項目場景：

Teb局部路徑規劃器的indigo版本在編譯時可能會遇到如下編譯報錯情況

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問題描述

提示：/home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:155:64: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(teb_local_planner::TEBLinearSolver*&)’
? ?TEBBlockSolver* blockSolver = new TEBBlockSolver(linearSolver);
? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ^

/home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp: In member function ‘boost::shared_ptr<g2o::SparseOptimizer> teb_local_planner::TebOptimalPlanner::initOptimizer()’: /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:155:64: error: no matching function for call to ‘g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >::BlockSolver(teb_local_planner::TEBLinearSolver*&)’TEBBlockSolver* blockSolver = new TEBBlockSolver(linearSolver);^ /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:155:64: note: candidate is: In file included from /usr/local/include/g2o/core/block_solver.h:199:0,from /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/include/teb_local_planner/optimal_planner.h:55,from /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:39: /usr/local/include/g2o/core/block_solver.hpp:40:1: note: g2o::BlockSolver<Traits>::BlockSolver(std::unique_ptr<typename Traits::LinearSolverType>) [with Traits = g2o::BlockSolverTraits<-1, -1>; typename Traits::LinearSolverType = g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >]BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver)^ /usr/local/include/g2o/core/block_solver.hpp:40:1: note: ? no known conversion for argument 1 from ‘teb_local_planner::TEBLinearSolver* {aka g2o::LinearSolverCSparse<Eigen::Matrix<double, -1, -1> >*}’ to ‘std::unique_ptr<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> >, std::default_delete<g2o::LinearSolver<Eigen::Matrix<double, -1, -1> > > >’ /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:156:100: error: no matching function for call to ‘g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(teb_local_planner::TEBBlockSolver*&)’g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(blockSolver);^ /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:156:100: note: candidate is: In file included from /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/include/teb_local_planner/optimal_planner.h:58:0,from /home/ros/catkin_ws/data/huang/my_ws/src/teb_local_planner-indigo-devel/src/optimal_planner.cpp:39: /usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: g2o::OptimizationAlgorithmLevenberg::OptimizationAlgorithmLevenberg(std::unique_ptr<g2o::Solver>)explicit OptimizationAlgorithmLevenberg(std::unique_ptr<Solver> solver);^ /usr/local/include/g2o/core/optimization_algorithm_levenberg.h:47:16: note: ? no known conversion for argument 1 from ‘teb_local_planner::TEBBlockSolver* {aka g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >*}’ to ‘std::unique_ptr<g2o::Solver>’

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原因分析：

提示：note: ? no known conversion for argument 1 from ‘teb_local_planner::TEBBlockSolver* {aka g2o::BlockSolver<g2o::BlockSolverTraits<-1, -1> >*}’ to ‘std::unique_ptr<g2o::Solver>’

例如：因為g2o庫一直在更新，而indigo版本的Teb已經是2015年的代碼，optimal_planner.cpp里申明的普通指針并不能轉換成智能指針。

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解決方案：

提示：

? // allocating the optimizer
? boost::shared_ptr<g2o::SparseOptimizer> optimizer = boost::make_shared<g2o::SparseOptimizer>();
? std::unique_ptr<TEBLinearSolver> linearSolver(new TEBLinearSolver()); // see typedef in optimization.h
? linearSolver->setBlockOrdering(true);
? std::unique_ptr<TEBBlockSolver> blockSolver(new TEBBlockSolver(std::move(linearSolver)));
? g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(std::move(blockSolver));

將報錯位置optimal_planner.cpp里的// allocating the optimizer部分更換成如上寫法，問題即可解決。

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