ur_robot_driver: Fix compilation on Windows (backport of #1421) (#1431)

Co-authored-by: Silvio Traversaro <[email protected]>

Author: mergify[bot]

ur_robot_driver/CMakeLists.txt

@@ -9,9 +9,12 @@ option(
   OFF
 )
 
-add_compile_options(-Wall)
-add_compile_options(-Wextra)
-add_compile_options(-Wno-unused-parameter)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall)
+  add_compile_options(-Wextra)
+  add_compile_options(-Wno-unused-parameter)
+endif()
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
   message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")

ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

@@ -301,7 +301,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
   double pausing_ramp_up_increment_;
 
   // resources switching aux vars
-  std::vector<std::vector<uint>> stop_modes_;
+  std::vector<std::vector<uint32_t>> stop_modes_;
   std::vector<std::vector<std::string>> start_modes_;
   bool position_controller_running_;
   bool velocity_controller_running_;

ur_robot_driver/src/hardware_interface.cpp

@@ -220,7 +220,7 @@ std::vector<hardware_interface::StateInterface> URPositionHardwareInterface::exp
       const std::vector<std::string> fts_names = {
         "force.x", "force.y", "force.z", "torque.x", "torque.y", "torque.z"
       };
-      for (uint j = 0; j < 6; ++j) {
+      for (uint32_t j = 0; j < 6; ++j) {
         state_interfaces.emplace_back(
             hardware_interface::StateInterface(sensor.name, fts_names[j], &urcl_ft_sensor_measurements_[j]));
       }
@@ -1107,7 +1107,7 @@ hardware_interface::return_type URPositionHardwareInterface::prepare_command_mod
   hardware_interface::return_type ret_val = hardware_interface::return_type::OK;
 
   start_modes_ = std::vector<std::vector<std::string>>(info_.joints.size());
-  stop_modes_ = std::vector<std::vector<uint>>(info_.joints.size());
+  stop_modes_ = std::vector<std::vector<uint32_t>>(info_.joints.size());
   std::vector<std::vector<std::string>> control_modes(info_.joints.size());
   const std::string tf_prefix = info_.hardware_parameters.at("tf_prefix");
 

ur_robot_driver/src/robot_state_helper.cpp

@@ -361,7 +361,7 @@ void RobotStateHelper::setModeExecute(const std::shared_ptr<RobotStateHelper::Se
           result_->message = "Play program service not available on this robot.";
         } else {
           // The dashboard denies playing immediately after switching the mode to RUNNING
-          sleep(1);
+          std::this_thread::sleep_for(std::chrono::milliseconds(1000));
           result_->success = safeDashboardTrigger(this->play_program_srv_);
         }
       }