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RTT version 2.8.99 fix #4

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RTT version 2.8.99 fix #4

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b6772be
adaptations to new rock-ros
planthaber Mar 30, 2017
47f07bf
Replace deprecated method from RTT::base::ChannelElementBase
dmronga Jun 5, 2019
4be6139
Use connectFrom() for incoming data
dmronga Jun 6, 2019
ac66de9
Add RTT version check
dmronga Jun 11, 2019
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7 changes: 4 additions & 3 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,11 +22,12 @@ link_directories(${OROCOS-RTT_LIBRARY_DIRS})
add_definitions(${OROCOS-RTT_DEFINITIONS})

if(NOT DEFINED ROS_FOUND)
find_package( ROS QUIET REQUIRED COMPONENTS roslib )
# find_package( ROS QUIET REQUIRED COMPONENTS roslib )
find_package( roscpp )
endif(NOT DEFINED ROS_FOUND)

include_directories(${ROS_INCLUDE_DIRS})
link_directories(${ROS_LIBRARY_DIRS})
include_directories(${roscpp_INCLUDE_DIRS})
link_directories(${roscpp_LIBRARY_DIRS})

add_library(rtt-transport-ros-${OROCOS_TARGET} SHARED
ros_publish_activity.cpp)
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2 changes: 1 addition & 1 deletion manifest.xml
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Expand Up @@ -4,7 +4,7 @@
<author>Ruben Smits, [email protected]</author>
<license>BSD</license>
<url>http://ros.org/wiki/rtt_rosnode</url>
<depend package="roslib"/>

<depend package="rtt"/>
</package>

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11 changes: 10 additions & 1 deletion ros_msg_transporter.hpp
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Expand Up @@ -291,13 +291,22 @@ namespace ros {
RTT::base::ChannelElementBase* buf = internal::ConnFactory::buildDataStorage<T>(policy);
RTT::base::ChannelElementBase::shared_ptr tmp;
if(is_sender){

tmp = RTT::base::ChannelElementBase::shared_ptr(new RosPubChannelElement<T,Msg>(port,policy));
#if(RTT_VERSION_MAJOR >= 2 && RTT_VERSION_MINOR >= 8 && RTT_VERSION_PATCH >= 99)
buf->connectTo(tmp);
#else
buf->setOutput(tmp);
#endif
return buf;
}
else{
tmp = new RosSubChannelElement<T,Msg>(port,policy);
tmp->setOutput(buf);
#if(RTT_VERSION_MAJOR >= 2 && RTT_VERSION_MINOR >= 8 && RTT_VERSION_PATCH >= 99)
tmp->connectFrom(buf);
#else
buf->setOutput(tmp);
#endif
return tmp;
}
}
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