From 63b6dbf6bd885a672af5ce6b4e7c1e934164769c Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Mon, 31 Mar 2025 18:34:01 +0200
Subject: [PATCH] Fixes for humble
---
CMakeLists.txt | 6 ++++++
include/air_navigation/python_controller.h | 4 ++--
package.xml | 1 +
src/python_controller.cpp | 4 ++--
4 files changed, 11 insertions(+), 4 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92945cf..70b4a09 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,6 +35,7 @@ set(dependencies
nav2_dwb_controller
pluginlib
nav2_util
+ nav2_costmap_2d
)
add_library(air_navigation SHARED
@@ -44,6 +45,11 @@ add_library(air_navigation SHARED
src/python_trajectory_generator.cpp)
target_compile_definitions(air_navigation PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
target_link_libraries(air_navigation ${PYTHON_LIBRARY} )
+target_include_directories(air_navigation
+ PUBLIC
+ /opt/ros/humble/include/nav_2d_msgs
+ /opt/ros/humble/include/dwb_msgs
+)
ament_target_dependencies(air_navigation
${dependencies}
)
diff --git a/include/air_navigation/python_controller.h b/include/air_navigation/python_controller.h
index ceaf903..5cd41a1 100644
--- a/include/air_navigation/python_controller.h
+++ b/include/air_navigation/python_controller.h
@@ -23,8 +23,8 @@ public:
void configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
- std::string name, const std::shared_ptr<tf2_ros::Buffer> & tf,
- const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> & costmap_ros);
+ std::string name, std::shared_ptr<tf2_ros::Buffer> tf,
+ std::shared_ptr<nav2_costmap_2d::Costmap2DROS> costmap_ros);
void cleanup() override;
diff --git a/package.xml b/package.xml
index 80607f1..8211979 100644
--- a/package.xml
+++ b/package.xml
@@ -10,6 +10,7 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>nav2_dwb_controller</depend>
+ <depend>nav2_costmap_2d</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
diff --git a/src/python_controller.cpp b/src/python_controller.cpp
index 5961d31..ca3cee5 100644
--- a/src/python_controller.cpp
+++ b/src/python_controller.cpp
@@ -15,8 +15,8 @@ using namespace air_navigation;
void PythonController::configure(
const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
- std::string name, const std::shared_ptr<tf2_ros::Buffer> &,
- const std::shared_ptr<nav2_costmap_2d::Costmap2DROS> &)
+ std::string name, std::shared_ptr<tf2_ros::Buffer>,
+ std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)
{
auto node = parent.lock();
RCLCPP_ERROR_STREAM(node->get_logger(), "Configuring Python controller");
--
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