Fix Foxy building

stereolabs · Apr 29, 2024 · 7adee58 · 7adee58
1 parent 2e263cb
commit 7adee58
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Showing 6 changed files with 11 additions and 7 deletions.
diff --git a/zed-ros2-interfaces b/zed-ros2-interfaces
diff --git a/zed_components/CMakeLists.txt b/zed_components/CMakeLists.txt
@@ -40,7 +40,7 @@ if(ROS2_FOUND)
         #message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
         add_definitions(-DFOUND_HUMBLE)
     else()
-        message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by this package. Correct working is not guarantee.")
+        message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by the package '${PROJECT_NAME}'. Correct operation is not guaranteed.")
     endif()
 else()
     message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")

diff --git a/zed_components/src/zed_camera/include/zed_camera_component.hpp b/zed_components/src/zed_camera/include/zed_camera_component.hpp
@@ -417,7 +417,7 @@ class ZedCamera : public rclcpp::Node
   int mThreadPrioSens;
   int mThreadPrioPointCloud;
 
-  std::atomic<bool> mStreamingServerRequired = false;
+  std::atomic<bool> mStreamingServerRequired;
   sl::STREAMING_CODEC mStreamingServerCodec = sl::STREAMING_CODEC::H264;
   int mStreamingServerPort = 30000;
   int mStreamingServerBitrate = 12500;
@@ -719,7 +719,7 @@ class ZedCamera : public rclcpp::Node
   std::atomic<bool> mClockAvailable;  // Indicates if the "/clock" topic is
   // published when `use_sim_time` is true
 
-  std::atomic<bool> mStreamingServerRunning = false;
+  std::atomic<bool> mStreamingServerRunning;
   // <---- Status Flags
 
   // ----> Positional Tracking

diff --git a/zed_components/src/zed_camera/src/zed_camera_component.cpp b/zed_components/src/zed_camera/src/zed_camera_component.cpp
@@ -95,7 +95,9 @@ ZedCamera::ZedCamera(const rclcpp::NodeOptions & options)
   mLastTs_pose(TIMEZERO_ROS),
   mLastTs_pc(TIMEZERO_ROS),
   mPrevTs_pc(TIMEZERO_ROS),
-  mLastClock(TIMEZERO_ROS)
+  mLastClock(TIMEZERO_ROS),
+  mStreamingServerRequired(false),
+  mStreamingServerRunning(false)
 {
   RCLCPP_INFO(get_logger(), "********************************");
   RCLCPP_INFO(get_logger(), "      ZED Camera Component ");
@@ -127,10 +129,12 @@ ZedCamera::ZedCamera(const rclcpp::NodeOptions & options)
   }
 
   // ----> Publishers/Sbscribers options
+  #ifndef FOUND_FOXY
   mPubOpt.qos_overriding_options =
     rclcpp::QosOverridingOptions::with_default_policies();
   mSubOpt.qos_overriding_options =
     rclcpp::QosOverridingOptions::with_default_policies();
+  #endif
   // <---- Publishers/Sbscribers options
 
   // Parameters initialization

diff --git a/zed_ros2/CMakeLists.txt b/zed_ros2/CMakeLists.txt
@@ -39,7 +39,7 @@ if(ROS2_FOUND)
         #message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
         add_definitions(-DFOUND_HUMBLE)
     else()
-        message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by this package. Correct working is not guarantee.")
+        message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by the package '${PROJECT_NAME}'. Correct operation is not guaranteed.")
     endif()
 else()
     message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")

diff --git a/zed_wrapper/CMakeLists.txt b/zed_wrapper/CMakeLists.txt
@@ -39,7 +39,7 @@ if(ROS2_FOUND)
     #message("* ROS2 ${FOUND_ROS2_DISTRO} is officially supported by this package.")
     add_definitions(-DFOUND_HUMBLE)
   else()
-    message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by this package. Correct working is not guarantee.")
+    message("*** WARNING *** ROS2 ${FOUND_ROS2_DISTRO} is not officially supported by the package '${PROJECT_NAME}'. Correct operation is not guaranteed.")
   endif()
 else()
   message("*** WARNING *** ROS2 distro is unknown. This package could not work correctly.")