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导入dae,stl,mesh时代码：

// 定义一个mesh文件指针，从createMeshFromResource的函数名可知，将由一个文件生成我们的mesh物体

// 此处的路径必须是ROS中可以找到的包路径

shapes::Mesh* m = shapes::createMeshFromResource(“package://apc/collision_objects/pod_lowres.stl”);

shape_msgs::Mesh shelf_mesh;

shapes::ShapeMsg shelf_mesh_msg;

// 从mesh文件指针创建mesh的msg

shapes::constructMsgFromShape(m,shelf_mesh_msg);

shelf_mesh = boost::get<shape_msgs::Mesh>(shelf_mesh_msg);

编译时报错：

对‘shapes::createMeshFromResource(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)’未定义的引用等等

解决方法：

find_package(catkin REQUIRED COMPONENTS
  message_generation
  message_runtime
  roscpp
  std_msgs
  Eigen3
)

You appear to be missing geometric_shapes in this list. That’s most likely the problem: you’re not linking against geometric_shapes, but are using a function from that library.