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lreiherlreiher
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fix compilation on humble
1 parent e1ddb73 commit 29d8bdc

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3 files changed

+33
-21
lines changed

3 files changed

+33
-21
lines changed

‎etsi_its_conversion/etsi_its_conversion/CMakeLists.txt‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -14,8 +14,13 @@ find_package(etsi_its_spatem_ts_conversion REQUIRED)
1414
find_package(etsi_its_vam_ts_conversion REQUIRED)
1515
find_package(rclcpp REQUIRED)
1616
find_package(rclcpp_components REQUIRED)
17+
find_package(ros_environment REQUIRED)
1718
find_package(udp_msgs REQUIRED)
1819

20+
if("$ENV{ROS_DISTRO}" STREQUAL "humble")
21+
add_compile_definitions(ROS_DISTRO_HUMBLE)
22+
endif()
23+
1924
add_library(${PROJECT_NAME} SHARED src/Converter.cpp)
2025

2126
rclcpp_components_register_node(${PROJECT_NAME}

‎etsi_its_conversion/etsi_its_conversion/package.xml‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -15,6 +15,8 @@
1515

1616
<license>MIT</license>
1717

18+
<buildtool_depend>ament_cmake</buildtool_depend>
19+
1820
<depend>etsi_its_cam_conversion</depend>
1921
<depend>etsi_its_cam_ts_conversion</depend>
2022
<depend>etsi_its_conversion_srvs</depend>
@@ -25,11 +27,10 @@
2527
<depend>etsi_its_mcm_uulm_conversion</depend>
2628
<depend>etsi_its_spatem_ts_conversion</depend>
2729
<depend>etsi_its_vam_ts_conversion</depend>
28-
<depend>udp_msgs</depend>
29-
30-
<buildtool_depend>ament_cmake</buildtool_depend>
3130
<depend>rclcpp</depend>
3231
<depend>rclcpp_components</depend>
32+
<depend>ros_environment</depend>
33+
<depend>udp_msgs</depend>
3334

3435
<export>
3536
<build_type>ament_cmake</build_type>

‎etsi_its_conversion/etsi_its_conversion/src/Converter.cpp‎

Lines changed: 24 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -35,6 +35,12 @@ RCLCPP_COMPONENTS_REGISTER_NODE(etsi_its_conversion::Converter)
3535

