Install ompl from source but moveit failed

[xrn9...@gmail.com]

I am trying to install ompl from source and then catkin build moveit from source too. But I failed. My purpose is to add new planner to ompl but no matter I use modified ompl or original ompl downloaded from website, it all failed. Anybody has the same problem?
Here is output of catkin build:

tializer lists only available with -std=c++11 or -std=gnu++11 [enabled by default]
             const Control *c_{nullptr};
                                      ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:114:38: error: cannot convert ‘<brace-enclosed initializer list>’ to ‘const ompl::control::Control*’ in initialization
/opt/ros/indigo/include/ompl/control/PlannerData.h: In member function ‘virtual bool ompl::control::PlannerDataEdgeControl::operator==(const ompl::base::PlannerDataEdge&) const’:
/opt/ros/indigo/include/ompl/control/PlannerData.h:93:29: error: ISO C++ forbids declaration of ‘rhsc’ with no type [-fpermissive]
                 const auto *rhsc = static_cast<const PlannerDataEdgeControl *>(&rhs);
                             ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:93:84: error: cannot convert ‘const ompl::control::PlannerDataEdgeControl*’ to ‘const int*’ in initialization
                 const auto *rhsc = static_cast<const PlannerDataEdgeControl *>(&rhs);
                                                                                    ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:94:33: error: request for member ‘c_’ in ‘* rhsc’, which is of non-class type ‘const int’
                 if (c_ == rhsc->c_)
                                 ^
/opt/ros/indigo/include/ompl/control/PlannerData.h: At global scope:
/opt/ros/indigo/include/ompl/control/PlannerData.h:125:31: error: ‘SpaceInformationPtr’ does not name a type
             PlannerData(const SpaceInformationPtr &siC);
                               ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:125:52: error: ISO C++ forbids declaration of ‘siC’ with no type [-fpermissive]
             PlannerData(const SpaceInformationPtr &siC);
                                                    ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:127:26: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             ~PlannerData() override;
                          ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:132:64: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool removeVertex(const base::PlannerDataVertex &st) override;
                                                                ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:136:50: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool removeVertex(unsigned int vIndex) override;
                                                  ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:139:61: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool removeEdge(unsigned int v1, unsigned int v2) override;
                                                             ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:142:97: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool removeEdge(const base::PlannerDataVertex &v1, const base::PlannerDataVertex &v2) override;
                                                                                                 ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:145:24: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void clear() override;
                        ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:154:38: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void decoupleFromPlanner() override;
                                      ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:157:19: error: ‘SpaceInformationPtr’ does not name a type
             const SpaceInformationPtr &getSpaceInformation() const;
                   ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:160:32: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool hasControls() const override;
                                ^
/opt/ros/indigo/include/ompl/control/PlannerData.h:164:13: error: ‘SpaceInformationPtr’ does not name a type
             SpaceInformationPtr siC_;
             ^
In file included from /opt/ros/indigo/include/ompl/util/ProlateHyperspheroid.h:48:0,
                 from /opt/ros/indigo/include/ompl/util/RandomNumbers.h:47,
                 from /opt/ros/indigo/include/ompl/base/StateSampler.h:41,
                 from /opt/ros/indigo/include/ompl/base/StateSpace.h:42,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/util/ClassForward.h:47:13: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
     typedef std::shared_ptr<C> C##Ptr
             ^
/opt/ros/indigo/include/ompl/control/PathControl.h:50:9: note: in expansion of macro ‘OMPL_CLASS_FORWARD’
         OMPL_CLASS_FORWARD(OptimizationObjective);
         ^
In file included from /opt/ros/indigo/include/ompl/control/SimpleSetup.h:44:0,
                 from /opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:41,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:46,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/control/PathControl.h:64:31: error: ‘SpaceInformationPtr’ in namespace ‘ompl::base’ does not name a type
             PathControl(const base::SpaceInformationPtr &si);
                               ^
/opt/ros/indigo/include/ompl/control/PathControl.h:64:58: error: ISO C++ forbids declaration of ‘si’ with no type [-fpermissive]
             PathControl(const base::SpaceInformationPtr &si);
                                                          ^
/opt/ros/indigo/include/ompl/control/PathControl.h:69:26: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             ~PathControl() override
                          ^
/opt/ros/indigo/include/ompl/control/PathControl.h:78:35: error: ‘OptimizationObjectivePtr’ in namespace ‘ompl::base’ does not name a type
             base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
                                   ^
/opt/ros/indigo/include/ompl/control/PathControl.h:78:67: error: ISO C++ forbids declaration of ‘opt’ with no type [-fpermissive]
             base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
                                                                   ^
/opt/ros/indigo/include/ompl/control/PathControl.h:78:72: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             base::Cost cost(const base::OptimizationObjectivePtr &opt) const override;
