Merge pull request #9 from rsasaki0109/feature/ci_humble

humble CI

.github/workflows/main.yml

@@ -1,50 +1,34 @@
 name: CI
 
-on: [push, pull_request]
-
+on:
+  pull_request:
+    branches:
+      - devel
 jobs:
     job1:
         name: Build
-        runs-on: ubuntu-18.04
+        runs-on: ubuntu-22.04
+        container: ros:humble
         steps:
-            - name: ROS2 Install
-              run: |
-                  # Ref: https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Install-Debians/
-                  sudo locale-gen en_US en_US.UTF-8
-                  sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-                  export LANG=en_US.UTF-8
-                  sudo apt update && sudo apt install curl gnupg2 lsb-release
-                  curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-                  sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
-                  sudo apt update
-                  sudo apt install ros-dashing-desktop
-                  source /opt/ros/dashing/setup.bash
-            - uses: actions/checkout@v2-beta
+            - uses: actions/checkout@v1
+              with:
+                submodules: true
             - name: Copy repository
               run: |
                   mkdir -p ~/ros2_ws/src/kalman_filter_localization
                   cp -rf . ~/ros2_ws/src/kalman_filter_localization
             - name: Install dependencies
               run: |
-                  source /opt/ros/dashing/setup.bash
-                  sudo apt install -y python-rosdep
-                  sudo rosdep init
-                  rosdep update
+                  source /opt/ros/humble/setup.bash
                   cd ~/ros2_ws/src
+                  rosdep update
                   rosdep install -r -y --from-paths . --ignore-src
+              shell: bash
             - name: Build packages
               run: |
-                  source /opt/ros/dashing/setup.bash
-                  # Install colcon
-                  # Ref: https://index.ros.org/doc/ros2/Tutorials/Colcon-Tutorial/
-                  sudo apt install python3-colcon-common-extensions
+                  source /opt/ros/humble/setup.bash
+                  apt install python3-colcon-common-extensions
                   cd ~/ros2_ws
                   colcon build
                   source ~/ros2_ws/install/setup.bash
-            - name: Test packages
-              run: |
-                  source /opt/ros/dashing/setup.bash
-                  source ~/ros2_ws/install/setup.bash
-                  cd ~/ros2_ws
-                  colcon test
-                  colcon test-result --verbose
+              shell: bash

include/kalman_filter_localization/ekf_localization_component.hpp

@@ -82,11 +82,11 @@ extern "C" {
 #include <tf2/transform_datatypes.h>
 #include <tf2/convert.h>
 #include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_eigen/tf2_eigen.h>
+#include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
-#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
+// #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
 
 #include <rclcpp_components/register_node_macro.hpp>
 

src/ekf_localization_component.cpp

@@ -74,71 +74,6 @@ EkfLocalizationComponent::EkfLocalizationComponent(const rclcpp::NodeOptions & o
   declare_parameter("use_odom", false);
   get_parameter("use_odom", use_odom_);
 
-  set_on_parameters_set_callback(
-    [this](const std::vector<rclcpp::Parameter> params)
-    -> rcl_interfaces::msg::SetParametersResult
-    {
-      auto results = std::make_shared<rcl_interfaces::msg::SetParametersResult>();
-      for (auto param : params) {
-        if (param.get_name() == "var_imu_w") {
-          if (var_imu_w_ > 0) {
-            var_imu_w_ = param.as_double();
-            results->successful = true;
-            results->reason = "";
-          } else {
-            results->successful = false;
-            results->reason = "var_imu_w must over 0";
-          }
-        }
-        if (param.get_name() == "var_imu_acc") {
-          if (var_imu_acc_ > 0) {
-            var_imu_acc_ = param.as_double();
-            results->successful = true;
-            results->reason = "";
-          } else {
-            results->successful = false;
-            results->reason = "var_imu_acc must over 0";
-          }
-        }
-        if (param.get_name() == "var_gnss_xy") {
-          if (var_gnss_xy_ > 0) {
-            var_gnss_xy_ = param.as_double();
-            results->successful = true;
-            results->reason = "";
-          } else {
-            results->successful = false;
-            results->reason = "var_gnss_xy must over 0";
-          }
-        }
-        if (param.get_name() == "var_gnss_z") {
-          if (var_gnss_z_ > 0) {
-            var_gnss_z_ = param.as_double();
-            results->successful = true;
-            results->reason = "";
-          } else {
-            results->successful = false;
-            results->reason = "var_gnss_z must over 0";
-          }
-        }
-        if (param.get_name() == "pub_period") {
-          if (pub_period_ > 0) {
-            pub_period_ = param.as_int();
-            results->successful = true;
-            results->reason = "";
-          } else {
-            results->successful = false;
-            results->reason = "pub_period must over 0";
-          }
-        }
-      }
-      if (!results->successful) {
-        results->successful = false;
-        results->reason = "";
-      }
-      return *results;
-    }
-  );
-
   ekf_.setVarImuGyro(var_imu_w_);
   ekf_.setVarImuAcc(var_imu_acc_);
   var_gnss_ << var_gnss_xy_, var_gnss_xy_, var_gnss_z_;