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Fixed compilation errors under ROS Humble #14

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Fixed compilation errors under ROS Humble #14

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fd0e8cf
fixed tf2_geometry_msgs issues
vvel-tracpilot Aug 11, 2023
ee8e0a3
fixed calls to declare_parameter
vvel-tracpilot Aug 11, 2023
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4 changes: 3 additions & 1 deletion scout_base/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@ find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

find_package(scout_msgs REQUIRED)
find_package(ugv_sdk REQUIRED)
Expand All @@ -41,6 +42,7 @@ set(DEPENDENCIES
"std_msgs"
"tf2"
"tf2_ros"
"tf2_geometry_msgs"
"scout_msgs"
"sensor_msgs"
)
Expand All @@ -57,7 +59,7 @@ add_executable(scout_base_node
src/scout_base_ros.cpp
src/scout_base_node.cpp)
target_link_libraries(scout_base_node ugv_sdk)
ament_target_dependencies(scout_base_node rclcpp tf2 tf2_ros std_msgs nav_msgs sensor_msgs scout_msgs)
ament_target_dependencies(scout_base_node rclcpp tf2 tf2_ros tf2_geometry_msgs std_msgs nav_msgs sensor_msgs scout_msgs)

install(TARGETS scout_base_node
DESTINATION lib/${PROJECT_NAME})
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2 changes: 1 addition & 1 deletion scout_base/include/scout_base/scout_messenger.hpp
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Expand Up @@ -18,7 +18,7 @@
#include <nav_msgs/msg/odometry.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

#include "scout_msgs/msg/scout_status.hpp"
#include "scout_msgs/msg/scout_light_cmd.hpp"
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16 changes: 8 additions & 8 deletions scout_base/src/scout_base_ros.cpp
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Expand Up @@ -15,17 +15,17 @@
namespace westonrobot {
ScoutBaseRos::ScoutBaseRos(std::string node_name)
: rclcpp::Node(node_name), keep_running_(false) {
this->declare_parameter("port_name");
this->declare_parameter("port_name", "can0");

this->declare_parameter("odom_frame");
this->declare_parameter("base_frame");
this->declare_parameter("odom_topic_name");
this->declare_parameter("odom_frame", "odom");
this->declare_parameter("base_frame", "base_link");
this->declare_parameter("odom_topic_name", "odom");

this->declare_parameter("is_scout_mini");
this->declare_parameter("is_omni_wheel");
this->declare_parameter("is_scout_mini", false);
this->declare_parameter("is_omni_wheel", false);

this->declare_parameter("simulated_robot");
this->declare_parameter("control_rate");
this->declare_parameter("simulated_robot", false);
this->declare_parameter("control_rate", 50);

LoadParameters();
}
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