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Address Warnings in Rolling #2033

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Merged
vooon merged 4 commits into from
Apr 25, 2025
Merged

Address Warnings in Rolling #2033

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83c4349
Address Warnings
InvincibleRMC Apr 23, 2025
72291af
if
InvincibleRMC Apr 23, 2025
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add new flag
InvincibleRMC Apr 23, 2025
c3a4cb6
fix spelling error
InvincibleRMC Apr 23, 2025
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7 changes: 7 additions & 0 deletions mavros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,13 @@ if(rclcpp_VERSION VERSION_LESS 17.0.0)
)
endif()

if(message_filters_VERSION VERSION_LESS 5.0.0)
# Jazzy and older
add_definitions(
-DUSE_OLD_RMW_QOS_MESSAGE_FILTERS
)
endif()

# [[[cog:
# import mavros_cog
# ]]]
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25 changes: 18 additions & 7 deletions mavros/src/plugins/setpoint_attitude.cpp
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Expand Up @@ -16,10 +16,15 @@
* @{
*/

#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>

#if __has_include(<message_filters/subscriber.hpp>)
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@vooon vooon Apr 25, 2025

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Hm, looks interesting, haven't seen that macro...

#include <message_filters/subscriber.hpp>
#include <message_filters/synchronizer.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#else
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/approximate_time.h>
#endif
#include <memory>

#include "tf2_eigen/tf2_eigen.hpp"
Expand Down Expand Up @@ -64,6 +69,12 @@ class SetpointAttitudePlugin : public plugin::Plugin,

auto qos = rclcpp::QoS(10);

#ifdef USE_OLD_RMW_QOS_MESSAGE_FILTERS
auto subscriber_qos = qos.get_rmw_qos_profile();
#else
auto subscriber_qos = qos;
#endif

node_declare_and_watch_parameter(
"reverse_thrust", false, [&](const rclcpp::Parameter & p) {
reverse_thrust = p.as_bool();
Expand All @@ -82,13 +93,13 @@ class SetpointAttitudePlugin : public plugin::Plugin,
/**
* @brief Use message_filters to sync attitude and thrust msg coming from different topics
*/
pose_sub.subscribe(node, "~/attitude", qos.get_rmw_qos_profile());
pose_sub.subscribe(node, "~/attitude", subscriber_qos);

sync_pose = std::make_unique<SyncPoseThrust>(SyncPoseThrustPolicy(10), pose_sub, th_sub);
sync_pose->registerCallback(&SetpointAttitudePlugin::attitude_pose_cb, this);

} else {
twist_sub.subscribe(node, "~/cmd_vel", qos.get_rmw_qos_profile());
twist_sub.subscribe(node, "~/cmd_vel", subscriber_qos);

sync_twist =
std::make_unique<SyncTwistThrust>(SyncTwistThrustPolicy(10), twist_sub, th_sub);
Expand All @@ -97,7 +108,7 @@ class SetpointAttitudePlugin : public plugin::Plugin,
});

// thrust msg subscriber to sync
th_sub.subscribe(node, "~/thrust", qos.get_rmw_qos_profile());
th_sub.subscribe(node, "~/thrust", subscriber_qos);
}

Subscriptions get_subscriptions() override
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6 changes: 5 additions & 1 deletion mavros_extras/include/mavros_extras/servo_state_publisher.hpp
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Expand Up @@ -17,7 +17,11 @@
#define MAVROS_EXTRAS__SERVO_STATE_PUBLISHER_HPP_

#include <yaml-cpp/yaml.h>
#include <urdf/model.h>
#if __has_include(<urdf/model.hpp>)
#include <urdf/model.hpp>
#else
#include <urdf/model.h>
#endif

#include <algorithm>
#include <memory>
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