catkin_build problem

[xiecuijuan]

when i catkin_build this package, i encounter a problem.as follows:

/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp: In function ‘bool mav_trajectory_generation::sampleTrajectoryInRange(const mav_trajectory_generation::Trajectory&, double, double, double, mav_msgs::EigenTrajectoryPointVector*)’:
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:82:11: error: ‘struct mav_msgs::EigenTrajectoryPoint’ has no member named ‘degrees_of_freedom’
state.degrees_of_freedom = mav_msgs::MavActuation::DOF4;
^~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:82:42: error: ‘mav_msgs::MavActuation’ has not been declared
state.degrees_of_freedom = mav_msgs::MavActuation::DOF4;
^~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:102:17: error: ‘matrixFromRotationVector’ is not a member of ‘mav_msgs’
mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix);
^~~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:104:44: error: ‘omegaFromRotationVector’ is not a member of ‘mav_msgs’
state.angular_velocity_W = mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel);
^~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:105:48: error: ‘omegaDotFromRotationVector’ is not a member of ‘mav_msgs’
state.angular_acceleration_W = mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc);
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:106:13: error: ‘struct mav_msgs::EigenTrajectoryPoint’ has no member named ‘degrees_of_freedom’
state.degrees_of_freedom = mav_msgs::MavActuation::DOF6;
^~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:106:44: error: ‘mav_msgs::MavActuation’ has not been declared
state.degrees_of_freedom = mav_msgs::MavActuation::DOF6;
^~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp: In function ‘bool mav_trajectory_generation::sampleFlatStateAtTime(const T&, double, mav_msgs::EigenTrajectoryPoint*)’:
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:153:10: error: ‘struct mav_msgs::EigenTrajectoryPoint’ has no member named ‘degrees_of_freedom’
state->degrees_of_freedom = mav_msgs::MavActuation::DOF4;
^~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:153:41: error: ‘mav_msgs::MavActuation’ has not been declared
state->degrees_of_freedom = mav_msgs::MavActuation::DOF4;
^~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:172:15: error: ‘matrixFromRotationVector’ is not a member of ‘mav_msgs’
mav_msgs::matrixFromRotationVector(rot_vec, &rot_matrix);
^~~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:174:43: error: ‘omegaFromRotationVector’ is not a member of ‘mav_msgs’
state->angular_velocity_W = mav_msgs::omegaFromRotationVector(rot_vec, rot_vec_vel);
^~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:175:47: error: ‘omegaDotFromRotationVector’ is not a member of ‘mav_msgs’
state->angular_acceleration_W = mav_msgs::omegaDotFromRotationVector(rot_vec, rot_vec_vel, rot_vec_acc);
^~~~~~~~~~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:176:12: error: ‘struct mav_msgs::EigenTrajectoryPoint’ has no member named ‘degrees_of_freedom’
state->degrees_of_freedom = mav_msgs::MavActuation::DOF6;
^~~~~~~~~~~~~~~~~~
/home/lab/catkin1_ws/src/mav_trajectory_generation/mav_trajectory_generation/src/trajectory_sampling.cpp:176:43: error: ‘mav_msgs::MavActuation’ has not been declared
state->degrees_of_freedom = mav_msgs::MavActuation::DOF6;
^~~~~~~~~~~~
make[2]: *** [CMakeFiles/mav_trajectory_generation.dir/src/trajectory_sampling.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
make[1]: *** [CMakeFiles/mav_trajectory_generation.dir/all] Error 2