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Update: fixed iron compile error

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This commit is contained in:
Joe Dong
2024-06-21 15:37:49 +08:00
parent af3941074c
commit e13545cb60
5 changed files with 26 additions and 23 deletions
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orbbec_camera/CMakeLists.txt
+7 -5
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@@ -15,10 +15,12 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds) add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
endif () endif ()
# Check if ROS Jazzy is installed # Check if ROS Jazzy or iron is installed
if("$ENV{ROS_DISTRO}" STREQUAL "jazzy") if ("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
add_compile_definitions(ROS_JAZZY) add_compile_definitions(ROS_JAZZY)
endif() elseif ("$ENV{ROS_DISTRO}" STREQUAL "iron")
add_compile_definitions(ROS_IRON)
endif ()
# find dependencies # find dependencies
set(dependencies set(dependencies
@@ -220,12 +222,12 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/) install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include) install(DIRECTORY ${ORBBEC_INCLUDE_DIR} DESTINATION include)
install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*") install(DIRECTORY ${ORBBEC_LIBS_DIR}/ DESTINATION lib/ FILES_MATCHING PATTERN "*.so*")
if(DEFINED ENV{BUILDING_PACKAGE}) if (DEFINED ENV{BUILDING_PACKAGE})
# Install udev rules # Install udev rules
install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/scripts/99-obsensor-libusb.rules
DESTINATION /etc/udev/rules.d DESTINATION /etc/udev/rules.d
) )
endif() endif ()
install(TARGETS list_devices_node install(TARGETS list_devices_node
list_depth_work_mode_node list_depth_work_mode_node
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
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@@ -63,7 +63,7 @@
#include "jpeg_decoder.h" #include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp> #include <std_msgs/msg/string.hpp>
#if defined(ROS_JAZZY) #if defined(ROS_JAZZY) || defined(ROS_IRON)
#include <cv_bridge/cv_bridge.hpp> #include <cv_bridge/cv_bridge.hpp>
#else #else
#include <cv_bridge/cv_bridge.h> #include <cv_bridge/cv_bridge.h>
orbbec_camera/include/orbbec_camera/ros_param_backend.h
+1 -1
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@@ -22,7 +22,7 @@ class ParametersBackend {
public: public:
explicit ParametersBackend(rclcpp::Node* node); explicit ParametersBackend(rclcpp::Node* node);
~ParametersBackend(); ~ParametersBackend();
#if defined(ROS_JAZZY) #if defined(ROS_JAZZY) || defined(ROS_IRON)
void addOnSetParametersCallback( void addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback); rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
#else #else
orbbec_camera/src/d2c_viewer.cpp
+16 -15
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@@ -1,19 +1,20 @@
/******************************************************************************* /*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc * Copyright (c) 2023 Orbbec 3D Technology, Inc
* *
* Licensed under the Apache License, Version 2.0 (the "License"); * Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License. * you may not use this file except in compliance with the License.
* You may obtain a copy of the License at * You may obtain a copy of the License at
* *
* http://www.apache.org/licenses/LICENSE-2.0 * http://www.apache.org/licenses/LICENSE-2.0
* *
* Unless required by applicable law or agreed to in writing, software * Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, * distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and * See the License for the specific language governing permissions and
* limitations under the License. * limitations under the License.
*******************************************************************************/ *******************************************************************************/
#if defined(ROS_JAZZY)
#if defined(ROS_JAZZY) || defined(ROS_IRON)
#include <cv_bridge/cv_bridge.hpp> #include <cv_bridge/cv_bridge.hpp>
#else #else
#include <cv_bridge/cv_bridge.h> #include <cv_bridge/cv_bridge.h>
orbbec_camera/src/ros_param_backend.cpp
+1 -1
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@@ -26,7 +26,7 @@ ParametersBackend::~ParametersBackend() {
ros_callback_.reset(); ros_callback_.reset();
} }
} }
#if defined(ROS_JAZZY) #if defined(ROS_JAZZY) || defined(ROS_IRON)
void ParametersBackend::addOnSetParametersCallback( void ParametersBackend::addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) { rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback); ros_callback_ = node_->add_on_set_parameters_callback(callback);