# voxl mpa to ros melodic voxl2 aidetection message header file missing

Source: https://forum.modalai.com/topic/3368/voxl-mpa-to-ros-melodic-voxl2-aidetection-message-header-file-missing
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-04-29 03:32:17 UTC by Darshit Desai
Replies: 3 · Views: 972

## Darshit Desai · 2024-04-29 03:32:17 UTC

Missing Aidetection.h file from rosmelodic mpatoros in voxl2. Upon checking /opt/ros/include/ directory I found that there are no Aidetection.h header files?
```BASH
________________________________________________________________________________________________________________________________________________________________________________________
Errors     << tflite_prop_detection:make /home/root/catkin_ws/logs/tflite_prop_detection/build.make.001.log                                                                             
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:51:34: error: 'voxl_mpa_to_ros' does not name a type
     void aidectionCallback(const voxl_mpa_to_ros::AiDetection::ConstPtr& msg) {
                                  ^~~~~~~~~~~~~~~
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:51:62: error: expected unqualified-id before '::' token
     void aidectionCallback(const voxl_mpa_to_ros::AiDetection::ConstPtr& msg) {
                                                              ^~
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:51:62: error: expected ')' before '::' token
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:51:51: error: expected ';' at end of member declaration
     void aidectionCallback(const voxl_mpa_to_ros::AiDetection::ConstPtr& msg) {
                                                   ^~~~~~~~~~~
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:51:64: error: 'ConstPtr' in namespace '::' does not name a type
     void aidectionCallback(const voxl_mpa_to_ros::AiDetection::ConstPtr& msg) {
                                                                ^~~~~~~~
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp: In constructor 'TFLitePropDetectionNode::TFLitePropDetectionNode()':
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: error: no matching function for call to 'ros::NodeHandle::subscribe(const char [13], int, void (TFLitePropDetectionNode::*)(...), TFLitePropDetectionNode*)'
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:402:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), T*, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M), T* obj,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:402:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   candidate expects 2 arguments, 1 provided
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:413:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M) const, T*, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M) const, T* obj,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:413:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   types 'void (T::)(M) const' and 'void (TFLitePropDetectionNode::)(...)' have incompatible cv-qualifiers
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:465:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const M>&), T*, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:465:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   candidate expects 2 arguments, 1 provided
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:475:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const M>&) const, T*, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:475:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   types 'void (T::)(const boost::shared_ptr<const M>&) const' and 'void (TFLitePropDetectionNode::)(...)' have incompatible cv-qualifiers
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:529:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M), const boost::shared_ptr<U>&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M),
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:529:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   candidate expects 2 arguments, 1 provided
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:540:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(M) const, const boost::shared_ptr<U>&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(T::*fp)(M) const,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:540:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   types 'void (T::)(M) const' and 'void (TFLitePropDetectionNode::)(...)' have incompatible cv-qualifiers
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:594:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const M>&), const boost::shared_ptr<U>&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:594:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   candidate expects 2 arguments, 1 provided
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:605:14: note: candidate: template<class M, class T> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (T::*)(const boost::shared_ptr<const M>&) const, const boost::shared_ptr<U>&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:605:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   types 'void (T::)(const boost::shared_ptr<const M>&) const' and 'void (TFLitePropDetectionNode::)(...)' have incompatible cv-qualifiers
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:656:14: note: candidate: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(M), const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(*fp)(M), const TransportHints& transport_hints = TransportHints())
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:656:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   mismatched types 'void (*)(M)' and 'void (TFLitePropDetectionNode::*)(...)'
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:704:14: note: candidate: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, void (*)(const boost::shared_ptr<const M>&), const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr<M const>&), const TransportHints& transport_hints = TransportHints())
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:704:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   mismatched types 'void (*)(const boost::shared_ptr<const M>&)' and 'void (TFLitePropDetectionNode::*)(...)'
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:750:14: note: candidate: template<class M> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(const boost::shared_ptr<const M>&)>&, const VoidConstPtr&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, const boost::function<void (const boost::shared_ptr<M const>&)>& callback,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:750:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   mismatched types 'const boost::function<void(const boost::shared_ptr<const M>&)>' and 'void (TFLitePropDetectionNode::*)(...)'
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:799:14: note: candidate: template<class M, class C> ros::Subscriber ros::NodeHandle::subscribe(const string&, uint32_t, const boost::function<void(C)>&, const VoidConstPtr&, const ros::TransportHints&)
   Subscriber subscribe(const std::string& topic, uint32_t queue_size, const boost::function<void (C)>& callback,
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:799:14: note:   template argument deduction/substitution failed:
/home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:30:109: note:   mismatched types 'const boost::function<void(C)>' and 'void (TFLitePropDetectionNode::*)(...)'
         sub_tflite_data_ = nh.subscribe("/tflite_data", 1, &TFLitePropDetectionNode::aidectionCallback, this);
                                                                                                             ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/root/catkin_ws/src/Project_LegionAir/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp:13:
/opt/ros/melodic/include/ros/node_handle.h:836:14: note: candidate: ros::Subscriber ros::NodeHandle::subscribe(ros::SubscribeOptions&)
   Subscriber subscribe(SubscribeOptions& ops);
              ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:836:14: note:   candidate expects 1 argument, 4 provided
make[2]: *** [CMakeFiles/tflite_prop_detection_cpp.dir/src/tflite_prop_detection_cpp_node.cpp.o] Error 1
make[1]: *** [CMakeFiles/tflite_prop_detection_cpp.dir/all] Error 2
make: *** [all] Error 2
cd /home/root/catkin_ws/build/tflite_prop_detection; catkin build --get-env tflite_prop_detection | catkin env -si  /usr/bin/make --jobserver-fds=3,4 -j; cd -

........................................................................................................................................................................................
Failed     << tflite_prop_detection:make             [ Exited with code 2 ]                                                                                                             
Failed    <<< tflite_prop_detection                  [ 6.8 seconds ]                                                                                                                    
[build] Summary: 4 of 5 packages succeeded.                                                                                                                                             
[build]   Ignored:   None.                                                                                                                                                              
[build]   Warnings:  None.                                                                                                                                                              
[build]   Abandoned: None.                                                                                                                                                              
[build]   Failed:    1 packages failed.                                                                                                                                                 
```

