Changes for humble

Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
grupo-avispa · Feb 12, 2024 · d33298e · d33298e
1 parent 70dc1f9
commit d33298e
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Showing 7 changed files with 26 additions and 7 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -135,7 +135,7 @@ bool BtActionServer<ActionT>::on_configure()
     node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
   nav2_util::declare_parameter_if_not_declared(
     node, "transform_tolerance", rclcpp::ParameterValue(0.1));
-  rclcpp::copy_all_parameter_values(node, client_node_);
+  nav2_util::copy_all_parameters(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
   double action_server_result_timeout;

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -69,7 +69,7 @@ class BtServiceNode : public BT::ActionNodeBase
     getInput("service_name", service_name_);
     service_client_ = node_->create_client<ServiceT>(
       service_name_,
-      rclcpp::SystemDefaultsQoS(),
+      rclcpp::ServicesQoS().get_rmw_qos_profile(),
       callback_group_);
 
     // Make a request for the service without parameter

diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -81,7 +81,7 @@ CollisionDetector::on_activate(const rclcpp_lifecycle::State & /*state*/)
   }
 
   // Creating timer
-  timer_ = this->create_timer(
+  timer_ = this->create_wall_timer(
     std::chrono::duration<double>{1.0 / frequency_},
     std::bind(&CollisionDetector::process, this));
 

diff --git a/nav2_lifecycle_manager/src/lifecycle_manager.cpp b/nav2_lifecycle_manager/src/lifecycle_manager.cpp
@@ -64,13 +64,13 @@ LifecycleManager::LifecycleManager(const rclcpp::NodeOptions & options)
   manager_srv_ = create_service<ManageLifecycleNodes>(
     get_name() + std::string("/manage_nodes"),
     std::bind(&LifecycleManager::managerCallback, this, _1, _2, _3),
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::ServicesQoS().get_rmw_qos_profile(),
     callback_group_);
 
   is_active_srv_ = create_service<std_srvs::srv::Trigger>(
     get_name() + std::string("/is_active"),
     std::bind(&LifecycleManager::isActiveCallback, this, _1, _2, _3),
-    rclcpp::SystemDefaultsQoS(),
+    rclcpp::ServicesQoS().get_rmw_qos_profile(),
     callback_group_);
 
   transition_state_map_[Transition::TRANSITION_CONFIGURE] = State::PRIMARY_STATE_INACTIVE;

diff --git a/nav2_util/include/nav2_util/node_utils.hpp b/nav2_util/include/nav2_util/node_utils.hpp
@@ -160,6 +160,25 @@ std::string get_plugin_type_param(
  */
 void setSoftRealTimePriority();
 
+/**
+ * @brief A method to copy all parameters from one node (parent) to another (child).
+ * May throw parameter exceptions in error conditions
+ * @param parent Node to copy parameters from
+ * @param child Node to copy parameters to
+ */
+template<typename NodeT1, typename NodeT2>
+void copy_all_parameters(const NodeT1 & parent, const NodeT2 & child)
+{
+  using Parameters = std::vector<rclcpp::Parameter>;
+  std::vector<std::string> param_names = parent->list_parameters({}, 0).names;
+  Parameters params = parent->get_parameters(param_names);
+  for (Parameters::const_iterator iter = params.begin(); iter != params.end(); ++iter) {
+    if (!child->has_parameter(iter->get_name())) {
+      child->declare_parameter(iter->get_name(), iter->get_parameter_value());
+    }
+  }
+}
+
 }  // namespace nav2_util
 
 #endif  // NAV2_UTIL__NODE_UTILS_HPP_
diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp
@@ -46,7 +46,7 @@ class ServiceClient
     callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
     client_ = node_->template create_client<ServiceT>(
       service_name,
-      rclcpp::SystemDefaultsQoS(),
+      rclcpp::ServicesQoS().get_rmw_qos_profile(),
       callback_group_);
   }
 

diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
@@ -34,7 +34,7 @@
 #include "nav2_core/waypoint_task_executor.hpp"
 #include "opencv4/opencv2/core.hpp"
 #include "opencv4/opencv2/opencv.hpp"
-#include "cv_bridge/cv_bridge.hpp"
+#include "cv_bridge/cv_bridge.h"
 #include "image_transport/image_transport.hpp"