ubuntu 20.04 ros noetic订阅消息报错：error: no matching function for call to ‘ros::NodeHandle::subscribe

Question

ubuntu 20.04 ros noetic订阅消息报错：error: no matching function for call to ‘ros::NodeHandle::subscribe 。。。
imu_sub_ = nh_.advertise("imu",100,boost::bind(&RosInterface::imuCallback,this,1));
说没有匹配的函数
我参考的是别人的代码
我原本是这样写的(和别人一样)：就是没有用boost::bind(),，也报错，试了boost::bind也报错，求指点。
imu_sub = nh_.advertise("imu",100,&RosInterface::imuCallback,this);
代码如下：

#include "ros_interface.h"


RosInterface::RosInterface(ros::NodeHandle nh): nh_(nh),it_(nh_),imu_calibrated_(false),prev_imu_time_(0.0)
{
    odom_pub_ = nh.advertise<nav_msgs::Odometry>("odom", 10);
    imu_sub_ = nh_.advertise("imu",100,boost::bind(&RosInterface::imuCallback,this,_1));
}


void RosInterface::imuCallback(const sensor_msgs::ImuConstPtr& imu)
{
    imu_msg_buffer_.emplace_back(*imu);
}

void RosInterface::imuInitialize()
{
    Eigen::Vector3f accel_accum;
    Eigen::Vector3f gyro_accum;
    int num_readings = 0;

    accel_accum.setZero();
    gyro_accum.setZero();

    for(const auto& entry : imu_msg_buffer_){
      accel_accum[0] += entry.linear_acceleration.x;
      gyro_accum[0] += entry.angular_velocity.x;
      num_readings++;
    }
    Eigen::Vector3f accel_mean = accel_accum / num_readings;
    Eigen::Vector3f gyro_mean = gyro_accum / num_readings;

    imy_state_.gyro_bias = gyro_mean;
    imy_state_.g << 0.0, 0.0, -9.81;
}

头文件：

#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/Image.h>
#include <nav_msgs/Odometry.h>
#include <image_transport/image_transport.h>

#include <iostream>
#include <stdlib.h>
#include <stdio.h>

#include <Eigen/Dense>
#include <Eigen/Geometry>

struct IMUState{
    typedef long long int StateIDType;
    StateIDType id;
    static StateIDType next_id;
    double time;              //received time
    //Eigen::Vector4d orientation; //world frame to imu frame
    //Eigen::Vector3d position;    // imu position in world frame
    //Eigen::Vector3d velocity;    // velocity of imu in world frame
    
    Eigen::Vector3f gyro_bias;   // gyro_bias
    //Eigen::Vector3d acc_bias;    // acc_bias
    
    //Eigen::Matrix3d R_imu_cam;   // rotation matrix from imu to cam
    //Eigen::Vector3d t_cam_imu;   // movements?c
    
    //to have a proper null spacee
    //Eigen::Vector4d orientation_null;
    //Eigen::Vector3d position_null; 
    //Eigen::Vector3d velocity_null; 
    
    // noise
    Eigen::Vector3d g; 
    //Eigen::Vector3d gyro_noise; 
    //Eigen::Vector3d acc_noise;  
    //Eigen::Vector3d gyro_bias_noise;  
    //Eigen::Vector3d acc_bias_noise; 
    
    //static Eigen::Vector3d gravity;  //graviity in the world frame
    
    //static Eigen::Isometry3d T_imu_body;
};

class RosInterface{
    public:
        RosInterface(ros::NodeHandle nh);
        void imuCallback(const sensor_msgs::ImuConstPtr& imu);
        void imuInitialize();
//        void imageCallback(const sensor_msgs::ImageConstPtr& image);

    private:
        ros::NodeHandle nh_;
        image_transport::ImageTransport it_;
        
        image_transport::Subscriber image_sub_;
        image_transport::Publisher track_image_pub_;
        ros::Subscriber imu_sub_;
        ros::Publisher odom_pub_;
        
        std::atomic<bool> imu_calibrated_;
        
        double prev_imu_time_;
        IMUState imy_state_;
        std::vector<sensor_msgs::Imu> imu_msg_buffer_;
        
        
};

Answer 1

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针对您在Ubuntu 20.04系统上使用ROS Noetic时遇到的ros::NodeHandle::subscribe调用错误，以及您提供的相关代码片段，我已经进行了分析，并找到了问题所在及相应的解决办法。以下是详细的解答与修正后的代码：

问题分析：

您提到的错误信息指出没有找到匹配的ros::NodeHandle::subscribe函数调用。实际上，您试图订阅的是名为"imu"的话题，但使用了advertise方法而不是subscribe方法。advertise用于发布话题，而subscribe用于订阅话题。因此，错误在于方法名使用不当。

解决方案：

将imu_sub_ = nh_.advertise("imu",100,boost::bind(&RosInterface::imuCallback,this,_1));这一行中的advertise更正为subscribe。同时，由于您希望使用成员函数作为回调，应使用std::bind（C++11标准）而非boost::bind。另外，取消对imuCallback参数的显式指定，因为std::bind会自动处理成员函数的隐含this指针。修改后的代码如下：

imu_sub_ = nh_.subscribe("imu", 100, &RosInterface::imuCallback, this);

修正后的RosInterface类定义：

#include "ros_interface.h"

RosInterface::RosInterface(ros::NodeHandle nh)
    : nh_(nh), it_(nh_), imu_calibrated_(false), prev_imu_time_(0.0)
{
    odom_pub_ = nh.advertise<nav_msgs::Odometry>("odom", 10);
    imu_sub_ = nh_.subscribe("imu", 100, &RosInterface::imuCallback, this);
}

void RosInterface::imuCallback(const sensor_msgs::ImuConstPtr& imu)
{
    imu_msg_buffer_.emplace_back(*imu);
}

void RosInterface::imuInitialize()
{
    Eigen::Vector3f accel_accum;
    Eigen::Vector3f gyro_accum;
    int num_readings = 0;

    accel_accum.setZero();
    gyro_accum.setZero();

    for (const auto& entry : imu_msg_buffer_) {
        accel_accum[0] += entry.linear_acceleration.x;
        gyro_accum[0] += entry.angular_velocity.x;
        num_readings++;
    }
    Eigen::Vector3f accel_mean = accel_accum / num_readings;
    Eigen::Vector3f gyro_mean = gyro_accum / num_readings;

    imy_state_.gyro_bias = gyro_mean;
    imy_state_.g << 0.0, 0.0, -9.81;
}

修正后的头文件：

无需改动。

通过上述调整，您的RosInterface类应该能正确地订阅名为"imu"的话题并调用imuCallback函数处理接收到的消息。如果您在后续实现过程中遇到其他问题，欢迎继续提问。