Merge branch 'main' into work_parameter_estimator

autowarefoundation · Oct 8, 2024 · a45277f · a45277f
2 parents 18679f3 + 990ac48
commit a45277f
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Showing 13 changed files with 719 additions and 308 deletions.
diff --git a/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp b/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp
@@ -129,6 +129,7 @@ void ManualController::update()
   }
   GearCommand gear_cmd;
   {
+    gear_cmd.stamp = raw_node_->get_clock()->now();
     const double eps = 0.001;
     if (control_cmd.longitudinal.velocity > eps && current_velocity > -eps) {
       gear_cmd.command = GearCommand::DRIVE;

diff --git a/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt b/common/tier4_screen_capture_rviz_plugin/CMakeLists.txt
@@ -13,17 +13,30 @@ include_directories(
   ${OpenCV_INCLUDE_DIRS}
 )
 
-ament_auto_add_library(${PROJECT_NAME} SHARED
+ament_auto_find_build_dependencies()
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Capture.srv"
+  DEPENDENCIES
+  std_msgs
+)
+
+ament_auto_add_library(${PROJECT_NAME}_lib SHARED
   src/screen_capture_panel.hpp
   src/screen_capture_panel.cpp
 )
-target_link_libraries(${PROJECT_NAME}
+
+rosidl_get_typesupport_target(
+  cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
+
+target_link_libraries(${PROJECT_NAME}_lib
   ${QT_LIBRARIES}
   ${OpenCV_LIBRARIES}
 )
+
 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
 
 ament_auto_package(
   INSTALL_TO_SHARE
-    plugins
+  plugins
 )
diff --git a/common/tier4_screen_capture_rviz_plugin/package.xml b/common/tier4_screen_capture_rviz_plugin/package.xml
@@ -12,6 +12,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <build_depend>rosidl_default_generators</build_depend>
+
   <depend>libopencv-dev</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
@@ -24,6 +26,10 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>
 
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
   <export>
     <build_type>ament_cmake</build_type>
     <rviz plugin="${prefix}/plugins/plugin_description.xml"/>

diff --git a/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml b/common/tier4_screen_capture_rviz_plugin/plugins/plugin_description.xml
@@ -1,7 +1,8 @@
-<library path="tier4_screen_capture_rviz_plugin">
+<library path="tier4_screen_capture_rviz_plugin_lib">
 
   <class
-    type="AutowareScreenCapturePanel"
+    name="rviz_plugins/AutowareScreenCapturePanel"
+    type="rviz_plugins::AutowareScreenCapturePanel"
     base_class_type="rviz_common::Panel">
     <description>AutowareScreenCapturePanel</description>
   </class>