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Fix rolling builds #289

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merged 4 commits into from
Feb 24, 2024
Merged

Fix rolling builds #289

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0504c3e
Replace std::bind with lambda
achim-k Feb 23, 2024
8ad8dd9
Fix deprecation error on rolling
achim-k Feb 23, 2024
a1ec511
comments
achim-k Feb 23, 2024
8f13556
lint fix
achim-k Feb 23, 2024
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8 changes: 8 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,14 @@ elseif("$ENV{ROS_VERSION}" STREQUAL "2")
ros2_foxglove_bridge/src/parameter_interface.cpp
ros2_foxglove_bridge/src/generic_client.cpp
)

target_compile_definitions(foxglove_bridge_component
PRIVATE
RCLCPP_VERSION_MAJOR=${rclcpp_VERSION_MAJOR}
RCLCPP_VERSION_MINOR=${rclcpp_VERSION_MINOR}
RCLCPP_VERSION_PATCH=${rclcpp_VERSION_PATCH}
)

target_include_directories(foxglove_bridge_component
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/foxglove_bridge_base/include>
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24 changes: 24 additions & 0 deletions ros2_foxglove_bridge/src/generic_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,21 @@

#include <foxglove_bridge/generic_client.hpp>

// clang-format off
/* True if the version of RCLCPP is at least major.minor.patch */
#define RCLCPP_VERSION_GTE(major, minor, patch) \
(major < RCLCPP_VERSION_MAJOR \
? true \
: major > RCLCPP_VERSION_MAJOR \
? false \
: minor < RCLCPP_VERSION_MINOR \
? true \
: minor > RCLCPP_VERSION_MINOR \
? false \
: patch < RCLCPP_VERSION_PATCH ? true \
: patch > RCLCPP_VERSION_PATCH ? false : true)
// clang-format on

namespace {

// Copy of github.com/ros2/rclcpp/blob/33dae5d67/rclcpp/src/rclcpp/typesupport_helpers.cpp#L69-L92
Expand Down Expand Up @@ -123,10 +138,19 @@ GenericClient::GenericClient(rclcpp::node_interfaces::NodeBaseInterface* nodeBas
_typeIntrospectionHdl = (reinterpret_cast<decltype(get_ts)>(
_typeIntrospectionLib->get_symbol(typeinstrospection_symbol_name)))();

// get_typesupport_handle is deprecated since rclcpp 25.0.0
// (https://github.com/ros2/rclcpp/pull/2209)
#if RCLCPP_VERSION_GTE(25, 0, 0)
_requestTypeSupportHdl =
rclcpp::get_message_typesupport_handle(requestTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
_responseTypeSupportHdl = rclcpp::get_message_typesupport_handle(
responseTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
#else
_requestTypeSupportHdl =
rclcpp::get_typesupport_handle(requestTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
_responseTypeSupportHdl =
rclcpp::get_typesupport_handle(responseTypeName, TYPESUPPORT_LIB_NAME, *_typeSupportLib);
#endif

rcl_ret_t ret = rcl_client_init(this->get_client_handle().get(), this->get_rcl_node_handle(),
_serviceTypeSupportHdl, serviceName.c_str(), &client_options);
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4 changes: 3 additions & 1 deletion ros2_foxglove_bridge/src/ros2_foxglove_bridge.cpp
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Expand Up @@ -534,7 +534,9 @@ void FoxgloveBridge::subscribe(foxglove::ChannelId channelId, ConnectionHandle c
try {
auto subscriber = this->create_generic_subscription(
topic, datatype, qos,
std::bind(&FoxgloveBridge::rosMessageHandler, this, channelId, clientHandle, _1),
[this, channelId, clientHandle](std::shared_ptr<rclcpp::SerializedMessage> msg) {
this->rosMessageHandler(channelId, clientHandle, msg);
},
subscriptionOptions);
subscriptionsByClient.emplace(clientHandle, std::move(subscriber));
} catch (const std::exception& ex) {
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