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saikishorsaikishor
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added conditioning to have rolling tags compilable in older versions (#1071)
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10 files changed

+63
-7
lines changed

10 files changed

+63
-7
lines changed

‎diff_drive_controller/include/diff_drive_controller/odometry.hpp‎

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@@ -25,7 +25,12 @@
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#include <cmath>
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#include "rclcpp/time.hpp"
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// \note The versions conditioning is added here to support the source-compatibility with Humble
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#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
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#include "rcpputils/rolling_mean_accumulator.hpp"
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#else
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#include "rcppmath/rolling_mean_accumulator.hpp"
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#endif
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namespace diff_drive_controller
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{
@@ -50,7 +55,12 @@ class Odometry
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void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
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private:
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// \note The versions conditioning is added here to support the source-compatibility with Humble
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#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
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using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
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#else
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using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
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#endif
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void integrateRungeKutta2(double linear, double angular);
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void integrateExact(double linear, double angular);

‎joint_state_broadcaster/src/joint_state_broadcaster.cpp‎

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@@ -24,7 +24,6 @@
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#include "hardware_interface/types/hardware_interface_return_values.hpp"
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#include "hardware_interface/types/hardware_interface_type_values.hpp"
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#include "rclcpp/clock.hpp"
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#include "rclcpp/event_handler.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/time.hpp"
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#include "rclcpp_lifecycle/lifecycle_node.hpp"

‎joint_trajectory_controller/src/joint_trajectory_controller.cpp‎

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@@ -29,7 +29,6 @@
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#include "hardware_interface/types/hardware_interface_type_values.hpp"
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#include "joint_trajectory_controller/trajectory.hpp"
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#include "lifecycle_msgs/msg/state.hpp"
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#include "rclcpp/event_handler.hpp"
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#include "rclcpp/logging.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/time.hpp"

‎joint_trajectory_controller/test/test_trajectory_controller.cpp‎

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@@ -32,7 +32,6 @@
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#include "lifecycle_msgs/msg/state.hpp"
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#include "rclcpp/clock.hpp"
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#include "rclcpp/duration.hpp"
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#include "rclcpp/event_handler.hpp"
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#include "rclcpp/executors/multi_threaded_executor.hpp"
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#include "rclcpp/executors/single_threaded_executor.hpp"
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#include "rclcpp/node.hpp"

‎pid_controller/src/pid_controller.cpp‎

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@@ -30,10 +30,24 @@ namespace
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{ // utility
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// Changed services history QoS to keep all so we don't lose any client service calls
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// \note The versions conditioning is added here to support the source-compatibility with Humble
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#if RCLCPP_VERSION_MAJOR >= 17
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rclcpp::QoS qos_services =
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rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
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.reliable()
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.durability_volatile();
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#else
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static const rmw_qos_profile_t qos_services = {
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RMW_QOS_POLICY_HISTORY_KEEP_ALL,
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1, // message queue depth
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RMW_QOS_POLICY_RELIABILITY_RELIABLE,
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RMW_QOS_POLICY_DURABILITY_VOLATILE,
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RMW_QOS_DEADLINE_DEFAULT,
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RMW_QOS_LIFESPAN_DEFAULT,
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RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
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RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
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false};
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#endif
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using ControllerCommandMsg = pid_controller::PidController::ControllerReferenceMsg;
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‎range_sensor_broadcaster/src/range_sensor_broadcaster.cpp‎

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@@ -79,7 +79,10 @@ controller_interface::CallbackReturn RangeSensorBroadcaster::on_configure(
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realtime_publisher_->msg_.field_of_view = params_.field_of_view;
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realtime_publisher_->msg_.min_range = params_.min_range;
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realtime_publisher_->msg_.max_range = params_.max_range;
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// \note The versions conditioning is added here to support the source-compatibility with Humble
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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realtime_publisher_->msg_.variance = params_.variance;
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#endif
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realtime_publisher_->unlock();
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RCLCPP_DEBUG(get_node()->get_logger(), "configure successful");

