Build error in 2.1.9 branch main-v1.6

[Phymin]

Please see the following screenshot for detail:

[kfabian]

There is no branch main-v1.6(you probably meant main-v1.4). Only the bridge versions for the latest locator versions are actively maintained. The main-v1.4 branch builds against ROS2 galactic, from the compile errors it looks like it is build against humble or newer. If you want to continue with main-v1.4 and ROS2 humble, you could simply try to cherry-pick this commit 0f797e1.

[Phymin]

Hi,

I got this branch from your colleague HongKui Tang, you can checkout this branch with git checkout 2.1.9 -b main-v1.6, because he found that in v1.8, there is big delay of the localization with picoscan lidar, we also like to know when will this issue be fixed in v1.8? thanks

[thkfighter]

OS: Ubuntu 22.04
ROS Humble
Locator 1.6.4
LiDAR: picoScan150

According to the last chapter of locator_ros_bridge/bosch_locator_bridge/README.md of latest commit (2a3363a) of branch humble,

If you have version 1.6 of ROKIT Locator, checkout the corresponding tag:
git checkout 2.1.9 -b main-v1.6

With commit 8bf9a58, tag 2.1.9, there are some errors when building this package, all related to sub-package bosch_locator_bridge_utils, as shown in the picture posted by @Phymin on first floor. These errors have been fixed in a later commit, 8696169.

My temporary solution:

git clone --branch=humble https://github.com/boschglobal/locator_ros_bridge.git
cd locator_ros_bridge
cp -r ./bosch_locator_bridge_utils <src_folder_of_your_ros2_ws>
git checkout 2.1.9 -b main-v1.6
cp -r ./bosch_locator_bridge <src_folder_of_your_ros2_ws>

A better solution is need.

[kfabian]

As mentioned in my first answer, the error when building version 2.1.9 with humble occurs because this version is compatible with galactic. As mentioned in the changelog of the locator_bridge_utils the upgrade to humble was only made in version 2.1.10. Nevertheless the changes for humble are only minor and can be ported back by cherry picking commits 0f797e1 and 545c902, e.g.

git cherry-pick 0f797e1 545c902

Also note that the locator_bridge_utils are only needed for Nav2 integration, if you don not need them you can just skip building them, e.g.

colcon build --packages-skip bosch_locator_bridge_utils

[kfabian]

@Phymin @thkfighter can this be closed?

[thkfighter]

@Phymin @thkfighter can this be closed?

Yes. Please close it. @kfabian