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rl_sar
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FIX: fix building for ROS2 Humble on Ubuntu 22.04

This commit is contained in:
-T.K.- 2024-11-11 13:17:02 -08:00
parent 64fc72d613
commit e1e3bb5de8
5 changed files with 12 additions and 10 deletions
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4
src/rl_sar/CMakeLists.txt
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@ -18,7 +18,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
find_package(gazebo REQUIRED) find_package(gazebo REQUIRED)
find_package(ament_cmake 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(robot_state_publisher REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(gazebo_ros REQUIRED) find_package(gazebo_ros REQUIRED)
@ -100,7 +100,7 @@ target_link_libraries(rl_real_go2
) )
ament_target_dependencies(rl_sim ament_target_dependencies(rl_sim
joint_state_controller joint_state_broadcaster
robot_state_publisher robot_state_publisher
rclcpp rclcpp
gazebo_ros gazebo_ros

1
src/robot_joint_controller/include/robot_joint_controller.hpp
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@ -50,6 +50,7 @@ public:
controller_interface::return_type update() override; controller_interface::return_type update() override;
#elif defined(ROS_DISTRO_HUMBLE) #elif defined(ROS_DISTRO_HUMBLE)
ROBOT_JOINT_CONTROLLER_PUBLIC ROBOT_JOINT_CONTROLLER_PUBLIC
controller_interface::CallbackReturn on_init() override;
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override; controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override;
#endif #endif
ROBOT_JOINT_CONTROLLER_PUBLIC ROBOT_JOINT_CONTROLLER_PUBLIC

1
src/robot_joint_controller/include/robot_joint_controller_group.hpp
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@ -50,6 +50,7 @@ public:
controller_interface::return_type update() override; controller_interface::return_type update() override;
#elif defined(ROS_DISTRO_HUMBLE) #elif defined(ROS_DISTRO_HUMBLE)
ROBOT_JOINT_CONTROLLER_PUBLIC ROBOT_JOINT_CONTROLLER_PUBLIC
controller_interface::CallbackReturn on_init() override;
controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override; controller_interface::return_type update(const rclcpp::Time &time, const rclcpp::Duration &period) override;
#endif #endif
ROBOT_JOINT_CONTROLLER_PUBLIC ROBOT_JOINT_CONTROLLER_PUBLIC

8
src/robot_joint_controller/src/robot_joint_controller.cpp
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@ -18,10 +18,10 @@ RobotJointController::RobotJointController()
memset(&servo_command_, 0, sizeof(ServoCommand)); memset(&servo_command_, 0, sizeof(ServoCommand));
} }
// CallbackReturn RobotJointController::on_init() CallbackReturn RobotJointController::on_init()
// { {
// return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
// } }
CallbackReturn RobotJointController::on_configure(const rclcpp_lifecycle::State &previous_state) CallbackReturn RobotJointController::on_configure(const rclcpp_lifecycle::State &previous_state)
{ {

8
src/robot_joint_controller/src/robot_joint_controller_group.cpp
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@ -16,10 +16,10 @@ RobotJointControllerGroup::RobotJointControllerGroup()
memset(&servo_command_, 0, sizeof(ServoCommand)); memset(&servo_command_, 0, sizeof(ServoCommand));
} }
// CallbackReturn RobotJointControllerGroup::on_init() CallbackReturn RobotJointControllerGroup::on_init()
// { {
// return CallbackReturn::SUCCESS; return CallbackReturn::SUCCESS;
// } }
CallbackReturn RobotJointControllerGroup::on_configure(const rclcpp_lifecycle::State &previous_state) CallbackReturn RobotJointControllerGroup::on_configure(const rclcpp_lifecycle::State &previous_state)
{ {