‎range_sensor_broadcaster/test/test_range_sensor_broadcaster.cpp‎

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@@ -203,7 +203,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_RangeBroadcaster_Success)
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EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
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EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
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EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
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#endif
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}
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TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
@@ -224,7 +226,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
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EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
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EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
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EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
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#endif
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sensor_range_ = 4.0;
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subscribe_and_get_message(range_msg);
@@ -235,7 +239,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_Bandaries_RangeBroadcaster_Success)
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EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
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EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
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EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
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#endif
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}
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TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Success)
@@ -257,7 +263,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe
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EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
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EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
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EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
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#endif
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sensor_range_ = 6.0;
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subscribe_and_get_message(range_msg);
@@ -269,7 +277,9 @@ TEST_F(RangeSensorBroadcasterTest, Publish_OutOfBandaries_RangeBroadcaster_Succe
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EXPECT_THAT(range_msg.field_of_view, ::testing::FloatEq(field_of_view_));
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EXPECT_THAT(range_msg.min_range, ::testing::FloatEq(min_range_));
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EXPECT_THAT(range_msg.max_range, ::testing::FloatEq(max_range_));
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#if SENSOR_MSGS_VERSION_MAJOR >= 5
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EXPECT_THAT(range_msg.variance, ::testing::FloatEq(variance_));
282+
#endif
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}
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275285
int main(int argc, char ** argv)

‎steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp‎

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@@ -24,7 +24,12 @@
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#include "realtime_tools/realtime_buffer.h"
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#include "realtime_tools/realtime_publisher.h"
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// \note The versions conditioning is added here to support the source-compatibility with Humble
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#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
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#include "rcpputils/rolling_mean_accumulator.hpp"
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#else
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#include "rcppmath/rolling_mean_accumulator.hpp"
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#endif
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namespace steering_odometry
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{
@@ -229,6 +234,13 @@ class SteeringOdometry
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*/
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void reset_accumulators();
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// \note The versions conditioning is added here to support the source-compatibility with Humble
238+
#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
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using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
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#else
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using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
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#endif
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/// Current timestamp:
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rclcpp::Time timestamp_;
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@@ -256,8 +268,8 @@ class SteeringOdometry
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double traction_left_wheel_old_pos_;
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/// Rolling mean accumulators for the linear and angular velocities:
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size_t velocity_rolling_window_size_;
259-
rcpputils::RollingMeanAccumulator<double> linear_acc_;
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rcpputils::RollingMeanAccumulator<double> angular_acc_;
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RollingMeanAccumulator linear_acc_;
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RollingMeanAccumulator angular_acc_;
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};
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} // namespace steering_odometry
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‎steering_controllers_library/src/steering_odometry.cpp‎

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@@ -324,8 +324,8 @@ void SteeringOdometry::integrate_exact(double linear, double angular)
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void SteeringOdometry::reset_accumulators()
326326
{
327-
linear_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
328-
angular_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
327+
linear_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_);
328+
angular_acc_ = RollingMeanAccumulator(velocity_rolling_window_size_);
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}
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} // namespace steering_odometry

‎tricycle_controller/include/tricycle_controller/odometry.hpp‎

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@@ -22,7 +22,12 @@
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#include <cmath>
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#include "rclcpp/time.hpp"
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// \note The versions conditioning is added here to support the source-compatibility with Humble
26+
#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
2527
#include "rcpputils/rolling_mean_accumulator.hpp"
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#else
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#include "rcppmath/rolling_mean_accumulator.hpp"
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#endif
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namespace tricycle_controller
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{
@@ -45,7 +50,12 @@ class Odometry
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void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
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private:
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// \note The versions conditioning is added here to support the source-compatibility with Humble
54+
#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6
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using RollingMeanAccumulator = rcpputils::RollingMeanAccumulator<double>;
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#else
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using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
58+
#endif
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void integrateRungeKutta2(double linear, double angular);
5161
void integrateExact(double linear, double angular);

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