Issue Porting to RISCV

[nbelanger99]

Hello,

I'm trying to port rosserial to riscv. I'm using riscv32-unknown-elf-g++

The nodehandle instance fails to assign itself to the pointer in the publisher instance. I've modified the function as follows to demonstrate this:

bool advertise(Publisher & p)
  {
    for (int i = 0; i < MAX_PUBLISHERS; i++)
    {
      if (publishers[i] == 0) // empty slot
      {
        publishers[i] = &p;
        p.id_ = i + 100 + MAX_SUBSCRIBERS;
        p.nh_ = this;
        if (p.nh_ != nullptr){
          return true;
        } else {
          return false;
        }
      }
    }
    return false;
  }

When testing with the following code based on the arduino example:

#include <ros.h>
#include <std_msgs/String.h>

ros::NodeHandle nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

char hello[13] = "hello world!";

void setup()
{
  nh.initNode();
  while (!nh.advertise(chatter)) {
      print("Failed to init publisher!\n");
  }
}

void main()
{ 
    setup();

    while (1) {
        str_msg.data = hello;
        chatter.publish(&str_msg);
        nh.spinOnce();
    }

}

We get stuck in while (!nh.advertise(chatter))

I'm guessing this is an issue with the compiler, but I thought I'd check here too.