Fix: ros2-ified perception tutorial: lingering build errors

130s · 130s · commit 314c93a23aec · 2023-06-09T07:59:59.000-04:00
diff --git a/doc/examples/perception_pipeline/CMakeLists.txt b/doc/examples/perception_pipeline/CMakeLists.txt
@@ -2,6 +2,7 @@ find_package(PCL REQUIRED)
 set(SUBTUTORIAL_DEPENDS
   geometry_msgs
   pcl_conversions
+  pcl_ros
   sensor_msgs
 )
 foreach(dep IN ITEMS ${SUBTUTORIAL_DEPENDS})
diff --git a/doc/examples/perception_pipeline/src/cylinder_segment.cpp b/doc/examples/perception_pipeline/src/cylinder_segment.cpp
@@ -273,7 +273,7 @@ class CylinderSegment : public rclcpp::Node
   }
 
 private:
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+  rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;
 
   // BEGIN_SUB_TUTORIAL param_struct
   // There are 4 fields and a total of 7 parameters used to define this.

Original file line number	Diff line number	Diff line change
`@@ -2,6 +2,7 @@ find_package(PCL REQUIRED)`
`2`	`2`	`set(SUBTUTORIAL_DEPENDS`
`3`	`3`	`geometry_msgs`
`4`	`4`	`pcl_conversions`
	`5`	`+ pcl_ros`
`5`	`6`	`sensor_msgs`
`6`	`7`	`)`
`7`	`8`	`foreach(dep IN ITEMS ${SUBTUTORIAL_DEPENDS})`
Original file line number	Diff line number	Diff line change
`@@ -273,7 +273,7 @@ class CylinderSegment : public rclcpp::Node`
`273`	`273`	`}`
`274`	`274`
`275`	`275`	`private:`
`276`		`- rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;`
	`276`	`+ rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr subscription_;`
`277`	`277`
`278`	`278`	`// BEGIN_SUB_TUTORIAL param_struct`
`279`	`279`	`// There are 4 fields and a total of 7 parameters used to define this.`