                                                                        ^
/opt/ros/indigo/include/ompl/control/PathControl.h:81:29: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             double length() const override;
                             ^
/opt/ros/indigo/include/ompl/control/PathControl.h:84:26: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             bool check() const override;
                          ^
/opt/ros/indigo/include/ompl/control/PathControl.h:87:43: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void print(std::ostream &out) const override;
                                           ^
/opt/ros/indigo/include/ompl/control/PathControl.h:69:13: error: looser throw specifier for ‘virtual ompl::control::PathControl::~PathControl()’
             ~PathControl() override
             ^
In file included from /opt/ros/indigo/include/ompl/base/ProblemDefinition.h:42:0,
                 from /opt/ros/indigo/include/ompl/base/Planner.h:41,
                 from /opt/ros/indigo/include/ompl/geometric/SimpleSetup.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/base/Path.h:80:21: error:   overriding ‘virtual ompl::base::Path::~Path() throw ()’
             virtual ~Path() = default;
                     ^
In file included from /opt/ros/indigo/include/ompl/util/ProlateHyperspheroid.h:48:0,
                 from /opt/ros/indigo/include/ompl/util/RandomNumbers.h:47,
                 from /opt/ros/indigo/include/ompl/base/StateSampler.h:41,
                 from /opt/ros/indigo/include/ompl/base/StateSpace.h:42,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/util/ClassForward.h:47:13: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
     typedef std::shared_ptr<C> C##Ptr
             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:55:9: note: in expansion of macro ‘OMPL_CLASS_FORWARD’
         OMPL_CLASS_FORWARD(SimpleSetup);
         ^
In file included from /opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:41:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:46,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:67:40: error: ‘SpaceInformationPtr’ does not name a type
             explicit SimpleSetup(const SpaceInformationPtr &si);
                                        ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:67:61: error: ISO C++ forbids declaration of ‘si’ with no type [-fpermissive]
             explicit SimpleSetup(const SpaceInformationPtr &si);
                                                             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:70:40: error: ‘ControlSpacePtr’ does not name a type
             explicit SimpleSetup(const ControlSpacePtr &space);
                                        ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:70:57: error: ISO C++ forbids declaration of ‘space’ with no type [-fpermissive]
             explicit SimpleSetup(const ControlSpacePtr &space);
                                                         ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:70:22: error: ‘ompl::control::SimpleSetup::SimpleSetup(const int&)’ cannot be overloaded
             explicit SimpleSetup(const ControlSpacePtr &space);
                      ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:67:22: error: with ‘ompl::control::SimpleSetup::SimpleSetup(const int&)’
             explicit SimpleSetup(const SpaceInformationPtr &si);
                      ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:72:38: warning: defaulted and deleted functions only available with -std=c++11 or -std=gnu++11 [enabled by default]
             virtual ~SimpleSetup() = default;
                                      ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:75:19: error: ‘SpaceInformationPtr’ does not name a type
             const SpaceInformationPtr &getSpaceInformation() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:81:19: error: ‘ProblemDefinitionPtr’ in namespace ‘ompl::base’ does not name a type
             const base::ProblemDefinitionPtr &getProblemDefinition() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:87:19: error: ‘StateSpacePtr’ in namespace ‘ompl::base’ does not name a type
             const base::StateSpacePtr &getStateSpace() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:93:19: error: ‘ControlSpacePtr’ does not name a type
             const ControlSpacePtr &getControlSpace() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:99:19: error: ‘StateValidityCheckerPtr’ in namespace ‘ompl::base’ does not name a type
             const base::StateValidityCheckerPtr &getStateValidityChecker() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:105:19: error: ‘StatePropagatorPtr’ does not name a type
             const StatePropagatorPtr &getStatePropagator() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:111:19: error: ‘GoalPtr’ in namespace ‘ompl::base’ does not name a type
             const base::GoalPtr &getGoal() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:117:19: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
             const base::PlannerPtr &getPlanner() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:123:19: error: ‘PlannerAllocator’ in namespace ‘ompl::base’ does not name a type
             const base::PlannerAllocator &getPlannerAllocator() const
                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:146:48: error: ‘StateValidityCheckerPtr’ in namespace ‘ompl::base’ does not name a type
             void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
                                                ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:146:79: error: ISO C++ forbids declaration of ‘svc’ with no type [-fpermissive]
             void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
                                                                               ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:152:48: error: ‘StateValidityCheckerFn’ in namespace ‘ompl::base’ does not name a type
             void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
                                                ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:152:78: error: ISO C++ forbids declaration of ‘svc’ with no type [-fpermissive]
             void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
