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Make ur_controllers compileable on humble #1207

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Merged
merged 2 commits into from
Dec 17, 2024
Merged

Make ur_controllers compileable on humble #1207

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c71ebf3
No += overload for Duration class on humble
christophfroehlich Dec 16, 2024
1aeba6e
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urfeex Dec 17, 2024
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7 changes: 6 additions & 1 deletion ur_controllers/src/passthrough_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@

#include <controller_interface/controller_interface.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/version.h>
#include <builtin_interfaces/msg/duration.hpp>
#include <lifecycle_msgs/msg/state.hpp>

Expand Down Expand Up @@ -327,8 +328,12 @@ controller_interface::return_type PassthroughTrajectoryController::update(const
scaling_factor_ = scaling_state_interface_->get().get_value();
}

#if RCLCPP_VERSION_MAJOR >= 17
active_trajectory_elapsed_time_ += period * scaling_factor_;

#else
// This is kept for Humble compatibility
active_trajectory_elapsed_time_ = active_trajectory_elapsed_time_ + period * scaling_factor_;
#endif
// RCLCPP_INFO(get_node()->get_logger(), "Elapsed trajectory time: %f. Scaling factor: %f, period: %f",
// active_trajectory_elapsed_time_.seconds(), scaling_factor_, period.seconds());

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