## Reply by Zachary Lowell 0 · 2024-05-01 13:52:30 UTC

@Darshit-Desai multiple questions here - why are you compiling from source and not just doing a `sudo apt-get install voxl-mpa-to-ros` -  should be in the voxl-suite part of the 1.2 release.

![05c29ce5-7495-4fa6-bbd6-9346af4a55b4-image.png](https://forum.modalai.com/assets/uploads/files/1714571295669-05c29ce5-7495-4fa6-bbd6-9346af4a55b4-image.png) 

![bc2c72af-11b4-402f-bd4f-8bc14beb6273-image.png](https://forum.modalai.com/assets/uploads/files/1714571325714-bc2c72af-11b4-402f-bd4f-8bc14beb6273-image.png) 

How are you installing everything? The voxl2 inately does not have ros melodic on there, so my installation steps were:

1. Install ros melodic following the instructions here: https://wiki.ros.org/melodic/Installation/Ubuntu
2. Installing ros mpa to ros via `wget http://voxl-packages.modalai.com/dists/qrb5165/dev/binary-arm64/voxl-mpa-to-ros_0.3.7-202310131817_arm64.deb` --> `sudo dpkg -i voxl-mpa-to-ros_0.3.7-202310131817_arm64.deb`
3. Running `source /opt/ros/melodic/setup.bash` 
4. Running `roslaunch voxl_mpa_to_ros voxl_mpa_to_ros.launch`

This will have no issues running tflite server. In the meantime I will check building from source. Also something to note @Darshit-Desai --> ros1 will no longer be receiving support, I suggest moving over to ros2!!

Hopefully this helps :)

## Reply by Darshit Desai · 2024-05-01 16:31:55 UTC (in reply to Zachary Lowell 0)

Hi @Zachary-Lowell-0 , actually there is one thing I want to clarify I am not building the source here, but I am simply including the rosidl generated header file of the AIDetection message. Ideally and message if it is installed in the /opt/{ROS_DISTRO} system it should have header files folder inside that path, for example std_msgs has a header file inside the path /opt/{ROS_DISTRO}/include/std_msgs/std_msgs.h I was just trying to include that file.

About installation:
I install melodic from ros docs
The voxl_mpa_to_ros I assume is already there in the SDK 1.1.2 update. so I donot need to install it explicitly
Once I install ros I can use roslaunch to launch voxl_mpa_to_ros as you showed

My problem is when I include this AIDetection message in my other nodes which subscribe to tflite_data topic it doesn't parse it in the /opt folder and its not even there

You can check the following link of my code to understand what I am trying to do:
https://github.com/darshit-desai/Project_LegionAir/blob/master/tflite_prop_detection/src/tflite_prop_detection_cpp_node.cpp#L17C1-L17C41

## Reply by Darshit Desai · 2024-05-04 22:55:13 UTC (in reply to Darshit Desai)

@Moderator @Zachary-Lowell-0 there is a similar issue with trying to include the message type AIDetection.h in ROS2 mpatoros2.