Fixed compilation of all components on ros2 foxy

mdrwiega · Jul 22, 2021 · c489b8f · c489b8f
1 parent f47d6e9
commit c489b8f
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Showing 6 changed files with 12 additions and 4 deletions.
diff --git a/cliff_detector/include/cliff_detector/cliff_detector_node.h b/cliff_detector/include/cliff_detector/cliff_detector_node.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <image_transport/image_transport.h>
+#include <image_transport/image_transport.hpp>
 #include <sensor_msgs/msg/image.hpp>
 #include <geometry_msgs/msg/polygon_stamped.hpp>
 #include <rcl_interfaces/msg/set_parameters_result.hpp>
@@ -39,6 +39,8 @@ class CliffDetectorNode : public rclcpp::Node {
   rclcpp::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr pub_points_;
   /// Contains cliff detection method implementation
   cliff_detector::CliffDetector detector_;
+
+  OnSetParametersCallbackHandle::SharedPtr params_callback_handle_;
 };
 
 } // namespace cliff_detector
diff --git a/cliff_detector/src/cliff_detector_node.cpp b/cliff_detector/src/cliff_detector_node.cpp
@@ -5,7 +5,7 @@ namespace cliff_detector {
 CliffDetectorNode::CliffDetectorNode()
   : Node("cliff_detector")
 {
-  set_on_parameters_set_callback(
+  params_callback_handle_ = add_on_set_parameters_callback(
     std::bind(&CliffDetectorNode::parametersCallback, this, std::placeholders::_1));
 
   // Declare all node parameters

diff --git a/depth_sensor_pose/CMakeLists.txt b/depth_sensor_pose/CMakeLists.txt
@@ -13,6 +13,7 @@ find_package(image_transport REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(pcl_conversions REQUIRED)
+find_package(cv_bridge REQUIRED)
 
 find_package(PCL REQUIRED)
 find_package(Eigen3 REQUIRED)
@@ -25,6 +26,7 @@ add_library(DepthSensorPoseNode
   src/depth_sensor_pose.cpp
   src/depth_sensor_pose_node.cpp
 )
+
 ament_target_dependencies(DepthSensorPoseNode
   rclcpp
   std_msgs

diff --git a/depth_sensor_pose/include/depth_sensor_pose/depth_sensor_pose_node.h b/depth_sensor_pose/include/depth_sensor_pose/depth_sensor_pose_node.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include <rclcpp/rclcpp.hpp>
-#include <image_transport/image_transport.h>
+#include <image_transport/image_transport.hpp>
 #include <std_msgs/msg/float64.h>
 #include <sensor_msgs/msg/image.hpp>
 #include <sensor_msgs/msg/laser_scan.hpp>
@@ -51,6 +51,8 @@ class DepthSensorPoseNode : public rclcpp::Node {
   image_transport::Publisher pub_;
 
   depth_sensor_pose::DepthSensorPose estimator_;
+
+  OnSetParametersCallbackHandle::SharedPtr params_callback_handle_;
 };
 
 } // namespace depth_sensor_pose
diff --git a/depth_sensor_pose/src/depth_sensor_pose_node.cpp b/depth_sensor_pose/src/depth_sensor_pose_node.cpp
@@ -7,7 +7,7 @@ namespace depth_sensor_pose {
 DepthSensorPoseNode::DepthSensorPoseNode()
   : Node("depth_sensor_pose")
 {
-  set_on_parameters_set_callback(
+  params_callback_handle_ = add_on_set_parameters_callback(
       std::bind(&DepthSensorPoseNode::parametersCallback, this, std::placeholders::_1));
 
   declare_parameter("output_frame_id", "camera_depth_frame");

diff --git a/nav_layer_from_points/include/nav_layer_from_points/costmap_layer.h b/nav_layer_from_points/include/nav_layer_from_points/costmap_layer.h
@@ -24,6 +24,8 @@ class NavLayerFromPoints : public nav2_costmap_2d::CostmapLayer {
 
   void onInitialize() override;
 
+  void reset() override {}
+
   void updateBounds(double origin_x, double origin_y, double origin_z,
                     double* min_x, double* min_y, double* max_x, double* max_y) override;