fix: multi ros version support

src/rl_sar/launch/gazebo.launch.py

@@ -52,14 +52,14 @@ def generate_launch_description():
 
     joint_state_broadcaster_node = Node(
         package="controller_manager",
-        executable="spawner",
+        executable='spawner.py' if os.environ.get('ROS_DISTRO', '') == 'foxy' else 'spawner',
         arguments=["joint_state_broadcaster"],
         output="screen",
     )
 
     robot_joint_controller_node = Node(
         package="controller_manager",
-        executable="spawner",
+        executable='spawner.py' if os.environ.get('ROS_DISTRO', '') == 'foxy' else 'spawner',
         arguments=["robot_joint_controller"],
         output="screen",
     )

src/rl_sar/scripts/rl_sim.py

@@ -19,7 +19,7 @@ from ament_index_python.packages import get_package_share_directory
 from rl_sdk import *
 from observation_buffer import *
 
-CSV_LOGGER = True
+CSV_LOGGER = False
 
 class RL_Sim(RL, Node):
     def __init__(self):

src/rl_sar/src/rl_sim.cpp

@@ -1,7 +1,7 @@
 #include "rl_sim.hpp"
 
 // #define PLOT
-#define CSV_LOGGER
+// #define CSV_LOGGER
 
 RL_Sim::RL_Sim()
     : rclcpp::Node("rl_sim_node")
@@ -25,17 +25,23 @@ RL_Sim::RL_Sim()
     auto future = param_client->async_send_request(request);
     auto status = rclcpp::spin_until_future_complete(this->get_node_base_interface(), future, std::chrono::seconds(5));
 
-    if (status == rclcpp::FutureReturnCode::SUCCESS) {
+    if (status == rclcpp::FutureReturnCode::SUCCESS)
+    {
         auto result = future.get();
-        if (result->values.size() < 2) {
+        if (result->values.size() < 2)
+        {
             std::cout << LOGGER::ERROR << "Failed to get all parameters from param_node" << std::endl;
-        } else {
+        }
+        else
+        {
             this->robot_name = result->values[0].string_value;
             this->gazebo_model_name = result->values[1].string_value;
             std::cout << LOGGER::INFO << "Get param robot_name: " << this->robot_name << std::endl;
             std::cout << LOGGER::INFO << "Get param gazebo_model_name: " << this->gazebo_model_name << std::endl;
         }
-    } else {
+    }
+    else
+    {
         std::cout << LOGGER::ERROR << "Failed to call param_node service" << std::endl;
     }
 

src/robot_joint_controller/include/robot_joint_controller.hpp

@@ -37,7 +37,11 @@ typedef struct
 
 namespace robot_joint_controller
 {
-using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+#if defined(ROS_DISTRO_FOXY)
+    using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+#elif defined(ROS_DISTRO_HUMBLE)
+    using CallbackReturn = controller_interface::CallbackReturn;
+#endif
 
 class RobotJointController : public controller_interface::ControllerInterface
 {
@@ -50,15 +54,14 @@ public:
     controller_interface::return_type update() override;
 #elif defined(ROS_DISTRO_HUMBLE)
     ROBOT_JOINT_CONTROLLER_PUBLIC
-    controller_interface::CallbackReturn on_init() override;
     controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override;
+    ROBOT_JOINT_CONTROLLER_PUBLIC
+    CallbackReturn on_init() override;
 #endif
     ROBOT_JOINT_CONTROLLER_PUBLIC
     controller_interface::InterfaceConfiguration command_interface_configuration() const override;
     ROBOT_JOINT_CONTROLLER_PUBLIC
     controller_interface::InterfaceConfiguration state_interface_configuration() const override;
-    // ROBOT_JOINT_CONTROLLER_PUBLIC
-    // CallbackReturn on_init() override;
     ROBOT_JOINT_CONTROLLER_PUBLIC
     CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override;
     ROBOT_JOINT_CONTROLLER_PUBLIC

src/robot_joint_controller/include/robot_joint_controller_group.hpp

@@ -37,7 +37,11 @@ typedef struct
 
 namespace robot_joint_controller
 {
-using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+#if defined(ROS_DISTRO_FOXY)
+    using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+#elif defined(ROS_DISTRO_HUMBLE)
+    using CallbackReturn = controller_interface::CallbackReturn;
+#endif
 
 class RobotJointControllerGroup : public controller_interface::ControllerInterface
 {
@@ -50,15 +54,14 @@ public:
     controller_interface::return_type update() override;
 #elif defined(ROS_DISTRO_HUMBLE)
     ROBOT_JOINT_CONTROLLER_PUBLIC
-    controller_interface::CallbackReturn on_init() override;
     controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override;
+    ROBOT_JOINT_CONTROLLER_PUBLIC
+    CallbackReturn on_init() override;
 #endif
     ROBOT_JOINT_CONTROLLER_PUBLIC
     controller_interface::InterfaceConfiguration command_interface_configuration() const override;
     ROBOT_JOINT_CONTROLLER_PUBLIC
     controller_interface::InterfaceConfiguration state_interface_configuration() const override;
-    // ROBOT_JOINT_CONTROLLER_PUBLIC
-    // CallbackReturn on_init() override;
     ROBOT_JOINT_CONTROLLER_PUBLIC
     CallbackReturn on_configure(const rclcpp_lifecycle::State &previous_state) override;
     ROBOT_JOINT_CONTROLLER_PUBLIC

src/robot_joint_controller/src/robot_joint_controller.cpp

@@ -18,10 +18,12 @@ RobotJointController::RobotJointController()
     memset(&servo_command_, 0, sizeof(ServoCommand));
 }
 
-CallbackReturn RobotJointController::on_init()
+#if defined(ROS_DISTRO_HUMBLE)
+CallbackReturn RobotJointControllerGroup::on_init()
 {
     return CallbackReturn::SUCCESS;
 }
+#endif
 
 CallbackReturn RobotJointController::on_configure(const rclcpp_lifecycle::State &previous_state)
 {

src/robot_joint_controller/src/robot_joint_controller_group.cpp

@@ -16,10 +16,12 @@ RobotJointControllerGroup::RobotJointControllerGroup()
     memset(&servo_command_, 0, sizeof(ServoCommand));
 }
 
+#if defined(ROS_DISTRO_HUMBLE)
 CallbackReturn RobotJointControllerGroup::on_init()
 {
     return CallbackReturn::SUCCESS;
 }
+#endif
 
 CallbackReturn RobotJointControllerGroup::on_configure(const rclcpp_lifecycle::State &previous_state)
 {

src/robots/a1_description/launch/group_gazebo.launch.py

@@ -38,14 +38,14 @@ def generate_launch_description():
 
     joint_state_broadcaster_node = Node(
         package="controller_manager",
-        executable="spawner",
+        executable='spawner.py' if os.environ.get('ROS_DISTRO', '') == 'foxy' else 'spawner',
         arguments=["joint_state_broadcaster"],
         output='screen',
     )
 
     robot_joint_controller_node = Node(
         package="controller_manager",
-        executable="spawner",
+        executable='spawner.py' if os.environ.get('ROS_DISTRO', '') == 'foxy' else 'spawner',
         arguments=["robot_joint_controller"],
         output='screen',
     )

src/robots/a1_description/launch/single_gazebo.launch.py

@@ -46,7 +46,7 @@ def generate_launch_description():
 
     controller_nodes = [Node(
         package="controller_manager",
-        executable="spawner",
+        executable='spawner.py' if os.environ.get('ROS_DISTRO', '') == 'foxy' else 'spawner',
         arguments=[name],
         output='screen',
     ) for name in controller_names]