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ur_robot_driver: Fix compilation on Windows #1421

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Merged
merged 2 commits into from
Jun 25, 2025
Merged

ur_robot_driver: Fix compilation on Windows #1421

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6e55493
ur_robot_driver: Fix compilation on Windows
traversaro Jun 21, 2025
61777a7
Merge branch 'main' into fixwindriver
urfeex Jun 23, 2025
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9 changes: 6 additions & 3 deletions ur_robot_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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'.")
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2 changes: 1 addition & 1 deletion ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Expand Up @@ -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_;
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4 changes: 2 additions & 2 deletions ur_robot_driver/src/hardware_interface.cpp
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Expand Up @@ -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]));
}
Expand Down Expand Up @@ -1112,7 +1112,7 @@ 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");

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2 changes: 1 addition & 1 deletion ur_robot_driver/src/robot_state_helper.cpp
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Expand Up @@ -366,7 +366,7 @@ 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_);
}
}
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