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fix api differences on executors in ROS2 humble #42

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fix api differences on executors in ROS2 humble #42

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4 changes: 2 additions & 2 deletions rtt_ros2_node/include/orocos/rtt_ros2_node/rtt_ros2_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,14 +51,14 @@ struct Node : public RTT::Service
virtual ~Node();

rclcpp::Node::SharedPtr node() {return node_;}
rclcpp::executor::Executor::SharedPtr executor() {return executor_;}
rclcpp::Executor::Executor::SharedPtr executor() {return executor_;}
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Suggested change
rclcpp::Executor::Executor::SharedPtr executor() {return executor_;}
rclcpp::Executor::SharedPtr executor() {return executor_;}

The namespace executor was deprecated since ros2/rclcpp#1083 and removed in ros2/rclcpp#1622, so all ROS 2 versions since Foxy. So probably fine to drop support of older versions. Same for rclcpp::ExecutorOptions below.

But I don't see how rclcpp::Executor::Executor::SharedPtr should work? rclcpp::Executor::Executor would refer to the constructor of class rclcpp::Executor, no?


void spin(unsigned int number_of_threads = 1);
void cancel();

protected:
rclcpp::Node::SharedPtr node_;
rclcpp::executor::Executor::SharedPtr executor_;
rclcpp::Executor::Executor::SharedPtr executor_;
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Suggested change
rclcpp::Executor::Executor::SharedPtr executor_;
rclcpp::Executor::SharedPtr executor_;

std::thread thread_;
};

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2 changes: 1 addition & 1 deletion rtt_ros2_node/src/rtt_ros2_node.cpp
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Expand Up @@ -104,7 +104,7 @@ void Node::spin(unsigned int number_of_threads)
{
cancel();
const auto executor = std::make_shared<rclcpp::executors::MultiThreadedExecutor>(
rclcpp::executor::ExecutorArgs(),
rclcpp::ExecutorOptions(),
number_of_threads
);
executor->add_node(node_);
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2 changes: 1 addition & 1 deletion rtt_ros2_node/src/rtt_ros2_node_service.cpp
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Expand Up @@ -74,7 +74,7 @@ static void loadGlobalROSService()

// Call rclcpp::init()
rclcpp::InitOptions init_options;
init_options.shutdown_on_sigint = false;
init_options.shutdown_on_signal = false;
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This flag was renamed in version 13.1.0 of rclcpp (ros2/rclcpp#1771), so only since ROS 2 Humble. Even though Galactic and older have reached their end-of-life already, I suggest to add a preprocessor condition in this case, to still support older ROS versions without having to maintain multiple branches.

Something like

Suggested change
init_options.shutdown_on_signal = false;
#if RCLCPP_VERSION_GTE(13, 1, 0)
init_options.shutdown_on_signal = false;
#else
init_options.shutdown_on_sigint = false;
#endif

and

#include "rclcpp/version.h"

above should do.

RTT::log(RTT::Info) <<
"Initializing ROS context with " << __os_main_argc() << " command-line arguments." <<
RTT::endlog();
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