Fix compilation errors for ros2 client on Humble

[eliasdc]

Fix applied

response callback signature updated to support galactic and humble. I don't believe this builds on Foxy (haven't tested it).

[aimethierry]

You would need to sign your commits with GPG before I can merge it, thanks!

Regarding Foxy support, it should not be too big a concern, if anyone requires it, I can create a foxy branch.

I am using Foxy, however i can compile and run, but the goal is being rejected by the server

[aaronchongth]

Edit @aimethierry Could you provide more information about the rejection? Namely

• Was it an error or did nothing happen?
• How does the server log look like?
• How does the client log look like?
• What is your setup currently? (OS, version of ROS, simulation or real robot)

[aimethierry]

at the moment nothing is happening and i am using Ubuntu 20.04 Ros2 foxy simulation

[aaronchongth]

Could you provide more information for me to try to re-create the issue? What steps have you run, was the goal through nav2 or a free fleet request?

[aimethierry]

Sorry for late reply, these are the steps I followed

1. Cloned free fleet package
2. removed all folder remained with free_fleet_client_ros2, free_fleet_server_ros2, and free_fleet
3. changed line 552 in client_node.cpp to ( send_goal_options.goal_response_callback = [&](std::shared_future future) { auto goal_handle = future.get(); ) so that i can be able to build
4. build the package (This went well)
5. run server (ros2 launch ff_examples_ros2 turtlebot3_world_ff_server.launch.xml)
6. opened new terminal (ros2 launch ff_examples_ros2 turtlebot3_world_ff.launch.xml)
7. opened new terminal (ros2 run ff_examples_ros2 send_path_request.py -f FLEET_NAME -r ROBOT_NAME -i UNIQUE_TASK_ID -p '[{"x": 1.725, "y": -0.39, "yaw": 0.0, "level_name": "B1"}, {"x": 1.737, "y": 0.951, "yaw": 1.57, "level_name": "B1"}, {"x": -0.616, "y": 1.852, "yaw": 3.14, "level_name": "B1"}, {"x": -0.626, "y": -1.972, "yaw": 4.71, "level_name": "B1"}]')

after doing the above steps i got the following result on the server terminal

• [ERROR] [free_fleet_server_ros2-1]: process has died [pid 1012856, exit code -6, cmd '/home/ubuntu/ff_ros2_ws/install/free_fleet_server_ros2/lib/free_fleet_server_ros2/free_fleet_server_ros2 --ros-args -r __node:=turtlebot3_fleet_server_node --params-file /tmp/launch_params_0l5vsb2s --params-file /tmp/launch_params_hdrv3ya1 --params-file /tmp/launch_params_e1cujffj --params-file /tmp/launch_params_133ptkzh --params-file /tmp/launch_params_hd3qnozy --params-file /tmp/launch_params_39lra2lz --params-file /tmp/launch_params_ie7xmaj4 --params-file /tmp/launch_params_xf3tpkhj --params-file /tmp/launch_params_ob1s6ckv --params-file /tmp/launch_params_s8aoohwt --params-file /tmp/launch_params_e2zetn29 --params-file /tmp/launch_params_r5xwqk81 --params-file /tmp/launch_params_rk9f2ki8 --params-file /tmp/launch_params_wf80s_1v --params-file /tmp/launch_params_g2m35s4h --params-file /tmp/launch_params_9i9mhv2t']

[aaronchongth]

Thanks for the information @aimethierry.

For long logs, please use https://gist.github.com, or

code blocks

This has grown out of the scope of this PR, please continue the conversation in https://github.com/open-rmf/free_fleet/issues/113, or try out the fixes mentioned in that thread.