pr2_mechanism_model doesn't compile with std::shared_ptr in urdfdom

[jna29]

When trying to compile pr2_mechanism_model, I get the error:
/Users/joshuaaduol/catkin_ws/src/pr2_mechanism/pr2_mechanism_model/include/pr2_mechanism_model/joint.h:81:3: error: use of undeclared identifier 'boost'
boost::shared_ptr<const urdf::Joint> joint_;.

This doesn't seem to be a problem in my Ubuntu installation where the same catkin_make -j1 -l1 -DCATKIN_WHITELIST_PACKAGES="pr2_mechanism_model" compiles correctly.

The problem does go away when I include <boost/shared_ptr.hpp> but I get this next error which oddly enough manages to find my boost installation (I am using boost 1.67.0):

/Users/joshuaaduol/catkin_ws/src/pr2_mechanism/pr2_mechanism_model/src/robot.cpp:179:35: error: no viable overloaded '=' joint_states_[js_id].joint_ = model_->robot_model_.getJoint(t->joint_names_[j]); ~~~~~~~~~~~~~~~~~~~~~~~~~~~ ^ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:547:18: note: candidate function not viable: no known conversion from 'urdf::JointConstSharedPtr' (aka 'shared_ptr<const urdf::Joint>') to 'const boost::shared_ptr<const urdf::Joint>' for 1st argument shared_ptr & operator=( shared_ptr const & r ) BOOST_SP_NOEXCEPT ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:658:18: note: candidate function not viable: no known conversion from 'urdf::JointConstSharedPtr' (aka 'shared_ptr<const urdf::Joint>') to 'boost::shared_ptr<const urdf::Joint>' for 1st argument shared_ptr & operator=( shared_ptr && r ) BOOST_SP_NOEXCEPT ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:683:18: note: candidate function not viable: no known conversion from 'urdf::JointConstSharedPtr' (aka 'shared_ptr<const urdf::Joint>') to 'boost::detail::sp_nullptr_t' (aka 'nullptr_t') for 1st argument shared_ptr & operator=( boost::detail::sp_nullptr_t ) BOOST_SP_NOEXCEPT ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:556:18: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr' shared_ptr & operator=(shared_ptr<Y> const & r) BOOST_SP_NOEXCEPT ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:567:18: note: candidate template ignored: could not match 'auto_ptr' against 'shared_ptr' shared_ptr & operator=( std::auto_ptr<Y> & r ) ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:576:18: note: candidate template ignored: could not match 'auto_ptr' against 'shared_ptr' shared_ptr & operator=( std::auto_ptr<Y> && r ) ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:598:18: note: candidate template ignored: could not match 'unique_ptr' against 'shared_ptr' shared_ptr & operator=( std::unique_ptr<Y, D> && r ) ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:607:18: note: candidate template ignored: could not match 'unique_ptr' against 'shared_ptr' shared_ptr & operator=( boost::movelib::unique_ptr<Y, D> r ) ^ /usr/local/include/boost/smart_ptr/shared_ptr.hpp:665:18: note: candidate template ignored: could not match 'boost::shared_ptr' against 'std::__1::shared_ptr' shared_ptr & operator=( shared_ptr<Y> && r ) BOOST_SP_NOEXCEPT

Any help with this would be greatly appreciated.

[v4hn]

The problem is that you apparently use a more current version of urdfdom on your OS X than on your ubuntu.
They changed to std::shared_ptr at some point and in theory the pr2 packages should use urdf::*SharedPtr for compatibility instead of boost::shared_ptr<*>.
However, nobody did this yet. Feel free to submit a patch.

This problem breaks the build in everything past kinetic on Ubuntu too.

[jna29]

This seemed to solve the problem. Thanks.

[v4hn]

Where's the pull-request then? ;)