c++ error: expected class-name before '{' token

Question

screenshot of Pose.hpp 我正在尝试 catkin_make 一个简单的包，但出现错误

.../Pose.hpp:17:1: expected class-name before token...
.../Odometry.cpp:12:3: expected class-name before token...

负责的Pose头文件在这里采样为：

#ifndef POSE_HPP
#define POSE_HPP
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"


namespace turtle
{//line 17
template <class ContainerAllocator>
struct Pose_ : public ros::Message
{
  typedef Pose_<ContainerAllocator> Type;

}; // struct Pose
...
} // namespace turtle

而在odometry.cpp中引用的头文件显示为

#include <geometry_msgs/TwistWithCovarianceStamped.h>
#include <tf/transform_datatypes.h>
#include <robot_localization_demo/odometry.hpp>

namespace robot_localization_demo {

  TurtleOdometry::TurtleOdometry(ros::NodeHandle node_handle, double frequency):
    node_handle_{node_handle},
    turtle_pose_subscriber_{node_handle_.subscribe("turtle1/pose", 16, &TurtleOdometry::turtlePoseCallback, this)},
    turtle_twist_publisher_{node_handle_.advertise<geometry_msgs::TwistWithCovarianceStamped>("turtle1/sensors/twist", 16)},
    frequency_{frequency},
  {//line 12
    ;
  }

里程计也包括姿势。 我在这里错过了什么？

Answer 1

ros::Message 的官方文档说：

This base-class is deprecated in favor of a template-based serialization and traits system.

在 official source code it looks like it's still defined, but in a contrib version I found, the whole class definition 被删除 #if 0:

namespace ros {
#if 0
class Message {
    //
};
#endif
}

所以，您很可能需要找到一个不同的基地 class。