3636
namespace etsi_its_conversion {
3737

38+
#ifdef ROS_DISTRO_HUMBLE
39+
#define SERVICE_QOS rmw_qos_profile_services_default
40+
#else
41+
#define SERVICE_QOS rclcpp::ServicesQoS()
42+
#endif
43+
3844
const int kBtpHeaderDestinationPortCam{2001};
3945
const int kBtpHeaderDestinationPortDenm{2002};
4046
const int kBtpHeaderDestinationPortMapem{2003};
@@ -233,7 +239,7 @@ void Converter::setup() {
233239
&asn_DEF_cam_CAM,
234240
std::function<void(const cam_CAM_t &, cam_msgs::CAM &)>(etsi_its_cam_conversion::toRos_CAM)
235241
),
236-
rclcpp::ServicesQoS(),
242+
SERVICE_QOS,
237243
callback_group_
238244
);
239245
publisher_cam_ = this->create_publisher<cam_msgs::CAM>(kOutputTopicCam, publisher_queue_size_);
@@ -252,7 +258,7 @@ void Converter::setup() {
252258
&asn_DEF_cam_CAM,
253259
std::function<void(const cam_msgs::CAM &, cam_CAM_t &)>(etsi_its_cam_conversion::toStruct_CAM)
254260
),
255-
rclcpp::ServicesQoS(),
261+
SERVICE_QOS,
256262
callback_group_
257263
);
258264
std::function<void(const cam_msgs::CAM::UniquePtr)> callback =
@@ -273,7 +279,7 @@ void Converter::setup() {
273279
&asn_DEF_cam_ts_CAM,
274280
std::function<void(const cam_ts_CAM_t &, cam_ts_msgs::CAM &)>(etsi_its_cam_ts_conversion::toRos_CAM)
275281
),
276-
rclcpp::ServicesQoS(),
282+
SERVICE_QOS,
277283
callback_group_
278284
);
279285
publisher_cam_ts_ = this->create_publisher<cam_ts_msgs::CAM>(kOutputTopicCamTs, publisher_queue_size_);
@@ -292,7 +298,7 @@ void Converter::setup() {
292298
&asn_DEF_cam_ts_CAM,
293299
std::function<void(const cam_ts_msgs::CAM &, cam_ts_CAM_t &)>(etsi_its_cam_ts_conversion::toStruct_CAM)
294300
),
295-
rclcpp::ServicesQoS(),
301+
SERVICE_QOS,
296302
callback_group_
297303
);
298304
std::function<void(const cam_ts_msgs::CAM::UniquePtr)> callback =
@@ -313,7 +319,7 @@ void Converter::setup() {
313319
&asn_DEF_cpm_ts_CollectivePerceptionMessage,
314320
std::function<void(const cpm_ts_CollectivePerceptionMessage_t &, cpm_ts_msgs::CollectivePerceptionMessage &)>(etsi_its_cpm_ts_conversion::toRos_CollectivePerceptionMessage)
315321
),
316-
rclcpp::ServicesQoS(),
322+
SERVICE_QOS,
317323
callback_group_
318324
);
319325
publisher_cpm_ts_ = this->create_publisher<cpm_ts_msgs::CollectivePerceptionMessage>(kOutputTopicCpmTs, publisher_queue_size_);
@@ -332,7 +338,7 @@ void Converter::setup() {
332338
&asn_DEF_cpm_ts_CollectivePerceptionMessage,
333339
std::function<void(const cpm_ts_msgs::CollectivePerceptionMessage &, cpm_ts_CollectivePerceptionMessage_t &)>(etsi_its_cpm_ts_conversion::toStruct_CollectivePerceptionMessage)
334340
),
335-
rclcpp::ServicesQoS(),
341+
SERVICE_QOS,
336342
callback_group_
337343
);
338344
std::function<void(const cpm_ts_msgs::CollectivePerceptionMessage::UniquePtr)> callback =
@@ -353,7 +359,7 @@ void Converter::setup() {
353359
&asn_DEF_denm_DENM,
354360
std::function<void(const denm_DENM_t &, denm_msgs::DENM &)>(etsi_its_denm_conversion::toRos_DENM)
355361
),
356-
rclcpp::ServicesQoS(),
362+
SERVICE_QOS,
357363
callback_group_
358364
);
359365
publisher_denm_ = this->create_publisher<denm_msgs::DENM>(kOutputTopicDenm, publisher_queue_size_);
@@ -372,7 +378,7 @@ void Converter::setup() {
372378
&asn_DEF_denm_DENM,
373379
std::function<void(const denm_msgs::DENM &, denm_DENM_t &)>(etsi_its_denm_conversion::toStruct_DENM)
374380
),
375-
rclcpp::ServicesQoS(),
381+
SERVICE_QOS,
376382
callback_group_
377383
);
378384
std::function<void(const denm_msgs::DENM::UniquePtr)> callback =
@@ -393,7 +399,7 @@ void Converter::setup() {
393399
&asn_DEF_denm_ts_DENM,
394400
std::function<void(const denm_ts_DENM_t &, denm_ts_msgs::DENM &)>(etsi_its_denm_ts_conversion::toRos_DENM)
395401
