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Remove build warnings for Humble #1234

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Merged
merged 4 commits into from
Feb 3, 2025
Merged

Remove build warnings for Humble #1234

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c3cfbcf
Update to new realtime_tools header extension
urfeex Jan 14, 2025
bdb9195
Update pin validation to avoid compiler warning
urfeex Jan 14, 2025
79905bb
Use new include path for generated parameter headers
urfeex Jan 15, 2025
fbb18a4
Update more headers
urfeex Jan 16, 2025
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4 changes: 2 additions & 2 deletions ur_controllers/include/ur_controllers/force_mode_controller.hpp
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Expand Up @@ -37,17 +37,17 @@
#pragma once
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <realtime_tools/realtime_buffer.h>
#include <array>
#include <memory>

#include <controller_interface/controller_interface.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <std_srvs/srv/trigger.hpp>
#include <ur_msgs/srv/set_force_mode.hpp>

#include "force_mode_controller_parameters.hpp"
#include "ur_controllers/force_mode_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
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Expand Up @@ -53,7 +53,7 @@
#include <rclcpp/duration.hpp>
#include "std_msgs/msg/bool.hpp"

#include "freedrive_mode_controller_parameters.hpp"
#include "ur_controllers/freedrive_mode_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/gpio_controller.hpp
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Expand Up @@ -57,7 +57,7 @@
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/bool.hpp"
#include "gpio_controller_parameters.hpp"
#include "ur_controllers/gpio_controller_parameters.hpp"

namespace ur_controllers
{
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7 changes: 3 additions & 4 deletions ur_controllers/include/ur_controllers/passthrough_trajectory_controller.hpp
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Expand Up @@ -43,9 +43,6 @@

#include <stdint.h>

#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_server_goal_handle.h>

#include <functional>
#include <limits>
#include <memory>
Expand All @@ -54,6 +51,8 @@
#include <vector>

#include <controller_interface/controller_interface.hpp>
#include <realtime_tools/realtime_buffer.hpp>
#include <realtime_tools/realtime_server_goal_handle.hpp>
#include <rclcpp_action/server.hpp>
#include <rclcpp_action/create_server.hpp>
#include <rclcpp/rclcpp.hpp>
Expand All @@ -65,7 +64,7 @@
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include <control_msgs/action/follow_joint_trajectory.hpp>

#include "passthrough_trajectory_controller_parameters.hpp"
#include "ur_controllers/passthrough_trajectory_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/scaled_joint_trajectory_controller.hpp
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Expand Up @@ -45,7 +45,7 @@
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "scaled_joint_trajectory_controller_parameters.hpp"
#include "ur_controllers/scaled_joint_trajectory_controller_parameters.hpp"

namespace ur_controllers
{
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2 changes: 1 addition & 1 deletion ur_controllers/include/ur_controllers/speed_scaling_state_broadcaster.hpp
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Expand Up @@ -48,7 +48,7 @@
#include "rclcpp/time.hpp"
#include "rclcpp/duration.hpp"
#include "std_msgs/msg/float64.hpp"
#include "speed_scaling_state_broadcaster_parameters.hpp"
#include "ur_controllers/speed_scaling_state_broadcaster_parameters.hpp"

namespace ur_controllers
{
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4 changes: 2 additions & 2 deletions ur_controllers/include/ur_controllers/ur_configuration_controller.hpp
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Expand Up @@ -43,14 +43,14 @@

// TODO(fmauch): Currently, the realtime_box_best_effort doesn't include this
#include <functional>
#include <realtime_tools/realtime_box_best_effort.h> // NOLINT

#include <memory>

#include <controller_interface/controller_interface.hpp>
#include <realtime_tools/realtime_box_best_effort.hpp>

#include "ur_msgs/srv/get_robot_software_version.hpp"
#include "ur_configuration_controller_parameters.hpp"
#include "ur_controllers/ur_configuration_controller_parameters.hpp"

namespace ur_controllers
{
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1 change: 1 addition & 0 deletions ur_controllers/package.xml
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Expand Up @@ -24,6 +24,7 @@

<depend>angles</depend>
<depend>controller_interface</depend>
<depend>generate_parameter_library</depend>
<depend>geometry_msgs</depend>
<depend>hardware_interface</depend>
<depend>joint_trajectory_controller</depend>
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2 changes: 1 addition & 1 deletion ur_controllers/src/gpio_controller.cpp
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Expand Up @@ -407,7 +407,7 @@ bool GPIOController::setAnalogOutput(ur_msgs::srv::SetAnalogOutput::Request::Sha
return false;
}

if (req->data.pin < 0 || req->data.pin > 1) {
if (!(req->data.pin == 0 || req->data.pin == 1)) {
RCLCPP_ERROR(get_node()->get_logger(), "Invalid pin selected. Only pins 0 and 1 are allowed.");
resp->success = false;
return false;
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2 changes: 1 addition & 1 deletion ur_controllers/src/ur_configuration_controller.cpp
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Expand Up @@ -39,7 +39,7 @@
//----------------------------------------------------------------------

#include <ur_controllers/ur_configuration_controller.hpp>
#include <realtime_tools/realtime_box.h>
#include <realtime_tools/realtime_box.hpp>
namespace ur_controllers
{

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2 changes: 1 addition & 1 deletion ur_robot_driver/src/ur_ros2_control_node.cpp
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Expand Up @@ -41,7 +41,7 @@
// ROS includes
#include "controller_manager/controller_manager.hpp"
#include "rclcpp/rclcpp.hpp"
#include "realtime_tools/thread_priority.hpp"
#include "realtime_tools/realtime_helpers.hpp"

// code is inspired by
// https://github.com/ros-controls/ros2_control/blob/master/controller_manager/src/ros2_control_node.cpp
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