From e1e3bb5de8b432716c05f3bfbc753372ec82aadd Mon Sep 17 00:00:00 2001
From: "-T.K.-" <t_k_233@outlook.com>
Date: Mon, 11 Nov 2024 13:17:02 -0800
Subject: [PATCH] FIX: fix building for ROS2 Humble on Ubuntu 22.04

---
 src/rl_sar/CMakeLists.txt                                 | 4 ++--
 .../include/robot_joint_controller.hpp                    | 1 +
 .../include/robot_joint_controller_group.hpp              | 1 +
 src/robot_joint_controller/src/robot_joint_controller.cpp | 8 ++++----
 .../src/robot_joint_controller_group.cpp                  | 8 ++++----
 5 files changed, 12 insertions(+), 10 deletions(-)

diff --git a/src/rl_sar/CMakeLists.txt b/src/rl_sar/CMakeLists.txt
index 68b2eb9..9a0c127 100644
--- a/src/rl_sar/CMakeLists.txt
+++ b/src/rl_sar/CMakeLists.txt
@@ -18,7 +18,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 find_package(gazebo REQUIRED)
 
 find_package(ament_cmake REQUIRED)
-find_package(joint_state_controller REQUIRED)
+find_package(joint_state_broadcaster REQUIRED)
 find_package(robot_state_publisher REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(gazebo_ros REQUIRED)
@@ -100,7 +100,7 @@ target_link_libraries(rl_real_go2
 )
 
 ament_target_dependencies(rl_sim
-  joint_state_controller
+  joint_state_broadcaster
   robot_state_publisher
   rclcpp
   gazebo_ros
diff --git a/src/robot_joint_controller/include/robot_joint_controller.hpp b/src/robot_joint_controller/include/robot_joint_controller.hpp
index 7477a78..de82344 100644
--- a/src/robot_joint_controller/include/robot_joint_controller.hpp
+++ b/src/robot_joint_controller/include/robot_joint_controller.hpp
@@ -50,6 +50,7 @@ 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;
 #endif
     ROBOT_JOINT_CONTROLLER_PUBLIC
diff --git a/src/robot_joint_controller/include/robot_joint_controller_group.hpp b/src/robot_joint_controller/include/robot_joint_controller_group.hpp
index 0efb7cc..34619d3 100644
--- a/src/robot_joint_controller/include/robot_joint_controller_group.hpp
+++ b/src/robot_joint_controller/include/robot_joint_controller_group.hpp
@@ -50,6 +50,7 @@ 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;
 #endif
     ROBOT_JOINT_CONTROLLER_PUBLIC
diff --git a/src/robot_joint_controller/src/robot_joint_controller.cpp b/src/robot_joint_controller/src/robot_joint_controller.cpp
index 9d372e9..08299cd 100644
--- a/src/robot_joint_controller/src/robot_joint_controller.cpp
+++ b/src/robot_joint_controller/src/robot_joint_controller.cpp
@@ -18,10 +18,10 @@ RobotJointController::RobotJointController()
     memset(&servo_command_, 0, sizeof(ServoCommand));
 }
 
-// CallbackReturn RobotJointController::on_init()
-// {
-//     return CallbackReturn::SUCCESS;
-// }
+CallbackReturn RobotJointController::on_init()
+{
+    return CallbackReturn::SUCCESS;
+}
 
 CallbackReturn RobotJointController::on_configure(const rclcpp_lifecycle::State &previous_state)
 {
diff --git a/src/robot_joint_controller/src/robot_joint_controller_group.cpp b/src/robot_joint_controller/src/robot_joint_controller_group.cpp
index 7e2bdf3..a8e513e 100644
--- a/src/robot_joint_controller/src/robot_joint_controller_group.cpp
+++ b/src/robot_joint_controller/src/robot_joint_controller_group.cpp
@@ -16,10 +16,10 @@ RobotJointControllerGroup::RobotJointControllerGroup()
     memset(&servo_command_, 0, sizeof(ServoCommand));
 }
 
-// CallbackReturn RobotJointControllerGroup::on_init()
-// {
-//     return CallbackReturn::SUCCESS;
-// }
+CallbackReturn RobotJointControllerGroup::on_init()
+{
+    return CallbackReturn::SUCCESS;
+}
 
 CallbackReturn RobotJointControllerGroup::on_configure(const rclcpp_lifecycle::State &previous_state)
 {