),
396-
rclcpp::ServicesQoS(),
402+
SERVICE_QOS,
397403
callback_group_
398404
);
399405
publisher_denm_ts_ = this->create_publisher<denm_ts_msgs::DENM>(kOutputTopicDenmTs, publisher_queue_size_);
@@ -412,7 +418,7 @@ void Converter::setup() {
412418
&asn_DEF_denm_ts_DENM,
413419
std::function<void(const denm_ts_msgs::DENM &, denm_ts_DENM_t &)>(etsi_its_denm_ts_conversion::toStruct_DENM)
414420
),
415-
rclcpp::ServicesQoS(),
421+
SERVICE_QOS,
416422
callback_group_
417423
);
418424
std::function<void(const denm_ts_msgs::DENM::UniquePtr)> callback =
@@ -433,7 +439,7 @@ void Converter::setup() {
433439
&asn_DEF_mapem_ts_MAPEM,
434440
std::function<void(const mapem_ts_MAPEM_t &, mapem_ts_msgs::MAPEM &)>(etsi_its_mapem_ts_conversion::toRos_MAPEM)
435441
),
436-
rclcpp::ServicesQoS(),
442+
SERVICE_QOS,
437443
callback_group_
438444
);
439445
publisher_mapem_ts_ = this->create_publisher<mapem_ts_msgs::MAPEM>(kOutputTopicMapemTs, publisher_queue_size_);
@@ -452,7 +458,7 @@ void Converter::setup() {
452458
&asn_DEF_mapem_ts_MAPEM,
453459
std::function<void(const mapem_ts_msgs::MAPEM &, mapem_ts_MAPEM_t &)>(etsi_its_mapem_ts_conversion::toStruct_MAPEM)
454460
),
455-
rclcpp::ServicesQoS(),
461+
SERVICE_QOS,
456462
callback_group_
457463
);
458464
std::function<void(const mapem_ts_msgs::MAPEM::UniquePtr)> callback =
@@ -473,7 +479,7 @@ void Converter::setup() {
473479
&asn_DEF_mcm_uulm_MCM,
474480
std::function<void(const mcm_uulm_MCM_t &, mcm_uulm_msgs::MCM &)>(etsi_its_mcm_uulm_conversion::toRos_MCM)
475481
),
476-
rclcpp::ServicesQoS(),
482+
SERVICE_QOS,
477483
callback_group_
478484
);
479485
publisher_mcm_uulm_ = this->create_publisher<mcm_uulm_msgs::MCM>(kOutputTopicMcmUulm, publisher_queue_size_);
@@ -492,7 +498,7 @@ void Converter::setup() {
492498
&asn_DEF_mcm_uulm_MCM,
493499
std::function<void(const mcm_uulm_msgs::MCM &, mcm_uulm_MCM_t &)>(etsi_its_mcm_uulm_conversion::toStruct_MCM)
494500
),
495-
rclcpp::ServicesQoS(),
501+
SERVICE_QOS,
496502
callback_group_
497503
);
498504
std::function<void(const mcm_uulm_msgs::MCM::UniquePtr)> callback =
@@ -513,7 +519,7 @@ void Converter::setup() {
513519
&asn_DEF_spatem_ts_SPATEM,
514520
std::function<void(const spatem_ts_SPATEM_t &, spatem_ts_msgs::SPATEM &)>(etsi_its_spatem_ts_conversion::toRos_SPATEM)
515521
),
516-
rclcpp::ServicesQoS(),
522+
SERVICE_QOS,
517523
callback_group_
518524
);
519525
publisher_spatem_ts_ = this->create_publisher<spatem_ts_msgs::SPATEM>(kOutputTopicSpatemTs, publisher_queue_size_);
@@ -532,7 +538,7 @@ void Converter::setup() {
532538
&asn_DEF_spatem_ts_SPATEM,
533539
std::function<void(const spatem_ts_msgs::SPATEM &, spatem_ts_SPATEM_t &)>(etsi_its_spatem_ts_conversion::toStruct_SPATEM)
534540
),
535-
rclcpp::ServicesQoS(),
541+
SERVICE_QOS,
536542
callback_group_
537543
);
538544
std::function<void(const spatem_ts_msgs::SPATEM::UniquePtr)> callback =
@@ -553,7 +559,7 @@ void Converter::setup() {
553559
&asn_DEF_vam_ts_VAM,
554560
std::function<void(const vam_ts_VAM_t &, vam_ts_msgs::VAM &)>(etsi_its_vam_ts_conversion::toRos_VAM)
555561
),
556-
rclcpp::ServicesQoS(),
562+
SERVICE_QOS,
557563
callback_group_
558564
);
559565
publisher_vam_ts_ = this->create_publisher<vam_ts_msgs::VAM>(kOutputTopicVamTs, publisher_queue_size_);
@@ -572,7 +578,7 @@ void Converter::setup() {
572578
&asn_DEF_vam_ts_VAM,
573579
std::function<void(const vam_ts_msgs::VAM &, vam_ts_VAM_t &)>(etsi_its_vam_ts_conversion::toStruct_VAM)
574580
),
575-
rclcpp::ServicesQoS(),
581+
SERVICE_QOS,
576582
callback_group_
577583
);
578584
std::function<void(const vam_ts_msgs::VAM::UniquePtr)> callback =

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