../UserLib/SonserLib/Src/IMU963RA.c(26): note: expanded from macro 'GET_IMU963RA_SDA'

这个错误提示是由于宏展开导致的。在文件 "IMU963RA.c" 的第 26 行，宏 "GET_IMU963RA_SDA" 被展开，而展开后的代码有一些问题。根据提示，你可以检查一下 "IMU963RA.c" 文件中的宏定义，特别是 "GET_IMU963RA_SDA" 这个宏的展开代码部分，看看是否存在语法错误或其他问题。

相关问题

User : In member function ‘virtual bool IMUFactor::Evaluate(const double* const*, double*, double**) const’: /home/yang/vins-mono-catkin_ws/src/vins-mono-master/vins_estimator/src/utility/../initial/../factor/imu_factor.h:93:18: error: ‘imu_file’ was not

C知道: 这个错误提示表明在函数“IMUFactor::Evaluate(const double* const*, double*, double**)”中使用的变量“imu_file”未定义。要解决这个错误，你需要确保在函数的上下文中正确定义和初始化“imu_file”变量。请检查你的代码，确保在使用该变量之前已经正确定义并赋值。

读取#@brief: gerneral config parameters general: use_ros: true #@type: bool @detail: flag to control using ROS functions or not # if ture, you can send or receive messages through ROS (different messages need to be config in their own yaml file separatedly) use_proto: true #@type: bool @detail: flag to control using Proto functions or not # if ture, you can send or receive sensor: #@brief: config file for Imu message imu: include: ../sensor_config/other_sensors/rs_imu.yaml #@brief: config file for Gnss message gnss: include: ../sensor_config/other_sensors/rs_gnss.yaml #@brief: config file for Odom message odom: include: ../sensor_config/other_sensors/rs_odom.yaml #@brief: config file for Lidar message lidar: include: ../sensor_config/lidar/rs_lidar.yaml #@brief: config file for Lidar message camera: include: ../sensor_config/other_sensors/rs_camera.yaml #@brief: config file for Radar message radar: include: ../sensor_config/other_sensors/rs_radar.yaml

要读取上述YAML文件，可以使用适合的YAML解析库，例如YAML-CPP或YAMLCPP-Parser。以下是使用YAML-CPP的示例代码：

#include <iostream>
#include <yaml-cpp/yaml.h>

void readConfig(const YAML::Node& config) {
    if (config["general"]) {
        // 读取general字段的值
        YAML::Node general = config["general"];
        if (general["use_ros"]) {
            bool useRos = general["use_ros"].as<bool>();
            std::cout << "use_ros: " << std::boolalpha << useRos << std::endl;
        }
        if (general["use_proto"]) {
            bool useProto = general["use_proto"].as<bool>();
            std::cout << "use_proto: " << std::boolalpha << useProto << std::endl;
        }
    }

    if (config["sensor"]) {
        // 读取sensor字段的值
        YAML::Node sensor = config["sensor"];
        if (sensor["imu"]) {
            std::string imuInclude = sensor["imu"]["include"].as<std::string>();
            std::cout << "imu include: " << imuInclude << std::endl;
        }
        if (sensor["gnss"]) {
            std::string gnssInclude = sensor["gnss"]["include"].as<std::string>();
            std::cout << "gnss include: " << gnssInclude << std::endl;
        }
        if (sensor["odom"]) {
            std::string odomInclude = sensor["odom"]["include"].as<std::string>();
            std::cout << "odom include: " << odomInclude << std::endl;
        }
        if (sensor["lidar"]) {
            std::string lidarInclude = sensor["lidar"]["include"].as<std::string>();
            std::cout << "lidar include: " << lidarInclude << std::endl;
        }
        if (sensor["camera"]) {
            std::string cameraInclude = sensor["camera"]["include"].as<std::string>();
            std::cout << "camera include: " << cameraInclude << std::endl;
        }
        if (sensor["radar"]) {
            std::string radarInclude = sensor["radar"]["include"].as<std::string>();
            std::cout << "radar include: " << radarInclude << std::endl;
        }
    }
}

int main() {
    // 加载YAML文件
    YAML::Node config = YAML::LoadFile("config.yaml");

    // 读取配置
    readConfig(config);

    return 0;
}

请确保将上述示例代码与YAML-CPP库一起编译、链接并运行。从YAML文件中读取的值将打印到控制台上。