原文：
ROS2 Topic-Statistics-Tutorial编译出错
如何避免出现类似问题呢？
在最初的时候：
docs.ros.org/en/foxy/Tutorials/Topics/Topic-Statistics-Tutorial.html
此文档中：
wget -O member_function_with_topic_statistics.cpp https://raw.githubusercontent.com/ros2/examples/master/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp
遇到问题时必然的。
其实官方文档在版本管理上不足：
master主分支一般代表最新版本。
foxy和galactic，版本选择上推荐galactic
#include #include #include "rclcpp/rclcpp.hpp"#include "rclcpp/subscription_options.hpp"#include "std_msgs/msg/string.hpp"class MinimalSubscriberWithTopicStatistics : public rclcpp::Node{public: MinimalSubscriberWithTopicStatistics() : Node("minimal_subscriber_with_topic_statistics") { // manually enable topic statistics via options auto options = rclcpp::SubscriptionOptions(); options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable; // configure the collection window and publish period (default 1s) options.topic_stats_options.publish_period = std::chrono::seconds(10); // configure the topic name (default '/statistics') // options.topic_stats_options.publish_topic = "/topic_statistics" auto callback = [this](std_msgs::msg::String::SharedPtr msg) { this->topic_callback(msg); }; subscription_ = this->create_subscription( "topic", 10, callback, options); }private: void topic_callback(const std_msgs::msg::String::SharedPtr msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); } rclcpp::Subscription::SharedPtr subscription_;};int main(int argc, char * argv[]){ rclcpp::init(argc, argv); rclcpp::spin(std::make_shared()); rclcpp::shutdown(); return 0;}
github.com/ros2/examples/blob/galactic/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp
和
docs.ros.org/en/foxy/Tutorials/Topics/Topic-Statistics-Tutorial.html
代码是保持一致的。
关于上问最后提及的疑问（::SharedPtr 和 & ）：
github.com/ros2/examples/pull/281github.com/ros2/examples/pull/337
github.com/ros2/rclcpp/pull/1598
C++ 17 新增特性。C++ 11 和 C++ 14 必然不支持啊。