ROS Noetic更换最新版teb_local_planner功能包编译报错has no member named ‘feasibility_check_lookahead...解决方法

   今天将最新版Noetic版本的teb_local_planner功能包放到工作空间内进行编译时产生了以下报错：

/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp: In member function ‘void teb_local_planner::TebConfig::reconfigure(teb_local_planner::TebLocalPlannerReconfigureConfig&)’:
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:202:57: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘feasibility_check_lookahead_distance’202 |   trajectory.feasibility_check_lookahead_distance = cfg.feasibility_check_lookahead_distance;|                                                         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:204:45: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘control_look_ahead_poses’204 |   trajectory.control_look_ahead_poses = cfg.control_look_ahead_poses;|                                             ^~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:205:55: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘prevent_look_ahead_poses_near_goal’205 |   trajectory.prevent_look_ahead_poses_near_goal = cfg.prevent_look_ahead_poses_near_goal;|                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:218:43: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘use_proportional_saturation’218 |   robot.use_proportional_saturation = cfg.use_proportional_saturation;|                                           ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:219:11: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘max_vel_trans’; did you mean ‘max_vel_theta’?219 |   if (cfg.max_vel_trans == 0.0)|           ^~~~~~~~~~~~~|           max_vel_theta
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:222:9: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘max_vel_trans’; did you mean ‘max_vel_theta’?222 |     cfg.max_vel_trans = robot.max_vel_x;|         ^~~~~~~~~~~~~|         max_vel_theta
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:224:29: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘max_vel_trans’; did you mean ‘max_vel_theta’?224 |   robot.max_vel_trans = cfg.max_vel_trans;|                             ^~~~~~~~~~~~~|                             max_vel_theta
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:230:42: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘trans_stopped_vel’230 |   goal_tolerance.trans_stopped_vel = cfg.trans_stopped_vel;|                                          ^~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:231:42: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘theta_stopped_vel’231 |   goal_tolerance.theta_stopped_vel = cfg.theta_stopped_vel;|                                          ^~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:244:52: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘obstacle_proximity_ratio_max_vel’244 |   obstacles.obstacle_proximity_ratio_max_vel = cfg.obstacle_proximity_ratio_max_vel;|                                                    ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:245:50: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘obstacle_proximity_lower_bound’245 |   obstacles.obstacle_proximity_lower_bound = cfg.obstacle_proximity_lower_bound;|                                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:246:50: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘obstacle_proximity_upper_bound’246 |   obstacles.obstacle_proximity_upper_bound = cfg.obstacle_proximity_upper_bound;|                                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:269:46: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘weight_velocity_obstacle_ratio’269 |   optim.weight_velocity_obstacle_ratio = cfg.weight_velocity_obstacle_ratio;|                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:277:47: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘max_number_plans_in_current_class’277 |   hcp.max_number_plans_in_current_class = cfg.max_number_plans_in_current_class;|                                               ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:283:44: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘selection_dropping_probability’283 |   hcp.selection_dropping_probability = cfg.selection_dropping_probability;|                                            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:299:46: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘divergence_detection_enable’299 |   recovery.divergence_detection_enable = cfg.divergence_detection_enable;|                                              ^~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/gly/catkin_ws/src/local_planner/teb_local_planner-noetic-devel/src/teb_config.cpp:300:55: error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘divergence_detection_max_chi_squared’300 |   recovery.divergence_detection_max_chi_squared = cfg.divergence_detection_max_chi_squared;|                                                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [local_planner/teb_local_planner-noetic-devel/CMakeFiles/teb_local_planner.dir/build.make:128：local_planner/teb_local_planner-noetic-devel/CMakeFiles/teb_local_planner.dir/src/teb_config.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:726：local_planner/teb_local_planner-noetic-devel/CMakeFiles/teb_local_planner.dir/all] 错误 2
make: *** [Makefile:141：all] 错误 2
Invoking "make -j1 -l1" failed

   1、报错内容

   总结一下大致是 error: ‘class teb_local_planner::TebLocalPlannerReconfigureConfig’ has no member named ‘xxx’这一类的错误

   2、报错原因

   报错原因是之前采用了以下语句，在ROS默认路径下安装了旧版本的teb_local_palnner,使得在/opt/ros/noetic/include路径下存在着旧版本teb_local_palnner所对应的一系列头文件

sudo apt install ros-noetic-teb-local-planner

   新版本的teb_local_palnner添加了上述报错内容中的参数，然而这些参数在旧版本的TebLocalPlannerReconfigureConfig.h文件中编写的teb_local_planner::TebLocalPlannerReconfigureConfig类中是不存在的，因此，当我们在自己创建的工作空间下第一次进行新的teb_local_palnner包的编译时，由于之前没有编译过，自然也就没有生成这个新包对应的TebLocalPlannerReconfigureConfig.h文件，而在ROS的默认路径中却存在旧版本的这个文件，旧版本的这个文件中缺少新加入的参数，因此发送报错。

   3、报错内容解决方法

   （1）、打开一个新的终端，执行以下语句，进入存放该旧版头文件的目录下

cd /opt/ros/noetic/include

   （2）、执行以下语句删除旧版teb_local_palnner包的相关头文件

sudo rm -rf ./teb_local_planner/

   4、方法验证

   此时，在存放新的teb_lcoal_planner功能包的工作空间下进行编译，即可成功编译

   编译成功后在工作空间的devel/include/teb_local_planner文件夹下生成了新的TebLocalPlannerReconfigureConfig.h

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