#1 编译报错

/home/laybel/stdr_ws/src/hector_exploration_planner/src/hector_exploration_planner.cpp: In member function ‘bool hector_exploration_planner::HectorExplorationPlanner::doInnerExploration(const PoseStamped&, std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >&)’:
/home/laybel/stdr_ws/src/hector_exploration_planner/src/hector_exploration_planner.cpp:286:45: error: no matching function for call to ‘costmap_2d::Costmap2DROS::getRobotPose(tf::Stamped<tf::Transform>&)’
     if(!costmap_ros_->getRobotPose(robotPose)){
                                             ^
In file included from /home/laybel/stdr_ws/src/hector_exploration_planner/include/hector_exploration_planner/hector_exploration_planner.h:34:0,
                 from /home/laybel/stdr_ws/src/hector_exploration_planner/src/hector_exploration_planner.cpp:29:
/opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:125:8: note: candidate: bool costmap_2d::Costmap2DROS::getRobotPose(geometry_msgs::PoseStamped&) const
   bool getRobotPose(geometry_msgs::PoseStamped& global_pose) const;
        ^~~~~~~~~~~~
/opt/ros/melodic/include/costmap_2d/costmap_2d_ros.h:125:8: note:   no known conversion for argument 1 from ‘tf::Stamped<tf::Transform>’ to ‘geometry_msgs::PoseStamped& {aka geometry_msgs::PoseStamped_<std::allocator<void> >&}’
/home/laybel/stdr_ws/src/hector_exploration_planner/src/hector_exploration_planner.cpp: In member function ‘bool hector_exploration_planner::HectorExplorationPlanner::exploreWalls(const PoseStamped&, std::vector<geometry_msgs::PoseStamped_<std::allocator<void> > >&)’:
/home/laybel/stdr_ws/src/hector_exploration_planner/src/hector_exploration_planner.cpp:714:50: error: call of overloaded ‘abs(unsigned int)’ is ambiguous
           if(abs(thisDelta - p_min_obstacle_dist_) < minDelta){
                                                  ^

这是编译报错的主要两个问题，想问有遇到过吗，要如何解决

这部分代码已经删除了，因为有些问题，现在去掉就可以编译