg)->payload64[0])))
                                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:144:16: note: in expansion of macro ‘_MAV_PAYLOAD_NON_CONST’
         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN);
                ^
In file included from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:43:0,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:159:10: error: request for member ‘msgid’ in ‘* msg’, which is of non-class type ‘int’
     msg->msgid = MAVLINK_MSG_ID_SET_ATTITUDE_TARGET;
          ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:160:200: error: ‘mavlink_finalize_message_chan’ was not declared in this scope
     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_SET_ATTITUDE_TARGET_CRC);
                                                                                                                                                                                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:160:200: note: suggested alternative:
In file included from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../message.hpp:32:0,
                 from /home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/common.hpp:16,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:23,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/../mavlink_helpers.h:263:25: note:   ‘mavlink::mavlink_finalize_message_chan’
 MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, uint8_t system_id, uint8_t component_id,
                         ^
In file included from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/mavlink_dialect.h:43:0,
                 from /home/l4ncelot/mavros/src/mavros/libmavconn/include/mavconn/interface.h:37,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/include/aft_controller/mavlink_receiver_test.h:9,
                 from /home/l4ncelot/aft_copter/src/aft_copter/aft_controller/src/mavlink_receiver_test.cpp:5:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:171:104: error: ‘mavlink_message_t’ has not been declared
 static inline uint16_t mavlink_msg_set_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
                                                                                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:185:123: error: ‘mavlink_message_t’ has not been declared
 static inline uint16_t mavlink_msg_set_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_attitude_target_t* set_attitude_target)
                                                                                                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:297:79: error: ‘mavlink_message_t’ does not name a type
 static inline uint32_t mavlink_msg_set_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
                                                                               ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint32_t mavlink_msg_set_attitude_target_get_time_boot_ms(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:299:40: error: ‘_MAV_RETURN_uint32_t’ was not declared in this scope
     return _MAV_RETURN_uint32_t(msg,  0);
                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:307:79: error: ‘mavlink_message_t’ does not name a type
 static inline uint8_t mavlink_msg_set_attitude_target_get_target_system(const mavlink_message_t* msg)
                                                                               ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint8_t mavlink_msg_set_attitude_target_get_target_system(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:309:40: error: ‘_MAV_RETURN_uint8_t’ was not declared in this scope
     return _MAV_RETURN_uint8_t(msg,  36);
                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:317:82: error: ‘mavlink_message_t’ does not name a type
 static inline uint8_t mavlink_msg_set_attitude_target_get_target_component(const mavlink_message_t* msg)
                                                                                  ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint8_t mavlink_msg_set_attitude_target_get_target_component(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:319:40: error: ‘_MAV_RETURN_uint8_t’ was not declared in this scope
     return _MAV_RETURN_uint8_t(msg,  37);
                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:327:75: error: ‘mavlink_message_t’ does not name a type
 static inline uint8_t mavlink_msg_set_attitude_target_get_type_mask(const mavlink_message_t* msg)
                                                                           ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint8_t mavlink_msg_set_attitude_target_get_type_mask(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:329:40: error: ‘_MAV_RETURN_uint8_t’ was not declared in this scope
     return _MAV_RETURN_uint8_t(msg,  38);
                                        ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:337:68: error: ‘mavlink_message_t’ does not name a type
 static inline uint16_t mavlink_msg_set_attitude_target_get_q(const mavlink_message_t* msg, float *q)
                                                                    ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘uint16_t mavlink_msg_set_attitude_target_get_q(const int*, float*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:339:49: error: ‘_MAV_RETURN_float_array’ was not declared in this scope
     return _MAV_RETURN_float_array(msg, q, 4,  4);
                                                 ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:347:78: error: ‘mavlink_message_t’ does not name a type
 static inline float mavlink_msg_set_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
                                                                              ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘float mavlink_msg_set_attitude_target_get_body_roll_rate(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:349:38: error: ‘_MAV_RETURN_float’ was not declared in this scope
     return _MAV_RETURN_float(msg,  20);
                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:357:79: error: ‘mavlink_message_t’ does not name a type
 static inline float mavlink_msg_set_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
                                                                               ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘float mavlink_msg_set_attitude_target_get_body_pitch_rate(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:359:38: error: ‘_MAV_RETURN_float’ was not declared in this scope
     return _MAV_RETURN_float(msg,  24);
                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:367:77: error: ‘mavlink_message_t’ does not name a type
 static inline float mavlink_msg_set_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
                                                                             ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘float mavlink_msg_set_attitude_target_get_body_yaw_rate(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:369:38: error: ‘_MAV_RETURN_float’ was not declared in this scope
     return _MAV_RETURN_float(msg,  28);
                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:377:70: error: ‘mavlink_message_t’ does not name a type
 static inline float mavlink_msg_set_attitude_target_get_thrust(const mavlink_message_t* msg)
                                                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: In function ‘float mavlink_msg_set_attitude_target_get_thrust(const int*)’:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:379:38: error: ‘_MAV_RETURN_float’ was not declared in this scope
     return _MAV_RETURN_float(msg,  32);
                                      ^
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h: At global scope:
/home/l4ncelot/mavros/devel/include/mavlink/v2.0/common/mavlink_msg_set_attitude_target.h:388:65: error: ‘mavlink_message_t’ does not name a type
 static inline void mavlink_msg_set_attitude_target_decode(const mavlink_message_t* msg, mavlink_set_attitude_target_t* set_attitude_target)
                                                                 ^
aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/build.make:62: recipe for target 'aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/src/mavlink_receiver_test.cpp.o' failed
make[2]: *** [aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/src/mavlink_receiver_test.cpp.o] Error 1
CMakeFiles/Makefile2:4837: recipe for target 'aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/all' failed
make[1]: *** [aft_copter/aft_controller/CMakeFiles/mavlink_receiver_test.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Base path: /home/l4ncelot/aft_copter
Source space: /home/l4ncelot/aft_copter/src
Build space: /home/l4ncelot/aft_copter/build
Devel space: /home/l4ncelot/aft_copter/devel
Install space: /home/l4ncelot/aft_copter/install
####
#### Running command: "make cmake_check_build_system" in "/home/l4ncelot/aft_copter/build"
####
####
#### Running command: "make -j4 -l4" in "/home/l4ncelot/aft_copter/build"
####
Invoking "make -j4 -l4" failed