                                                                              ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:152:18: error: ‘void ompl::control::SimpleSetup::setStateValidityChecker(const int&)’ cannot be overloaded
             void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
                  ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:146:18: error: with ‘void ompl::control::SimpleSetup::setStateValidityChecker(const int&)’
             void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
                  ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:158:43: error: ‘StatePropagatorFn’ does not name a type
             void setStatePropagator(const StatePropagatorFn &sp)
                                           ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:158:62: error: ISO C++ forbids declaration of ‘sp’ with no type [-fpermissive]
             void setStatePropagator(const StatePropagatorFn &sp)
                                                              ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:164:43: error: ‘StatePropagatorPtr’ does not name a type
             void setStatePropagator(const StatePropagatorPtr &sp)
                                           ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:164:63: error: ISO C++ forbids declaration of ‘sp’ with no type [-fpermissive]
             void setStatePropagator(const StatePropagatorPtr &sp)
                                                               ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:164:18: error: ‘void ompl::control::SimpleSetup::setStatePropagator(const int&)’ cannot be overloaded
             void setStatePropagator(const StatePropagatorPtr &sp)
                  ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:158:18: error: with ‘void ompl::control::SimpleSetup::setStatePropagator(const int&)’
             void setStatePropagator(const StatePropagatorFn &sp)
                  ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:170:49: error: ‘OptimizationObjectivePtr’ in namespace ‘ompl::base’ does not name a type
             void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
                                                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:170:81: error: ISO C++ forbids declaration of ‘optimizationObjective’ with no type [-fpermissive]
             void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
                                                                                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:211:32: error: ‘GoalPtr’ in namespace ‘ompl::base’ does not name a type
             void setGoal(const base::GoalPtr &goal)
                                ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:211:47: error: ISO C++ forbids declaration of ‘goal’ with no type [-fpermissive]
             void setGoal(const base::GoalPtr &goal)
                                               ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:220:35: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
             void setPlanner(const base::PlannerPtr &planner)
                                   ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:220:53: error: ISO C++ forbids declaration of ‘planner’ with no type [-fpermissive]
             void setPlanner(const base::PlannerPtr &planner)
                                                     ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:231:44: error: ‘PlannerAllocator’ in namespace ‘ompl::base’ does not name a type
             void setPlannerAllocator(const base::PlannerAllocator &pa)
                                            ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:231:68: error: ISO C++ forbids declaration of ‘pa’ with no type [-fpermissive]
             void setPlannerAllocator(const base::PlannerAllocator &pa)
                                                                    ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:271:13: error: ‘SpaceInformationPtr’ does not name a type
             SpaceInformationPtr si_;
             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:274:13: error: ‘ProblemDefinitionPtr’ in namespace ‘ompl::base’ does not name a type
             base::ProblemDefinitionPtr pdef_;
             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:277:13: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
             base::PlannerPtr planner_;
             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:280:13: error: ‘PlannerAllocator’ in namespace ‘ompl::base’ does not name a type
             base::PlannerAllocator pa_;
             ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘bool ompl::control::SimpleSetup::haveSolutionPath() const’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:136:24: error: ‘pdef_’ was not declared in this scope
                 return pdef_->getSolutionPath() != nullptr;
                        ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:136:52: error: ‘nullptr’ was not declared in this scope
                 return pdef_->getSolutionPath() != nullptr;
                                                    ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setStateValidityChecker(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:148:17: error: ‘si_’ was not declared in this scope
                 si_->setStateValidityChecker(svc);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setStateValidityChecker(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:154:17: error: ‘si_’ was not declared in this scope
                 si_->setStateValidityChecker(svc);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setStatePropagator(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:160:17: error: ‘si_’ was not declared in this scope
                 si_->setStatePropagator(sp);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setStatePropagator(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:166:17: error: ‘si_’ was not declared in this scope
