i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 08:47:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed compilation errors on rolling (backward compatible for Humble)

Browse Source
This commit is contained in:
matlabbe
2025-07-12 15:18:39 -07:00
parent 0918c60dc1
commit 8d5af87d17
42 changed files with 419 additions and 302 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap_conversions/CMakeLists.txt
+7 -1
View File
@@ -60,6 +60,10 @@ IF("$ENV{ROS_DISTRO}" STRLESS "iron")
add_definitions(-DPRE_ROS_IRON)
ENDIF()
IF("$ENV{ROS_DISTRO}" STRLESS "kilted")
add_definitions(-DPRE_ROS_KILTED)
ENDIF()
###########
## Build ##
###########
@@ -73,7 +77,9 @@ target_include_directories(rtabmap_conversions
ament_target_dependencies(rtabmap_conversions ${Libraries})
IF("$ENV{ROS_DISTRO}" STRLESS "iron")
target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON -DPRE_ROS_KILTED)
ELSEIF("$ENV{ROS_DISTRO}" STRLESS "kilted")
target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_KILTED)
ENDIF()
#############
rtabmap_conversions/include/rtabmap_conversions/MsgConversion.h
+6
View File
@@ -65,6 +65,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_msgs/msg/rgbd_image.hpp>
#include <rtabmap_msgs/msg/user_data.hpp>
#ifdef PRE_ROS_KILTED
#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos).get_rmw_qos_profile()
#else
#define RCLCPP_QOS(queueSize, qos) rclcpp::QoS(queueSize).reliability((rmw_qos_reliability_policy_t)qos)
#endif
namespace rtabmap_conversions {
void transformToTF(const rtabmap::Transform & transform, tf2::Transform & tfTransform);