Merge pull request #100 from schmiddey/ros2-humble-ns-fix

changed to c++17 and added ns to diff_drive and laser plugin
avidbots · Nov 22, 2023 · fc3f233 · fc3f233
2 parents 4e2f6b0 + 5d0585f
commit fc3f233
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Showing 6 changed files with 22 additions and 10 deletions.
diff --git a/flatland_msgs/CMakeLists.txt b/flatland_msgs/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

diff --git a/flatland_plugins/CMakeLists.txt b/flatland_plugins/CMakeLists.txt
@@ -3,12 +3,12 @@ cmake_minimum_required(VERSION 3.5)
 project(flatland_plugins)
 
 # Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
+# if(NOT CMAKE_CXX_STANDARD)
+#   set(CMAKE_CXX_STANDARD 17)
+# endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -std=c++17)
 endif()
 
 

diff --git a/flatland_plugins/src/diff_drive.cpp b/flatland_plugins/src/diff_drive.cpp
@@ -110,6 +110,14 @@ void DiffDrive::OnInitialize(const YAML::Node & config)
     throw YAMLException("Body with name " + Q(body_name) + " does not exist");
   }
 
+  //append namespace to topics
+  std::string ns = this->GetModel()->GetNameSpace();
+  twist_topic = ns + "/" + twist_topic;
+  odom_topic = ns + "/" + odom_topic;
+  ground_truth_topic = ns + "/" + ground_truth_topic;
+  twist_pub_topic = ns + "/" + twist_pub_topic;
+
+
   // publish and subscribe to topics
   using std::placeholders::_1;
   twist_sub_ = node_->create_subscription<geometry_msgs::msg::Twist>(

diff --git a/flatland_plugins/src/laser.cpp b/flatland_plugins/src/laser.cpp
@@ -68,6 +68,10 @@ void Laser::OnInitialize(const YAML::Node & config)
   ParseParameters(config);
 
   update_timer_.SetRate(update_rate_);
+
+  //add namespace
+  std::string ns = GetModel()->GetName();
+  topic_ = ns + "/" + topic_;
   scan_publisher_ = node_->create_publisher<sensor_msgs::msg::LaserScan>(topic_, 1);
 
   // construct the body to laser transformation matrix once since it never

diff --git a/flatland_server/CMakeLists.txt b/flatland_server/CMakeLists.txt
@@ -3,12 +3,12 @@ cmake_minimum_required(VERSION 3.5)
 project(flatland_server)
 
 # Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
+# if(NOT CMAKE_CXX_STANDARD)
+#   set(CMAKE_CXX_STANDARD 17)
+# endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -std=c++17)
 endif()
 
 ## Find macros and libraries

diff --git a/flatland_viz/CMakeLists.txt b/flatland_viz/CMakeLists.txt
@@ -3,7 +3,7 @@ project(flatland_viz)
 
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")