Merge pull request #33 from Mailamaca/ros2_humble

Fix compatibility with ros 2 humble.
f1tenth · Mar 27, 2023 · 153998d · 153998d
2 parents be0b42c + ce260f8
commit 153998d
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Showing 7 changed files with 33 additions and 28 deletions.
diff --git a/.github/workflows/ros2-ci.yaml b/.github/workflows/ros2-ci.yaml
@@ -18,9 +18,6 @@ jobs:
         - {
           ros_distro: "humble"
         }
-        - {
-          ros_distro: "foxy"
-        }
     runs-on: ubuntu-latest
     container:
       image: ros:${{ matrix.config.ros_distro }}

diff --git a/vesc_ackermann/include/vesc_ackermann/vesc_to_odom.hpp b/vesc_ackermann/include/vesc_ackermann/vesc_to_odom.hpp
@@ -31,15 +31,16 @@
 #ifndef VESC_ACKERMANN__VESC_TO_ODOM_HPP_
 #define VESC_ACKERMANN__VESC_TO_ODOM_HPP_
 
-#include <nav_msgs/msg/odometry.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <std_msgs/msg/float64.hpp>
 #include <tf2_ros/transform_broadcaster.h>
-#include <vesc_msgs/msg/vesc_state_stamped.hpp>
 
 #include <memory>
 #include <string>
 
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float64.hpp>
+#include <vesc_msgs/msg/vesc_state_stamped.hpp>
+
 namespace vesc_ackermann
 {
 

diff --git a/vesc_ackermann/src/ackermann_to_vesc.cpp b/vesc_ackermann/src/ackermann_to_vesc.cpp
@@ -30,13 +30,13 @@
 
 #include "vesc_ackermann/ackermann_to_vesc.hpp"
 
-#include <ackermann_msgs/msg/ackermann_drive_stamped.hpp>
-#include <std_msgs/msg/float64.hpp>
-
 #include <cmath>
 #include <sstream>
 #include <string>
 
+#include <ackermann_msgs/msg/ackermann_drive_stamped.hpp>
+#include <std_msgs/msg/float64.hpp>
+
 namespace vesc_ackermann
 {
 
@@ -48,10 +48,12 @@ AckermannToVesc::AckermannToVesc(const rclcpp::NodeOptions & options)
 : Node("ackermann_to_vesc_node", options)
 {
   // get conversion parameters
-  speed_to_erpm_gain_ = declare_parameter("speed_to_erpm_gain").get<double>();
-  speed_to_erpm_offset_ = declare_parameter("speed_to_erpm_offset").get<double>();
-  steering_to_servo_gain_ = declare_parameter("steering_angle_to_servo_gain").get<double>();
-  steering_to_servo_offset_ = declare_parameter("steering_angle_to_servo_offset").get<double>();
+  speed_to_erpm_gain_ = declare_parameter<double>("speed_to_erpm_gain");
+  speed_to_erpm_offset_ = declare_parameter<double>("speed_to_erpm_offset");
+  steering_to_servo_gain_ =
+    declare_parameter<double>("steering_angle_to_servo_gain");
+  steering_to_servo_offset_ =
+    declare_parameter<double>("steering_angle_to_servo_offset");
 
   // create publishers to vesc electric-RPM (speed) and servo commands
   erpm_pub_ = create_publisher<Float64>("commands/motor/speed", 10);

diff --git a/vesc_ackermann/src/vesc_to_odom.cpp b/vesc_ackermann/src/vesc_to_odom.cpp
@@ -30,12 +30,12 @@
 
 #include "vesc_ackermann/vesc_to_odom.hpp"
 
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <vesc_msgs/msg/vesc_state_stamped.hpp>
-
 #include <cmath>
 #include <string>
 
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <vesc_msgs/msg/vesc_state_stamped.hpp>
+
 namespace vesc_ackermann
 {
 
@@ -60,13 +60,15 @@ VescToOdom::VescToOdom(const rclcpp::NodeOptions & options)
   base_frame_ = declare_parameter("base_frame", base_frame_);
   use_servo_cmd_ = declare_parameter("use_servo_cmd_to_calc_angular_velocity", use_servo_cmd_);
 
-  speed_to_erpm_gain_ = declare_parameter("speed_to_erpm_gain").get<double>();
-  speed_to_erpm_offset_ = declare_parameter("speed_to_erpm_offset").get<double>();
+  speed_to_erpm_gain_ = declare_parameter<double>("speed_to_erpm_gain");
+  speed_to_erpm_offset_ = declare_parameter<double>("speed_to_erpm_offset");
 
   if (use_servo_cmd_) {
-    steering_to_servo_gain_ = declare_parameter("steering_angle_to_servo_gain").get<double>();
-    steering_to_servo_offset_ = declare_parameter("steering_angle_to_servo_offset").get<double>();
-    wheelbase_ = declare_parameter("wheelbase").get<double>();
+    steering_to_servo_gain_ =
+      declare_parameter<double>("steering_angle_to_servo_gain");
+    steering_to_servo_offset_ =
+      declare_parameter<double>("steering_angle_to_servo_offset");
+    wheelbase_ = declare_parameter<double>("wheelbase");
   }
 
   publish_tf_ = declare_parameter("publish_tf", publish_tf_);

diff --git a/vesc_driver/include/vesc_driver/vesc_driver.hpp b/vesc_driver/include/vesc_driver/vesc_driver.hpp
@@ -31,16 +31,17 @@
 #ifndef VESC_DRIVER__VESC_DRIVER_HPP_
 #define VESC_DRIVER__VESC_DRIVER_HPP_
 
+#include <experimental/optional>
+#include <memory>
+#include <string>
+
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <std_msgs/msg/float64.hpp>
 #include <vesc_msgs/msg/vesc_state.hpp>
 #include <vesc_msgs/msg/vesc_state_stamped.hpp>
 #include <vesc_msgs/msg/vesc_imu.hpp>
 #include <vesc_msgs/msg/vesc_imu_stamped.hpp>
-#include <experimental/optional>
-#include <memory>
-#include <string>
 
 #include "vesc_driver/vesc_interface.hpp"
 #include "vesc_driver/vesc_packet.hpp"

diff --git a/vesc_driver/src/vesc_device_namer.cpp b/vesc_driver/src/vesc_device_namer.cpp
@@ -16,9 +16,11 @@
 
 #include <unistd.h>
 #include <stdlib.h>
-#include <vesc_driver/vesc_device_uuid_lookup.hpp>
-#include <string>
+
 #include <iostream>
+#include <string>
+
+#include <vesc_driver/vesc_device_uuid_lookup.hpp>
 
 int main(int argc, char ** argv)
 {

diff --git a/vesc_driver/src/vesc_packet.cpp b/vesc_driver/src/vesc_packet.cpp
@@ -576,7 +576,7 @@ double VescPacketImu::getFloat32Auto(uint32_t * idx) const
 
   int e = (res >> 23) & 0xFF;
   int fr = res & 0x7FFFFF;
-  bool negative = res & (1 << 31);
+  bool negative = res & (1u << 31);
 
   float f = 0.0;
   if (e != 0 || fr != 0) {