                 si_->setStatePropagator(sp);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setOptimizationObjective(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:172:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->setOptimizationObjective(optimizationObjective);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setStartAndGoalStates(const ompl::base::ScopedState<>&, const ompl::base::ScopedState<>&, double)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:179:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->setStartAndGoalStates(start, goal, threshold);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setGoalState(const ompl::base::ScopedState<>&, double)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:186:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->setGoalState(goal, threshold);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::addStartState(const ompl::base::ScopedState<>&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:193:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->addStartState(state);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::clearStartStates()’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:199:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->clearStartStates();
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setGoal(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:213:17: error: ‘pdef_’ was not declared in this scope
                 pdef_->setGoal(goal);
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setPlanner(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:222:39: error: base operand of ‘->’ is not a pointer
                 if (planner && planner->getSpaceInformation().get() != si_.get())
                                       ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:222:72: error: ‘si_’ was not declared in this scope
                 if (planner && planner->getSpaceInformation().get() != si_.get())
                                                                        ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:224:17: error: ‘planner_’ was not declared in this scope
                 planner_ = planner;
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: In member function ‘void ompl::control::SimpleSetup::setPlannerAllocator(const int&)’:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:233:17: error: ‘pa_’ was not declared in this scope
                 pa_ = pa;
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:234:17: error: ‘planner_’ was not declared in this scope
                 planner_.reset();
                 ^
/opt/ros/indigo/include/ompl/control/SimpleSetup.h: At global scope:
/opt/ros/indigo/include/ompl/control/SimpleSetup.h:294:25: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
         OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
                         ^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:46:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:81:66: error: ‘>>’ should be ‘> >’ within a nested template argument list
             typedef std::vector<std::map<std::string, std::string>> RunProgressData;
                                                                  ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:84:21: error: ‘function’ in namespace ‘std’ does not name a type
             typedef std::function<void(const base::PlannerPtr &)> PreSetupEvent;
                     ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:87:21: error: ‘function’ in namespace ‘std’ does not name a type
             typedef std::function<void(const base::PlannerPtr &, RunProperties &)> PostSetupEvent;
                     ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:134:17: error: ‘point’ in namespace ‘ompl::time’ does not name a type
                 time::point startTime;
                 ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:218:36: warning: defaulted and deleted functions only available with -std=c++11 or -std=gnu++11 [enabled by default]
             virtual ~Benchmark() = default;
                                    ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:253:35: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
             void addPlanner(const base::PlannerPtr &planner)
                                   ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:253:53: error: ISO C++ forbids declaration of ‘planner’ with no type [-fpermissive]
             void addPlanner(const base::PlannerPtr &planner)
                                                     ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:263:44: error: ‘PlannerAllocator’ in namespace ‘ompl::base’ does not name a type
             void addPlannerAllocator(const base::PlannerAllocator &pa)
                                            ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:263:68: error: ISO C++ forbids declaration of ‘pa’ with no type [-fpermissive]
             void addPlannerAllocator(const base::PlannerAllocator &pa)
                                                                    ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:275:46: error: ‘PreSetupEvent’ does not name a type
             void setPlannerSwitchEvent(const PreSetupEvent &event)
                                              ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:275:61: error: ISO C++ forbids declaration of ‘event’ with no type [-fpermissive]
             void setPlannerSwitchEvent(const PreSetupEvent &event)
                                                             ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:281:39: error: ‘PreSetupEvent’ does not name a type
             void setPreRunEvent(const PreSetupEvent &event)
                                       ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:281:54: error: ISO C++ forbids declaration of ‘event’ with no type [-fpermissive]
             void setPreRunEvent(const PreSetupEvent &event)
                                                      ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:287:40: error: ‘PostSetupEvent’ does not name a type
             void setPostRunEvent(const PostSetupEvent &event)
                                        ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:287:56: error: ISO C++ forbids declaration of ‘event’ with no type [-fpermissive]
             void setPostRunEvent(const PostSetupEvent &event)
                                                        ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:340:25: error: ‘PlannerPtr’ is not a member of ‘ompl::base’
             std::vector<base::PlannerPtr> planners_;
                         ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:340:25: error: ‘PlannerPtr’ is not a member of ‘ompl::base’
