ROS 编译 moveit::planning_interface::MoveItErrorCode to bool 错误

flyfish

环境 Ubuntu 16.04 ，ROS Kinetic

错误信息如下

/home/pumpkinking/catkin_ws/src/pick-place-robot/kuka_arm/src/trajectory_sampler.cpp: In constructor ‘TrajectorySampler::TrajectorySampler(ros::NodeHandle)’:
/home/pumpkinking/catkin_ws/src/pick-place-robot/kuka_arm/src/trajectory_sampler.cpp:180:43: error: cannot convert ‘moveit::planning_interface::MoveItErrorCode’ to ‘bool’ in initialization
     bool success = move_group.plan(my_plan);

查看MoveIt代码

namespace moveit_msgs
{
template <class ContainerAllocator>
struct MoveItErrorCodes_
{
  typedef MoveItErrorCodes_<ContainerAllocator> Type;

  MoveItErrorCodes_()
    : val(0)  {
    }
  MoveItErrorCodes_(const ContainerAllocator& _alloc)
    : val(0)  {
  (void)_alloc;
    }



   typedef int32_t _val_type;
  _val_type val;



  enum {
    SUCCESS = 1,
    FAILURE = 99999,
    PLANNING_FAILED = -1,
    INVALID_MOTION_PLAN = -2,
    MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE = -3,
    CONTROL_FAILED = -4,
    UNABLE_TO_AQUIRE_SENSOR_DATA = -5,
    TIMED_OUT = -6,
    PREEMPTED = -7,
    START_STATE_IN_COLLISION = -10,
    START_STATE_VIOLATES_PATH_CONSTRAINTS = -11,
    GOAL_IN_COLLISION = -12,
    GOAL_VIOLATES_PATH_CONSTRAINTS = -13,
    GOAL_CONSTRAINTS_VIOLATED = -14,
    INVALID_GROUP_NAME = -15,
    INVALID_GOAL_CONSTRAINTS = -16,
    INVALID_ROBOT_STATE = -17,
    INVALID_LINK_NAME = -18,
    INVALID_OBJECT_NAME = -19,
    FRAME_TRANSFORM_FAILURE = -21,
    COLLISION_CHECKING_UNAVAILABLE = -22,
    ROBOT_STATE_STALE = -23,
    SENSOR_INFO_STALE = -24,
    NO_IK_SOLUTION = -31,
  };


  typedef boost::shared_ptr< ::moveit_msgs::MoveItErrorCodes_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::moveit_msgs::MoveItErrorCodes_<ContainerAllocator> const> ConstPtr;

}; // struct MoveItErrorCodes_

typedef ::moveit_msgs::MoveItErrorCodes_<std::allocator<void> > MoveItErrorCodes;

typedef boost::shared_ptr< ::moveit_msgs::MoveItErrorCodes > MoveItErrorCodesPtr;
typedef boost::shared_ptr< ::moveit_msgs::MoveItErrorCodes const> MoveItErrorCodesConstPtr;

所以兼容性代码可以这样写
最简单的写法

 bool success = move_group_->move() == moveit::planning_interface::MoveItErrorCode::SUCCESS;

或者复杂写法可以输出多种错误类型

moveit::planning_interface::MoveItErrorCode r=move_group_->move() 
r.val判断是否是moveit::planning_interface::MoveItErrorCode::SUCCESS 值是1

ROS 编译 moveit::planning_interface::MoveItErrorCode to bool 错误

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