error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]-CSDN博客

本文链接：https://blog.csdn.net/cotex_A9/article/details/142913370

在ros:noetic-Ubuntu20.04环境下使用catkin_make编译quadruped-robot时报了一个很奇怪的小众错误，网上查不到类似情况，也无人在issuse下提问。

错误描述如下：

/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
  187 |   EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
      |                                                ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
  187 |   EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
      |                                                ^
      |                                                 ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
  188 |   EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
      |                                                                ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
  188 |   EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
      |                                                                ^
      |                                                                 ;

逐行排查quadruped/CMakeLists.txt文件，发现它在第33行有如下代码：

list(APPEND includePath "/usr/include/eigen3")

使用的是apt安装的eigen3库，而我使用源码重装过eigen3，可能产生了冲突，于是将路径改到源码安装的eigen3库下：

list(APPEND includePath "/usr/local/include/eigen3")

之后再使用catkin_make进行编译，则能编译通过。