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Changes to build on ROS humble.

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This commit is contained in:
James Goppert
2022-07-25 22:41:10 -04:00
parent b81009b9f6
commit 97b5bb1785
8 changed files with 32 additions and 33 deletions
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CMakeLists.txt
+19 -19
View File
@@ -37,6 +37,7 @@ find_package(image_transport REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
#find_package(eigen_conversions REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(pcl_conversions REQUIRED)
@@ -223,6 +224,7 @@ SET(Libraries
tf2
tf2_eigen
tf2_ros
tf2_geometry_msgs
laser_geometry
message_filters
class_loader
@@ -335,13 +337,11 @@ ament_target_dependencies(rtabmap_common ${Libraries})
ament_target_dependencies(rtabmap_sync ${Libraries})
ament_target_dependencies(rtabmap_plugins ${Libraries})
target_link_libraries(rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_common ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_common ${RTABMap_LIBRARIES})
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_common ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_sync ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(rtabmap_plugins ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(rtabmap_common ${cpp_typesupport_target} ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_sync rtabmap_common ${cpp_typesupport_targeT} ${RTABMap_LIBRARIES})
target_link_libraries(rtabmap_plugins rtabmap_common ${cpp_typesupport_target} ${RTABMap_LIBRARIES})
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::RGBDOdometry")
rclcpp_components_register_nodes(rtabmap_plugins "rtabmap_ros::StereoOdometry")
@@ -504,41 +504,41 @@ find_package("${rmw_implementation}" REQUIRED)
get_rmw_typesupport(typesupport_impls "${rmw_implementation}" LANGUAGE "cpp")
foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rgbd_odometry
rosidl_get_typesupport_target(rtabmap_rgbd_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_stereo_odometry
rosidl_get_typesupport_target(rtabmap_stereo_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_icp_odometry
rosidl_get_typesupport_target(rtabmap_icp_odometry
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbd_relay
rosidl_get_typesupport_target(rtabmap_rgbd_relay
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbd_sync
rosidl_get_typesupport_target(rtabmap_rgbd_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgbdx_sync
rosidl_get_typesupport_target(rtabmap_rgbdx_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_rgb_sync
rosidl_get_typesupport_target(rtabmap_rgb_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_stereo_sync
rosidl_get_typesupport_target(rtabmap_stereo_sync
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_pointcloud_to_depthimage
rosidl_get_typesupport_target(rtabmap_pointcloud_to_depthimage
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap_point_cloud_xyzrgb
rosidl_get_typesupport_target(rtabmap_point_cloud_xyzrgb
${PROJECT_NAME} ${typesupport_impl}
)
rosidl_target_interfaces(rtabmap
rosidl_get_typesupport_target(rtabmap
${PROJECT_NAME} ${typesupport_impl}
)
IF(RTABMAP_GUI)
rosidl_target_interfaces(rtabmapviz
rosidl_get_typesupport_target(rtabmapviz
${PROJECT_NAME} ${typesupport_impl}
)
ENDIF()
@@ -598,7 +598,7 @@ IF(rviz_default_plugins_FOUND)
ENDIF(Qt5_FOUND)
foreach(typesupport_impl ${typesupport_impls})
rosidl_target_interfaces(rtabmap_rviz_plugins
rosidl_get_typesupport_target(rtabmap_rviz_plugins
${PROJECT_NAME} ${typesupport_impl}
)
endforeach()
include/rtabmap_ros/CoreWrapper.h
+1 -1
View File
@@ -246,7 +246,7 @@ private:
void publishStats(const rclcpp::Time & stamp);
void publishCurrentGoal(const rclcpp::Time & stamp);
void goalResponseCallback(std::shared_future<GoalHandleNav2::SharedPtr> future);
void goalResponseCallback(const GoalHandleNav2::SharedPtr & goal_handle);
void resultCallback(const GoalHandleNav2::WrappedResult & result);
void publishLocalPath(const rclcpp::Time & stamp);
src/CoreWrapper.cpp
+7 -8
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@@ -680,7 +680,7 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
if(!odomFrameId_.empty())
{
mapToOdomMutex_.lock();
rclcpp::Time tfExpiration = now() + rclcpp::Duration(tfTolerance*10e9);
rclcpp::Time tfExpiration = now() + rclcpp::Duration::from_seconds(tfTolerance*10e9);
geometry_msgs::msg::TransformStamped msg;
msg.child_frame_id = odomFrameId_;
msg.header.frame_id = mapFrameId_;
@@ -906,7 +906,7 @@ void CoreWrapper::defaultCallback(const sensor_msgs::msg::Image::ConstSharedPtr
