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Fix issues to allow build with ros humble #20

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Fix issues to allow build with ros humble #20

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12 changes: 7 additions & 5 deletions livox_ros2_driver/livox_ros2_driver/lddc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -258,7 +258,7 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
return 0;
}

PointCloud cloud;
livox_ros::PointCloud cloud;
cloud.header.frame_id.assign(frame_id_);
cloud.height = 1;
cloud.width = 0;
Expand Down Expand Up @@ -316,11 +316,13 @@ uint32_t Lddc::PublishPointcloudData(LidarDataQueue *queue, uint32_t packet_num,
last_timestamp = timestamp;
}

rclcpp::Publisher<PointCloud>::SharedPtr publisher =
std::dynamic_pointer_cast<rclcpp::Publisher<PointCloud>>
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr publisher =
std::dynamic_pointer_cast<rclcpp::Publisher<sensor_msgs::msg::PointCloud2>>
(GetCurrentPublisher(handle));
if (kOutputToRos == output_type_) {
publisher->publish(cloud);
sensor_msgs::msg::PointCloud2 msg;
pcl::toROSMsg(cloud, msg);
publisher->publish(msg);
} else {
#if 0
if (bag_) {
Expand Down Expand Up @@ -586,7 +588,7 @@ std::shared_ptr<rclcpp::PublisherBase> Lddc::CreatePublisher(uint8_t msg_type,
sensor_msgs::msg::PointCloud2>(topic_name, queue_size);
} else if (kLivoxCustomMsg == msg_type) {
RCLCPP_INFO(cur_node_->get_logger(),
"%s publish use livox custom format", topic_name);
"%s publish use livox custom format", topic_name.c_str());
return cur_node_->create_publisher<
livox_interfaces::msg::CustomMsg>(topic_name, queue_size);
}
Expand Down
1 change: 1 addition & 0 deletions livox_ros2_driver/timesync/timesync.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include <thread>
#include <chrono>
#include <functional>
#include <cstdio>

namespace livox_ros {
using namespace std;
Expand Down
1 change: 1 addition & 0 deletions livox_ros2_driver/timesync/timesync.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#define TIMESYNC_TIMESYNC_H_

#include <thread>
#include <memory>
#include "comm_protocol.h"
#include "comm_device.h"
#include "user_uart.h"
Expand Down