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:340:41: error: template argument 1 is invalid
             std::vector<base::PlannerPtr> planners_;
                                         ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:340:41: error: template argument 2 is invalid
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:349:13: error: ‘PreSetupEvent’ does not name a type
             PreSetupEvent plannerSwitch_;
             ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:352:13: error: ‘PreSetupEvent’ does not name a type
             PreSetupEvent preRun_;
             ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:355:13: error: ‘PostSetupEvent’ does not name a type
             PostSetupEvent postRun_;
             ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In constructor ‘ompl::tools::Benchmark::Benchmark(ompl::geometric::SimpleSetup&, const string&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:205:42: error: ‘nullptr’ was not declared in this scope
               : gsetup_(&setup), csetup_(nullptr)
                                          ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In constructor ‘ompl::tools::Benchmark::Benchmark(ompl::control::SimpleSetup&, const string&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:213:25: error: ‘nullptr’ was not declared in this scope
               : gsetup_(nullptr), csetup_(&setup)
                         ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::addPlanner(const int&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:256:28: error: base operand of ‘->’ is not a pointer
                     planner->getSpaceInformation().get() !=
                            ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:257:37: error: ‘nullptr’ was not declared in this scope
                         (gsetup_ != nullptr ? gsetup_->getSpaceInformation().get() : csetup_->getSpaceInformation().get()))
                                     ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:257:56: error: ‘class ompl::geometric::SimpleSetup’ has no member named ‘getSpaceInformation’
                         (gsetup_ != nullptr ? gsetup_->getSpaceInformation().get() : csetup_->getSpaceInformation().get()))
                                                        ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:257:95: error: ‘class ompl::control::SimpleSetup’ has no member named ‘getSpaceInformation’
                         (gsetup_ != nullptr ? gsetup_->getSpaceInformation().get() : csetup_->getSpaceInformation().get()))
                                                                                               ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:259:27: error: request for member ‘push_back’ in ‘((ompl::tools::Benchmark*)this)->ompl::tools::Benchmark::planners_’, which is of non-class type ‘int’
                 planners_.push_back(planner);
                           ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::addPlannerAllocator(const int&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:265:27: error: request for member ‘push_back’ in ‘((ompl::tools::Benchmark*)this)->ompl::tools::Benchmark::planners_’, which is of non-class type ‘int’
                 planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
                           ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:265:51: error: ‘nullptr’ was not declared in this scope
                 planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
                                                   ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:265:70: error: ‘class ompl::geometric::SimpleSetup’ has no member named ‘getSpaceInformation’
                 planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
                                                                      ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:265:103: error: ‘class ompl::control::SimpleSetup’ has no member named ‘getSpaceInformation’
                 planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
                                                                                                       ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:265:124: error: expression cannot be used as a function
                 planners_.push_back(pa(gsetup_ != nullptr ? gsetup_->getSpaceInformation() : csetup_->getSpaceInformation()));
                                                                                                                            ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::clearPlanners()’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:271:27: error: request for member ‘clear’ in ‘((ompl::tools::Benchmark*)this)->ompl::tools::Benchmark::planners_’, which is of non-class type ‘int’
                 planners_.clear();
                           ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::setPlannerSwitchEvent(const int&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:277:17: error: ‘plannerSwitch_’ was not declared in this scope
                 plannerSwitch_ = event;
                 ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::setPreRunEvent(const int&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:283:17: error: ‘preRun_’ was not declared in this scope
                 preRun_ = event;
                 ^
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h: In member function ‘void ompl::tools::Benchmark::setPostRunEvent(const int&)’:
/opt/ros/indigo/include/ompl/tools/benchmark/Benchmark.h:289:17: error: ‘postRun_’ was not declared in this scope
                 postRun_ = event;
                 ^
In file included from /opt/ros/indigo/include/ompl/util/ProlateHyperspheroid.h:48:0,
                 from /opt/ros/indigo/include/ompl/util/RandomNumbers.h:47,
                 from /opt/ros/indigo/include/ompl/base/StateSampler.h:41,
                 from /opt/ros/indigo/include/ompl/base/StateSpace.h:42,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h: At global scope:
/opt/ros/indigo/include/ompl/util/ClassForward.h:47:13: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
     typedef std::shared_ptr<C> C##Ptr
             ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:49:9: note: in expansion of macro ‘OMPL_CLASS_FORWARD’
         OMPL_CLASS_FORWARD(PathHybridization);
         ^
