c++ - Error using boost::bind for subscribe callback -

we're getting compile error followed many more errors showing attempts match subscribe parameters possible candidate functions when using boost::bind callback subscribe.

error: no matching function call ‘ros::nodehandle::subscribe(const char [18], int, boost::_bi::bind_t<void, void (*)(const geometry_msgs::wrenchstamped_<std::allocator<void> >&, moveit::planning_interface::movegroup&), boost::_bi::list2<boost::arg<1>, boost::_bi::value<moveit::planning_interface::movegroup*> > >)’ 

our code follows. commented lines show code works when movegroup context (object pointer) not passed.

#include <stdio.h> #include <boost/bind.hpp> #include <geometry_msgs/wrenchstamped.h> #include <moveit/move_group_interface/move_group.h>  using namespace eigen; using namespace std;  //void contact_callback(const geometry_msgs::wrenchstamped& msg) { void contact_callback(const geometry_msgs::wrenchstamped& msg, moveit::planning_interface::movegroup &group){     //if(msg.wrench.force.z > 5) group.stop(); }  int main(int argc, char **argv) {     ros::init(argc, argv, "get_stiffness");     ros::nodehandle node_handle;      ros::asyncspinner spinner(1);     spinner.start();     moveit::planning_interface::movegroup group("manipulator");     ros::subscriber contact_sub;     //contact_sub = node_handle.subscribe("/finger1/nano17ft",1,contact_callback);     contact_sub = node_handle.subscribe("/finger1/nano17ft",100,boost::bind(contact_callback,_1,&group));     ros::waitforshutdown();     return 0; } 

the handler takes movegroup& pass address of group.

instead use ref(group):

boost::bind(contact_callback,_1,boost::ref(group)) 

or, indeed

std::bind(contact_callback,std::placeholders::_1,std::ref(group)) 

update:

your callback not adhere required signature:

void contact_callback(const geometry_msgs::wrenchstamped&, moveit::planning_interface::movegroup & group) { 

must be

void contact_callback(const boost::shared_ptr<geometry_msgs::wrenchstamped const>, moveit::planning_interface::movegroup & group) { 

---

at call site must either make message type explicit (it's in non-deducible context):

contact_sub = node_handle.subscribe<geometry_msgs::wrenchstamped>("/finger1/nano17ft", 100,         boost::bind(contact_callback, _1, boost::ref(group))); 

or explicitly wrap in function<> first:

boost::function<void(const boost::shared_ptr<geometry_msgs::wrenchstamped const>&)> callback =     boost::bind(contact_callback, _1, boost::ref(group)); contact_sub = node_handle.subscribe("/finger1/nano17ft", 100, callback); 

live demo

with roscpp/eigen stuff stubbed out:

live on coliru

#include <boost/bind.hpp> #include <boost/shared_ptr.hpp> #include <boost/function.hpp> #include <iostream>  ////////////////// stubs stubs stubs ////// //#include <geometry_msgs/wrenchstamped.h> namespace eigen {} namespace geometry_msgs { struct wrenchstamped {}; } namespace moveit { namespace planning_interface { struct movegroup { std::string name; movegroup(std::string s):name(s){} }; } }  namespace ros {     void init(...) {}     void waitforshutdown(...) {}     struct subscriber {};     struct nodehandle {         using voidconstptr = void const *;         enum class transporthints {};         template <typename m>         subscriber subscribe(const std::string &topic, uint32_t queue_size,                 const boost::function<void(const boost::shared_ptr<m const> &)> &callback,                 const voidconstptr &tracked_object = voidconstptr(),                 const transporthints &transport_hints = transporthints())         {              (void)topic, (void)queue_size, void(tracked_object), void(transport_hints);             callback({});             return {};         }     };     struct asyncspinner {         asyncspinner(int) {}         void start() {}     }; }; //#include <moveit/move_group_interface/move_group.h> ////////////////// end stubs end stubs end stubs //////  using namespace eigen;  void contact_callback(const boost::shared_ptr<geometry_msgs::wrenchstamped const>, moveit::planning_interface::movegroup & group) {     // if(msg.wrench.force.z > 5) group.stop();     std::cout << "invoked! " << group.name << "\n"; }  int main(int argc, char **argv) {     ros::init(argc, argv, "get_stiffness");     ros::nodehandle node_handle;     ros::asyncspinner spinner(1);     spinner.start();     moveit::planning_interface::movegroup group("manipulator");     ros::subscriber contact_sub;      contact_sub = node_handle.subscribe<geometry_msgs::wrenchstamped>("/finger1/nano17ft", 100,             boost::bind(contact_callback, _1, boost::ref(group)));     {         boost::function<void(const boost::shared_ptr<geometry_msgs::wrenchstamped const>&)> callback =             boost::bind(contact_callback, _1, boost::ref(group));         contact_sub = node_handle.subscribe("/finger1/nano17ft", 100, callback);     }     ros::waitforshutdown(); } 

prints

invoked! manipulator invoked! manipulator