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Commit c750eb2d authored by Tommy Persson's avatar Tommy Persson
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Fixe.

parent 63b6dbf6
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...@@ -18,8 +18,12 @@ find_package(nav2_common REQUIRED) ...@@ -18,8 +18,12 @@ find_package(nav2_common REQUIRED)
find_package(nav2_util REQUIRED) find_package(nav2_util REQUIRED)
# SIP/Python stuff # SIP/Python stuff
find_package(PythonInterp 3.0 REQUIRED) #find_package(PythonInterp 3.0 REQUIRED)
find_package(PythonLibrary 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) find_package(SIP 4.18.0 REQUIRED)
nav2_package() nav2_package()
...@@ -36,7 +40,10 @@ set(dependencies ...@@ -36,7 +40,10 @@ set(dependencies
pluginlib pluginlib
nav2_util nav2_util
nav2_costmap_2d nav2_costmap_2d
) )
message("LIBS: ${PYTHON_LIBRARY}")
message("DEPS: ${dependencies}")
add_library(air_navigation SHARED add_library(air_navigation SHARED
src/python_controller.cpp src/python_controller.cpp
...@@ -44,7 +51,7 @@ add_library(air_navigation SHARED ...@@ -44,7 +51,7 @@ add_library(air_navigation SHARED
src/python_trajectory_critic.cpp src/python_trajectory_critic.cpp
src/python_trajectory_generator.cpp) src/python_trajectory_generator.cpp)
target_compile_definitions(air_navigation PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") 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 target_include_directories(air_navigation
PUBLIC PUBLIC
/opt/ros/humble/include/nav_2d_msgs /opt/ros/humble/include/nav_2d_msgs
......
...@@ -19,7 +19,7 @@ void PythonController::configure( ...@@ -19,7 +19,7 @@ void PythonController::configure(
std::shared_ptr<nav2_costmap_2d::Costmap2DROS>) std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)
{ {
auto node = parent.lock(); 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 + ".module", rclcpp::ParameterValue(""));
nav2_util::declare_parameter_if_not_declared(node, name + ".class", rclcpp::ParameterValue("")); nav2_util::declare_parameter_if_not_declared(node, name + ".class", rclcpp::ParameterValue(""));
...@@ -65,6 +65,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands( ...@@ -65,6 +65,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
nav2_core::GoalChecker * goal) nav2_core::GoalChecker * goal)
{ {
python_lock pl; python_lock pl;
if(m_python_controller_interface) if(m_python_controller_interface)
{ {
py_interface::PoseStamped py_pose; py_interface::PoseStamped py_pose;
...@@ -86,6 +87,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands( ...@@ -86,6 +87,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
void PythonController::setPlan(const nav_msgs::msg::Path & path) void PythonController::setPlan(const nav_msgs::msg::Path & path)
{ {
python_lock pl; python_lock pl;
if(m_python_controller_interface) if(m_python_controller_interface)
{ {
py_interface::Path py_path; py_interface::Path py_path;
......
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