Compile on ROS2 foxy will occur some error

[jingyuangaosuxunyangjian]

By experiment, the ROS2 branch can used in humble. When I try to compile it on foxy, the compile error will occur when create service. My device uses foxy is jetson xavier NX.

When I try to comment the line 945 in laserMapping.cpp, the error will disappear. So I think there are some difference between foxy and humble when create service.

This is the error message after build

/opt/ros/foxy/include/rclcpp/create_service.hpp: In instantiation of ‘typename rclcpp::Service<ServiceT>::SharedPtr rclcpp::create_service(std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>, std::shared_ptr<rclcpp::node_interfaces::NodeServicesInterface>, const string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = std_srvs::srv::Trigger; CallbackT = std::_Bind<void (LaserMappingNode::*(LaserMappingNode*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<const std_srvs::srv::Trigger_Request_<std::allocator<void> > >, std::shared_ptr<std_srvs::srv::Trigger_Response_<std::allocator<void> > >)>; typename rclcpp::Service<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’:
/opt/ros/foxy/include/rclcpp/node_impl.hpp:146:53:   required from ‘typename rclcpp::Service<ServiceT>::SharedPtr rclcpp::Node::create_service(const string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = std_srvs::srv::Trigger; CallbackT = std::_Bind<void (LaserMappingNode::*(LaserMappingNode*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<const std_srvs::srv::Trigger_Request_<std::allocator<void> > >, std::shared_ptr<std_srvs::srv::Trigger_Response_<std::allocator<void> > >)>; typename rclcpp::Service<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_t; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
/home/jingqiao/Documents/ros2_ws/src/FAST_LIO/src/laserMapping.cpp:945:181:   required from here
/opt/ros/foxy/include/rclcpp/create_service.hpp:43:3: error: no matching function for call to ‘rclcpp::AnyServiceCallback<std_srvs::srv::Trigger>::set(std::_Bind<void (LaserMappingNode::*(LaserMappingNode*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<const std_srvs::srv::Trigger_Request_<std::allocator<void> > >, std::shared_ptr<std_srvs::srv::Trigger_Response_<std::allocator<void> > >)>)’
   43 |   any_service_callback.set(std::forward<CallbackT>(callback));

[saichand44]

@jingyuangaosuxunyangjian,

I have encountered the same issue when attempting to compile the ROS2 branch on Foxy.

Here's what worked for me:

Replacing the callback function signature with an explicit use of std::shared_ptr. The updated function definition is:

void map_save_callback(const std::shared_ptr<std_srvs::srv::Trigger::Request> req, 
                       std::shared_ptr<std_srvs::srv::Trigger::Response> res)
{
    RCLCPP_INFO(this->get_logger(), "Saving map to %s...", map_file_path.c_str());
    if (pcd_save_en)
    {
        save_to_pcd();
        res->success = true;
        res->message = "Map saved.";
    }
    else
    {
        res->success = false;
        res->message = "Map save disabled.";
    }
}