Кажется, что некоторые объявления отсутствуют, но если я попытаюсь включить, например, файлы mavlink.h или mavlink_types.h я получаю массу ошибок в процессе компиляции. Я что-то пропустил? Следует ли связать некоторые библиотеки с моим примером? Я не мог найти, как точно использовать библиотеку libmavconn, и сейчас застрял ...

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picture L4ncelot

Самый полезный комментарий

Посмотрите на make_handler() , возможно, что-то из того, что вам может понадобиться (если вы хотите автоматизировать переключение обработчика сообщений).

Вместо декодирования вы должны написать:

mavlink::MsgMap map(message);
mavlink::common::msg::SET_ATTITUDE_TARGET s;
s.deserialize(map);

std::cout << s.to_yaml() << std::endl;
picture vooon 16 мая 2017
👍3

Все 5 Комментарий

Эта проблема связана с тем, что вы включили "mavlink / v2.0 / common / mavlink_msg_set_attitude_target.h", а libmavconn 0.19 переключился на библиотеку C ++ 11 с mavros.
Вы не должны включать ничего, кроме mavconn/interface.h - это автоматически включает заголовки MAVLink.

Вместо MAVLINK_MSG_ID_SET_ATTITUDE_TARGET следует использовать mavlink::common::msg::SET_ATTITUDE_TARGET::MSG_ID .
Обратите внимание, что сериализация выполняется libmavconn ( MAVConnInteface::send_message() ), а десериализация - нет (выполняется вспомогательной лямбда-функцией, выполняемой PluginBase::make_handler() ).

В любом случае, почему вам нужно использовать его вне mavros?

vooon picture vooon 16 мая 2017
👍1

О, я этого не знал. Итак, как я могу десериализовать relative_message?
Обычно я бы хотел что-то вроде этого:

void MavlinkReceiverTest::handle_msg_set_attitude_target(const mavlink_message_t* message) {
        mavlink_set_attitude_target_t set_attitude_target;
    mavlink_msg_set_attitude_target_decode(message, &set_attitude_target);    
}

Есть ли какой-нибудь пример подобного?

Мне нужно написать свой собственный приемник mavlink, потому что я разрабатываю код как для коптеров на базе коптеров DJI . Моя программа использует МАВРОС для связи с автопилотами. Проблема в том, что коптер DJI не использует MAVLINK в качестве протокола связи. Поэтому мне нужно написать приемник сообщений

L4ncelot picture L4ncelot 16 мая 2017

Посмотрите на make_handler() , возможно, что-то из того, что вам может понадобиться (если вы хотите автоматизировать переключение обработчика сообщений).

Вместо декодирования вы должны написать:

mavlink::MsgMap map(message);
mavlink::common::msg::SET_ATTITUDE_TARGET s;
s.deserialize(map);

std::cout << s.to_yaml() << std::endl;
vooon picture vooon 16 мая 2017
👍3

Большое спасибо за Вашу помощь. Теперь все работает нормально.

L4ncelot picture L4ncelot 17 мая 2017

@vooon Ответы здесь очень полезны и не представлены где-либо еще, что я искал. Примеры узлов ros в стеке PX4 устарели с обсуждаемыми здесь изменениями libmavconn. Тогда спасибо.

alsaibie picture alsaibie 9 мая 2018
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