/opt/ros/indigo/include/ompl/util/ClassForward.h:47:13: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
     typedef std::shared_ptr<C> C##Ptr
             ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:56:9: note: in expansion of macro ‘OMPL_CLASS_FORWARD’
         OMPL_CLASS_FORWARD(ParallelPlan);
         ^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:47:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:70:32: error: ‘ProblemDefinitionPtr’ in namespace ‘ompl::base’ does not name a type
             ParallelPlan(const base::ProblemDefinitionPtr &pdef);
                                ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:70:60: error: ISO C++ forbids declaration of ‘pdef’ with no type [-fpermissive]
             ParallelPlan(const base::ProblemDefinitionPtr &pdef);
                                                            ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:75:35: error: ‘PlannerPtr’ in namespace ‘ompl::base’ does not name a type
             void addPlanner(const base::PlannerPtr &planner);
                                   ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:75:53: error: ISO C++ forbids declaration of ‘planner’ with no type [-fpermissive]
             void addPlanner(const base::PlannerPtr &planner);
                                                     ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:78:44: error: ‘PlannerAllocator’ in namespace ‘ompl::base’ does not name a type
             void addPlannerAllocator(const base::PlannerAllocator &pa);
                                            ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:78:68: error: ISO C++ forbids declaration of ‘pa’ with no type [-fpermissive]
             void addPlannerAllocator(const base::PlannerAllocator &pa);
                                                                    ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:87:19: error: ‘ProblemDefinitionPtr’ in namespace ‘ompl::base’ does not name a type
             const base::ProblemDefinitionPtr &getProblemDefinition() const
                   ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:141:13: error: ‘ProblemDefinitionPtr’ in namespace ‘ompl::base’ does not name a type
             base::ProblemDefinitionPtr pdef_;
             ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:144:25: error: ‘PlannerPtr’ is not a member of ‘ompl::base’
             std::vector<base::PlannerPtr> planners_;
                         ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:144:25: error: ‘PlannerPtr’ is not a member of ‘ompl::base’
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:144:41: error: template argument 1 is invalid
             std::vector<base::PlannerPtr> planners_;
                                         ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:144:41: error: template argument 2 is invalid
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:147:13: error: ‘PathHybridizationPtr’ in namespace ‘ompl::geometric’ does not name a type
             geometric::PathHybridizationPtr phybrid_;
             ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:150:13: error: ‘mutex’ in namespace ‘std’ does not name a type
             std::mutex phlock_;
             ^
/opt/ros/indigo/include/ompl/tools/multiplan/ParallelPlan.h:157:13: error: ‘mutex’ in namespace ‘std’ does not name a type
             std::mutex foundSolCountLock_;
             ^
In file included from /opt/ros/indigo/include/ompl/util/ProlateHyperspheroid.h:48:0,
                 from /opt/ros/indigo/include/ompl/util/RandomNumbers.h:47,
                 from /opt/ros/indigo/include/ompl/base/StateSampler.h:41,
                 from /opt/ros/indigo/include/ompl/base/StateSpace.h:42,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/parameterization/model_based_state_space.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/util/ClassForward.h:47:13: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
     typedef std::shared_ptr<C> C##Ptr
             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:53:9: note: in expansion of macro ‘OMPL_CLASS_FORWARD’
         OMPL_CLASS_FORWARD(StateStorage);
         ^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:48:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/opt/ros/indigo/include/ompl/base/StateStorage.h:65:40: error: expected ‘)’ before ‘space’
             StateStorage(StateSpacePtr space);
                                        ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:69:19: error: ‘StateSpacePtr’ does not name a type
             const StateSpacePtr &getStateSpace() const
                   ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:131:29: error: ‘function’ in namespace ‘std’ does not name a type
             void sort(const std::function<bool(const State *, const State *)> &op);
                             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:131:34: error: ISO C++ forbids declaration of ‘parameter’ with no type [-fpermissive]
             void sort(const std::function<bool(const State *, const State *)> &op);
                                  ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:131:42: error: expected ‘,’ or ‘...’ before ‘<’ token
             void sort(const std::function<bool(const State *, const State *)> &op);
                                          ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:136:13: error: ‘StateSamplerAllocator’ does not name a type
             StateSamplerAllocator getStateSamplerAllocator() const;
             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:141:13: error: ‘StateSamplerAllocator’ does not name a type
             StateSamplerAllocator getStateSamplerAllocatorRangeUntil(std::size_t until) const;
             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:146:13: error: ‘StateSamplerAllocator’ does not name a type
             StateSamplerAllocator getStateSamplerAllocatorRangeAfter(std::size_t after) const;
             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:151:21: error: ‘StateSamplerAllocator’ does not name a type
             virtual StateSamplerAllocator getStateSamplerAllocatorRange(std::size_t from, std::size_t to) const;
                     ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:202:13: error: ‘StateSpacePtr’ does not name a type
             StateSpacePtr space_;
