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Fix build error on ROS 2 humble #109

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merged 1 commit into from Nov 29, 2022
Merged

Fix build error on ROS 2 humble #109

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2 changes: 1 addition & 1 deletion champ/include/champ
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Submodule champ updated 1 files
+1 −1 odometry/odometry.h
4 changes: 2 additions & 2 deletions champ_base/CMakeLists.txt
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@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.5)
project(champ_base)

add_compile_options(-std=c++14)
add_compile_options(-std=c++17)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
Expand Down Expand Up @@ -107,4 +107,4 @@ install(TARGETS
ament_export_include_directories(include)
ament_export_dependencies(${dependencies})

ament_package()
ament_package()
31 changes: 4 additions & 27 deletions champ_gazebo/CMakeLists.txt
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@@ -1,46 +1,23 @@
cmake_minimum_required(VERSION 3.5)
project(champ_gazebo)

set(ROS2_CONTROL_URL "https://github.com/rohitmenon86/ros2_controllers")
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nice, so humble has joint_trajectory_controller and we can get rid of this non-official repo already?

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Yes

set(ROS2_CONTROL_DOWNLOAD_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../..)
set(ROS2_CONTROL_DEPENDENCY_PATH ${ROS2_CONTROL_DOWNLOAD_PATH}/ros2_controllers)

if (NOT EXISTS "${ROS2_CONTROL_DEPENDENCY_PATH}")
message(STATUS "Downloading ros2_controllers")
message(STATUS "${ROS2_CONTROL_DOWNLOAD_PATH}")

execute_process(
COMMAND git clone ${ROS2_CONTROL_URL} ${ROS2_CONTROL_DEPENDENCY_PATH} -b $ENV{ROS_DISTRO}
)

execute_process(
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../../..
COMMAND rosdep install --from-paths src -i -r -y
)

execute_process(
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../../..
COMMAND colcon build --packages-select joint_trajectory_controller
)
endif()

add_compile_options(-std=c++14)
add_compile_options(-std=c++17)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(urdf REQUIRED)
find_package(champ REQUIRED)
find_package(champ_msgs REQUIRED)
find_package(gazebo_ros2_control REQUIRED)
find_package(gazebo REQUIRED)
find_package(gazebo_ros REQUIRED)

set(dependencies
rclcpp
urdf
champ
champ_msgs
gazebo_ros2_control
gazebo
gazebo_ros
)

install(PROGRAMS
Expand Down Expand Up @@ -73,4 +50,4 @@ install(DIRECTORY worlds DESTINATION share/${PROJECT_NAME})
ament_export_include_directories(include)
ament_export_dependencies(${dependencies})

ament_package()
ament_package()
12 changes: 6 additions & 6 deletions champ_gazebo/launch/gazebo.launch.py
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Expand Up @@ -134,13 +134,13 @@ def generate_launch_description():
output='screen',
)

load_joint_trajectory_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
load_joint_trajectory_position_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_group_position_controller'],
output='screen'
)
load_joint_trajectory1_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'start',
load_joint_trajectory_effort_controller = ExecuteProcess(
cmd=['ros2', 'control', 'load_controller', '--set-state', 'active',
'joint_group_effort_controller'],
output='screen'
)
Expand All @@ -165,8 +165,8 @@ def generate_launch_description():
start_gazebo_client_cmd,
start_gazebo_spawner_cmd,
load_joint_state_controller,
# load_joint_trajectory1_controller
load_joint_trajectory1_controller,
# load_joint_trajectory_position_controller
load_joint_trajectory_effort_controller,
contact_sensor
]
)