Fixes for humble

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}
 )

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;

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>

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");