             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:221:44: error: ‘StateSpacePtr’ does not name a type
             StateStorageWithMetadata(const StateSpacePtr &space) : StateStorage(space)
                                            ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:221:59: error: ISO C++ forbids declaration of ‘space’ with no type [-fpermissive]
             StateStorageWithMetadata(const StateSpacePtr &space) : StateStorage(space)
                                                           ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:229:45: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void addState(const State *state) override
                                             ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:243:24: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void clear() override
                        ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:264:88: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void loadMetadata(const Header & /*h*/, boost::archive::binary_iarchive &ia) override
                                                                                        ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:271:89: warning: override controls (override/final) only available with -std=c++11 or -std=gnu++11 [enabled by default]
             void storeMetadata(const Header & /*h*/, boost::archive::binary_oarchive &oa) override
                                                                                         ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:282:65: error: ‘>>’ should be ‘> >’ within a nested template argument list
         typedef StateStorageWithMetadata<std::vector<std::size_t>> GraphStateStorage;
                                                                 ^
/opt/ros/indigo/include/ompl/base/StateStorage.h:283:17: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
         typedef std::shared_ptr<GraphStateStorage> GraphStateStoragePtr;
                 ^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:40,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:62:25: error: ‘PlannerPtr’ is not a member of ‘ompl_interface::ob’
 typedef boost::function<ob::PlannerPtr(const ompl::base::SpaceInformationPtr& si, const std::string& name,
                         ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:62:25: error: ‘PlannerPtr’ is not a member of ‘ompl_interface::ob’
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:63:90: error: a function call cannot appear in a constant-expression
                                        const ModelBasedPlanningContextSpecification& spec)>
                                                                                          ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:63:91: error: template argument 1 is invalid
                                        const ModelBasedPlanningContextSpecification& spec)>
                                                                                           ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:64:31: error: invalid type in declaration before ‘;’ token
     ConfiguredPlannerAllocator;
                               ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:76:3: error: ‘SimpleSetupPtr’ in namespace ‘ompl_interface::og’ does not name a type
   og::SimpleSetupPtr ompl_simple_setup_;  // pass in the correct simple setup type
   ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:129:9: error: ‘SimpleSetupPtr’ in namespace ‘ompl_interface::og’ does not name a type
   const og::SimpleSetupPtr& getOMPLSimpleSetup() const
         ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:134:3: error: ‘SimpleSetupPtr’ in namespace ‘ompl_interface::og’ does not name a type
   og::SimpleSetupPtr& getOMPLSimpleSetup()
   ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:319:11: error: ‘ProjectionEvaluatorPtr’ in namespace ‘ompl_interface::ob’ does not name a type
   virtual ob::ProjectionEvaluatorPtr getProjectionEvaluator(const std::string& peval) const;
           ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:320:11: error: ‘StateSamplerPtr’ in namespace ‘ompl_interface::ob’ does not name a type
   virtual ob::StateSamplerPtr allocPathConstrainedSampler(const ompl::base::StateSpace* ss) const;
           ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:322:11: error: ‘GoalPtr’ in namespace ‘ompl_interface::ob’ does not name a type
   virtual ob::GoalPtr constructGoal();
           ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:332:3: error: ‘SimpleSetupPtr’ in namespace ‘ompl_interface::og’ does not name a type
   og::SimpleSetupPtr ompl_simple_setup_;
   ^
In file included from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/ompl_interface.h:41:0,
                 from /home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp:37:
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:60:33: error: ‘StateStoragePtr’ in namespace ‘ompl::base’ does not name a type
                           const ompl::base::StateStoragePtr& storage, std::size_t milestones = 0);
                                 ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:60:62: error: ISO C++ forbids declaration of ‘storage’ with no type [-fpermissive]
                           const ompl::base::StateStoragePtr& storage, std::size_t milestones = 0);
                                                              ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:71:3: error: ‘StateSamplerAllocator’ in namespace ‘ompl::base’ does not name a type
   ompl::base::StateSamplerAllocator getStateSamplerAllocator(const moveit_msgs::Constraints& msg) const;
   ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:105:9: error: ‘StateStoragePtr’ in namespace ‘ompl::base’ does not name a type
   const ompl::base::StateStoragePtr& getStateStorage() const
         ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:125:3: error: ‘StateStoragePtr’ in namespace ‘ompl::base’ does not name a type
   ompl::base::StateStoragePtr state_storage_ptr_;
   ^
/home/ruinian/ws_moveit/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:193:3: error: ‘StateStoragePtr’ in namespace ‘ompl::base’ does not name a type
   ompl::base::StateStoragePtr constructConstraintApproximation(
   ^
make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/ompl_interface.cpp.o] Error 1
make[1]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2
make: *** [all] Error 2

