From c750eb2d8cd29d71d18f74b4e632cc22ee2f13ea Mon Sep 17 00:00:00 2001
From: Tommy Persson <tommy.persson@liu.se>
Date: Thu, 10 Apr 2025 16:19:25 +0200
Subject: [PATCH] Fixe.
---
CMakeLists.txt | 15 +++++++++++----
src/python_controller.cpp | 4 +++-
2 files changed, 14 insertions(+), 5 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 70b4a09..c6cb5d7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,8 +18,12 @@ find_package(nav2_common REQUIRED)
find_package(nav2_util REQUIRED)
# SIP/Python stuff
-find_package(PythonInterp 3.0 REQUIRED)
-find_package(PythonLibrary 3.0 REQUIRED)
+#find_package(PythonInterp 3.0 REQUIRED)
+#find_package(PythonLibrary 3.0 REQUIRED)
+#find_package(SIP 4.18.0 REQUIRED)
+
+find_package(PythonInterp 3.10 REQUIRED)
+find_package(PythonLibrary 3.10 REQUIRED)
find_package(SIP 4.18.0 REQUIRED)
nav2_package()
@@ -36,7 +40,10 @@ set(dependencies
pluginlib
nav2_util
nav2_costmap_2d
-)
+ )
+
+message("LIBS: ${PYTHON_LIBRARY}")
+message("DEPS: ${dependencies}")
add_library(air_navigation SHARED
src/python_controller.cpp
@@ -44,7 +51,7 @@ add_library(air_navigation SHARED
src/python_trajectory_critic.cpp
src/python_trajectory_generator.cpp)
target_compile_definitions(air_navigation PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-target_link_libraries(air_navigation ${PYTHON_LIBRARY} )
+target_link_libraries(air_navigation ${PYTHON_LIBRARY})
target_include_directories(air_navigation
PUBLIC
/opt/ros/humble/include/nav_2d_msgs
diff --git a/src/python_controller.cpp b/src/python_controller.cpp
index ca3cee5..20c690d 100644
--- a/src/python_controller.cpp
+++ b/src/python_controller.cpp
@@ -19,7 +19,7 @@ void PythonController::configure(
std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)
{
auto node = parent.lock();
- RCLCPP_ERROR_STREAM(node->get_logger(), "Configuring Python controller");
+ RCLCPP_ERROR_STREAM(node->get_logger(), "****************** Configuring Python controller");
nav2_util::declare_parameter_if_not_declared(node, name + ".module", rclcpp::ParameterValue(""));
nav2_util::declare_parameter_if_not_declared(node, name + ".class", rclcpp::ParameterValue(""));
@@ -65,6 +65,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
nav2_core::GoalChecker * goal)
{
python_lock pl;
+
if(m_python_controller_interface)
{
py_interface::PoseStamped py_pose;
@@ -86,6 +87,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
void PythonController::setPlan(const nav_msgs::msg::Path & path)
{
python_lock pl;
+
if(m_python_controller_interface)
{
py_interface::Path py_path;
--
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