Fix build errors

Author: Myzhar

zed_components/src/zed_camera/include/zed_camera_component.hpp

@@ -577,13 +577,13 @@ class ZedCamera : public rclcpp::Node
   double mSensPubRate = 200.;
 
   std::vector<std::vector<float>> mRoyPolyParam;  // Manual ROI polygon
-  std::atomic<bool> mAutoRoiEnabled{false};
-  std::atomic<bool> mManualRoiEnabled{false};
+  bool mAutoRoiEnabled = false;
+  bool mManualRoiEnabled = false;
   float mRoiDepthFarThresh = 2.5f;
   float mRoiImgHeightRationCutOff = 0.5f;
   std::unordered_set<sl::MODULE> mRoiModules;
 
-  std::atomic<bool> mPosTrackingEnabled{false};
+  bool mPosTrackingEnabled = false;
   bool mPublishTF = false;
   bool mPublishMapTF = false;
   bool mPublishImuTF = false;
@@ -610,7 +610,7 @@ class ZedCamera : public rclcpp::Node
   bool mSetGravityAsOrigin = false;
   int mPathMaxCount = -1;
 
-  std::atomic<bool> mGnssFusionEnabled{false};
+  bool mGnssFusionEnabled = false;
   std::string mGnssTopic = "/gps/fix";
   bool mGnssEnableReinitialization = true;
   bool mGnssEnableRollingCalibration = true;
@@ -624,11 +624,11 @@ class ZedCamera : public rclcpp::Node
   bool mPublishUtmTf = true;
   bool mUtmAsParent = true;
 
-  std::atomic<bool> mMappingEnabled{false};
+  bool mMappingEnabled = false;
   float mMappingRes = 0.05f;
   float mMappingRangeMax = 10.0f;
 
-  std::atomic<bool> mObjDetRunning{false};
+  bool mObjDetEnabled = false;
   bool mObjDetTracking = true;
   double mObjDetPredTimeout = 0.5;
   bool mObjDetReducedPrecision = false;
@@ -660,7 +660,7 @@ class ZedCamera : public rclcpp::Node
   std::unordered_map<int, std::string> mCustomLabels;
   std::unordered_map<std::string, int> mCustomClassIdMap;
 
-  std::atomic<bool> mBodyTrkEnabled{false};
+  bool mBodyTrkEnabled = false;
   sl::BODY_TRACKING_MODEL mBodyTrkModel =
     sl::BODY_TRACKING_MODEL::HUMAN_BODY_FAST;
   sl::BODY_FORMAT mBodyTrkFmt = sl::BODY_FORMAT::BODY_38;
@@ -1075,9 +1075,9 @@ class ZedCamera : public rclcpp::Node
 
   bool mAreaFileExists = false;
   bool mResetOdomFromSrv = false;
-  bool mSpatialMappingRunning = false;
+  std::atomic<bool> mSpatialMappingRunning{false};
   std::atomic<bool> mObjDetRunning{false};
-  bool mBodyTrkRunning = false;
+  std::atomic<bool> mBodyTrkRunning{false};
   bool mRgbSubscribed = false;
   bool mGnssMsgReceived = false;  // Indicates if a NavSatFix topic has been
                                   // received, also with invalid position fix

zed_components/src/zed_camera/src/zed_camera_component_main.cpp

@@ -3914,30 +3914,29 @@ bool ZedCamera::startPosTrackingLocked()
     return false;
   }
 
-  
-    if (mZed && mZed->isPositionalTrackingEnabled()) {
-      if (!mAreaMemoryFilePath.empty() && mSaveAreaMemoryOnClosing) {
-        // ----> Safe disablePositionalTracking
-        {
-          std::lock_guard<std::mutex> grab_lock(mGrabMutex);
-          mZed->disablePositionalTracking(mAreaMemoryFilePath.c_str());
-        }
-        // <---- Safe disablePositionalTracking
-        RCLCPP_INFO(
-          get_logger(),
-          "Area memory updated before restarting the Positional "
-          "Tracking module.");
-      } else {
-        // ----> Safe disablePositionalTracking
-        {
-          std::lock_guard<std::mutex> grab_lock(mGrabMutex);
-          mZed->disablePositionalTracking();
-        }
-        // <---- Safe disablePositionalTracking
+
+  if (mZed && mZed->isPositionalTrackingEnabled()) {
+    if (!mAreaMemoryFilePath.empty() && mSaveAreaMemoryOnClosing) {
+      // ----> Safe disablePositionalTracking
+      {
+        std::lock_guard<std::mutex> grab_lock(mGrabMutex);
+        mZed->disablePositionalTracking(mAreaMemoryFilePath.c_str());
       }
+      // <---- Safe disablePositionalTracking
+      RCLCPP_INFO(
+        get_logger(),
+        "Area memory updated before restarting the Positional "
+        "Tracking module.");
+    } else {
+      // ----> Safe disablePositionalTracking
+      {
+        std::lock_guard<std::mutex> grab_lock(mGrabMutex);
+        mZed->disablePositionalTracking();
+      }
+      // <---- Safe disablePositionalTracking
     }
   }
-  // <---- Safe disablePositionalTracking
+
 
   RCLCPP_INFO(get_logger(), "=== Starting Positional Tracking ===");
 
@@ -4025,9 +4024,10 @@ bool ZedCamera::startPosTrackingLocked()
   }
 
   // ----> Safe enablePositionalTracking
+  sl::ERROR_CODE err;
   {
     std::lock_guard<std::mutex> grab_lock(mGrabMutex);
-    sl::ERROR_CODE err = mZed->enablePositionalTracking(ptParams);
+    err = mZed->enablePositionalTracking(ptParams);
 
     if (err != sl::ERROR_CODE::SUCCESS) {
       mPosTrackingStarted = false;

zed_components/src/zed_camera/src/zed_camera_component_objdet.cpp

@@ -978,7 +978,7 @@ bool ZedCamera::startObjDetect()
 
   // ----> Safe enableObjectDetection
   {
-    std::lock_guard<std::mutex> grab_lock(mGrabMutex);    
+    std::lock_guard<std::mutex> grab_lock(mGrabMutex);
     sl::ERROR_CODE objDetError = mZed->enableObjectDetection(od_p);
     if (objDetError != sl::ERROR_CODE::SUCCESS) {
       RCLCPP_ERROR_STREAM(