Fixes for using generate_state_database (backport #1412) (#1492)

moveit · Aug 9, 2022 · 540bc65 · 540bc65
2 parents cd7c94c + c642962
commit 540bc65
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Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/moveit_core/kinematic_constraints/src/utils.cpp b/moveit_core/kinematic_constraints/src/utils.cpp
@@ -478,7 +478,7 @@ static bool collectConstraints(const rclcpp::Node::SharedPtr& node, const std::v
 {
   for (const auto& constraint_id : constraint_ids)
   {
-    const auto constraint_param = ".constraints." + constraint_id;
+    const auto constraint_param = "constraints." + constraint_id;
     if (!node->has_parameter(constraint_param + ".type"))
     {
       RCLCPP_ERROR(LOGGER, "constraint parameter does not specify its type");

diff --git a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp
@@ -199,7 +199,9 @@ void computeDB(const rclcpp::Node::SharedPtr& node, const planning_scene::Planni
 int main(int argc, char** argv)
 {
   rclcpp::init(argc, argv);
-  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("generate_state_database");
+  rclcpp::NodeOptions opt;
+  opt.automatically_declare_parameters_from_overrides(true);
+  std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("generate_state_database", opt);
 
   GenerateStateDatabaseParameters params;
   if (!params.setFromNode(node))

diff --git a/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp b/moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp
@@ -54,7 +54,7 @@ void msgToHex(const T& msg, std::string& hex)
 {
   static const char SYMBOL[] = { '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
   auto type_support = rosidl_typesupport_cpp::get_message_type_support_handle<T>();
-  rmw_serialized_message_t serialized_msg;
+  rmw_serialized_message_t serialized_msg = { nullptr, 0, 0, rcutils_get_default_allocator() };
   rmw_ret_t result = rmw_serialize(&msg, type_support, &serialized_msg);
   if (result != RMW_RET_OK)
   {