[Marios Xanthidis]

I am fairly new to moveit and I am trying to do exactly the same thing: Adding a new planner to OMPL and then plan for Baxter with Moveit! and I am facing the exact error. Probably it should be a compatibility problem with the c++ compiler of ROS and the one that the last version of OMPL needs. it seems that some global declarations of pointers in OMPL are not processed by the compiler of ROS. I have also tried to use unsuccessfully older versions of OMPL. I don't know if the instructions provided here are still accurate.

I haven't found a solution to work around, and any help on this issue will be deeply appreciated.

Marios.

[v4hn]

The first reported error is missing in the reported output.
That makes it harder to help...

It looks like you try to build the indigo version of MoveIt with a current ompl.
The indigo branch still relies on a pre-c++11 version of its dependencies.
Use the `kinetic-devel` branch instead.


v4hn

P.S. Please use https://answers.ros.org

On Tue, Aug 22, 2017 at 02:56:04PM -0700, Marios Xanthidis wrote:
> I am fairly new to moveit and I am trying to do exactly the same thing:
> Adding a new planner to OMPL and then plan for Baxter with Moveit! and I am
> facing the exact error. Probably it should be a compatibility problem with
> the c++ compiler of ROS and the one that the last version of OMPL needs. it
> seems that some global declarations of pointers in OMPL are not processed
> by the compiler of ROS. I have also tried to use unsuccessfully older
> versions of OMPL. I don't know if the instructions provided here

> <http://picknik.io/moveit_wiki/index.php?title=OMPL/Add_New_Planner> are

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--
Michael Görner, M.Sc. Cognitive Science, PhD Student
Universität Hamburg
Faculty of Mathematics, Informatics and Natural Sciences
Department of Informatics
Group Technical Aspects of Multimodal Systems

Vogt-Kölln-Straße 30
D-22527 Hamburg

Room: F-315
Phone: +49 40 42883-2432
Website: https://tams.informatik.uni-hamburg.de/people/goerner/

[Marios Xanthidis]

The problem with kinetic is that it doesn't support officially Baxter yet, which the main reason I would like to use Moveit!. Do you think it's better to try to move to Kinetic, or to try with an older version of ompl?

Thank you for the help,
Marios.

> >              std::vector<base::Planner...

[v4hn]

I see the problem.

With a bit of work you can also run MoveIt! kinetic on ROS indigo,
although this is of course not recommended.

Have a look at

https://github.com/ros-planning/moveit/pull/551


v4hn / Michael

On Wed, Aug 23, 2017 at 07:37:13AM -0700, Marios Xanthidis wrote:
> Thanks for the answer. The problem with kinetic is that it doesn't support
> officially yet Baxter, which the main reason I would like to use Moveit!.

> Do you think it's better to try to move to Kinetic, or to try with an older
> version of ompl?
>
> Thank you for the help,
> Marios.

[Marios Xanthidis]

Hmm. It seems that I may be in deep water. I ll try first to try with OMPL 1.1.0 or even 1.0.0 and then your recommendation. I will update the topic with my results if I find a way around.

Thank you for all your help. Appreciated.

Marios. 

[Marios Xanthidis]

OK. Finally, successfully I compiled my new planners in ompl with moveit!. 

The whole process was a bit painful with some tricky -not recommended- solutions for indigo on ubuntu 14.04. Some, I hope useful, notes:
a)Try to use a machine with clean installation of Ubuntu 14.04. Also try yo install indigo after OMPL, or be prepared to have to tune some paths for ompl to find the correct version of each library.

b)Prefer to use ompl.1.1.0. Newer versions seem to require a newer version of compiler that has compatibility problems with moveit. Prefer to use the oldest possible versions of each library (libccd, and fcl). For some reason ompl prefer to first look for those libraries in indigo, so in case ompl cannot find the installed versions of libccd and fcl be sure to alert the cmake for this libraries, or purge them from indigo. I did the last and it worked.

c)In case there are some problems with castxml try to change manually the path to the executable "castxml" in CMakeLists.txt .

d)While compiling moveit be sure that it sees the correct libraries of ompl.
-SOLUTION NOT RECOMMENDED-

I was using ompl.1.3.0 before moving to ompl.1.1.0, so the system was only being able to see the first version of ompl. The very hacky solution I found from here, was to delete all the ompl libraries in "/opt/ros/indigo/lib/x86_64-linux-gnu"  and copy there the "libompl.*" files from omplapp-1.1.0-Source/build/Realease/lib.

[Marios Xanthidis]

I would like add that after re-installing some missing packages of gazebo and using catkin build with catkin_make_isolated I was able to compile all the packages and to use smoothly (finally!) baxter with my new planners. Thanks for all the help.