if(rate_>0.0f)
{
if(previousStamp_.seconds() > 0.0 && stamp.seconds() > previousStamp_.seconds() && stamp - previousStamp_ < rclcpp::Duration(1.0f/rate_))
if(previousStamp_.seconds() > 0.0 && stamp.seconds() > previousStamp_.seconds() && stamp - previousStamp_ < rclcpp::Duration::from_seconds(1.0f/rate_))
{
return;
}
@@ -3592,7 +3592,7 @@ void CoreWrapper::publishMapCallback(
marker.color.r = 1.0;
marker.color.g = 1.0;
marker.color.b = 0.0;
marker.lifetime = rclcpp::Duration(2.0f/rate_);
marker.lifetime = rclcpp::Duration::from_seconds(2.0f/rate_);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.text = uNumber2Str(iter->first);
@@ -3705,7 +3705,7 @@ void CoreWrapper::publishMapCallback(
marker.color.r = 1.0;
marker.color.g = 1.0;
marker.color.b = 1.0;
marker.lifetime = rclcpp::Duration(2.0f/rate_);
marker.lifetime = rclcpp::Duration::from_seconds(2.0f/rate_);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.text = uNumber2Str(iter->first);
@@ -4279,7 +4279,7 @@ void CoreWrapper::publishStats(const rclcpp::Time & stamp)
marker.color.r = 0.0;
marker.color.g = 1.0;
marker.color.b = 0.0;
marker.lifetime = rclcpp::Duration(2.0f/rate_);
marker.lifetime = rclcpp::Duration::from_seconds(2.0f/rate_);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.text = uNumber2Str(iter->first);
@@ -4360,7 +4360,7 @@ void CoreWrapper::publishStats(const rclcpp::Time & stamp)
marker.color.r = 1.0;
marker.color.g = 1.0;
marker.color.b = 1.0;
marker.lifetime = rclcpp::Duration(2.0f/rate_);
marker.lifetime = rclcpp::Duration::from_seconds(2.0f/rate_);
marker.type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker.text = uNumber2Str(poseIter->first);
@@ -4445,9 +4445,8 @@ void CoreWrapper::publishCurrentGoal(const rclcpp::Time & stamp)
}
void CoreWrapper::goalResponseCallback(
std::shared_future<GoalHandleNav2::SharedPtr> future)
const GoalHandleNav2::SharedPtr & goal_handle)
{
auto goal_handle = future.get();
if (!goal_handle) {
RCLCPP_ERROR(this->get_logger(), "Goal was rejected by server");
rtabmap_.clearPath(1);
src/MsgConversion.cpp
+1 -1
View File
@@ -2134,7 +2134,7 @@ bool convertScanMsg(
rtabmap::Transform tmpT = getTransform(
odomFrameId.empty()?frameId:odomFrameId,
scan2dMsg.header.frame_id,
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration(scan2dMsg.ranges.size()*scan2dMsg.time_increment*10e9),
rclcpp::Time(scan2dMsg.header.stamp.sec, scan2dMsg.header.stamp.nanosec) + rclcpp::Duration::from_seconds(scan2dMsg.ranges.size()*scan2dMsg.time_increment*10e9),
tfBuffer,
waitForTransform);
if(tmpT.isNull())
src/nodelets/icp_odometry.cpp
+1 -1
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@@ -306,7 +306,7 @@ void ICPOdometry::callbackScan(const sensor_msgs::msg::LaserScan::SharedPtr scan
// make sure the frame of the laser is updated too
Transform localScanTransform = getTransform(this->frameId(),
scanMsg->header.frame_id,
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration(scanMsg->ranges.size()*scanMsg->time_increment*10e9),
rclcpp::Time(scanMsg->header.stamp.sec, scanMsg->header.stamp.nanosec) + rclcpp::Duration::from_seconds(scanMsg->ranges.size()*scanMsg->time_increment*10e9),
tfBuffer(), waitForTransform());
if(localScanTransform.isNull())
{
src/nodelets/rgb_sync.cpp
+1 -1
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@@ -145,7 +145,7 @@ void RGBSync::callback(
bool publishCompressed = true;
if (compressedRate_ > 0.0)
{
if ( lastCompressedPublished_ + rclcpp::Duration(1.0/compressedRate_) > now())
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
{
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
publishCompressed = false;
src/nodelets/rgbd_sync.cpp
+1 -1
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@@ -190,7 +190,7 @@ void RGBDSync::callback(
bool publishCompressed = true;
if (compressedRate_ > 0.0)
{
if ( lastCompressedPublished_ + rclcpp::Duration(1.0/compressedRate_) > now())
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
{
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
publishCompressed = false;
src/nodelets/stereo_sync.cpp
+1 -1
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@@ -146,7 +146,7 @@ void StereoSync::callback(
bool publishCompressed = true;
if (compressedRate_ > 0.0)
{
if ( lastCompressedPublished_ + rclcpp::Duration(1.0/compressedRate_) > now())
if ( lastCompressedPublished_ + rclcpp::Duration::from_seconds(1.0/compressedRate_) > now())
{
RCLCPP_DEBUG(this->get_logger(), "throttle last update at %f skipping", lastCompressedPublished_.seconds());
publishCompressed = false;