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ros-drivers / urg_node

ROS wrapper for the Hokuyo urg_c library.
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Fixes for ROS 2 Galactic #86

Closed clalancette closed 3 years ago

clalancette commented 3 years ago

This PR contains a bunch of fixes for ROS 2 Galactic, split into commits. The changes are:

  1. Remove the unused reconfigure method. It was private and had no internal callers.
  2. Fix rclcpp::Duration construction. As of Galactic, the units must be provided when initializing an rclcpp::Duration, which is generally done through std::chrono. I've gone through and made the necessary changes, but I don't currently have a Hokuyo to test against, so careful review of this one is called for.
  3. Switch to PRIu32 for printing a uint32_t. Galactic turns on additional compiler warnings, and this one came out.
  4. Don't error out on unknown parameter names. This was always bad practice (there could be more than one parameter callback chained together), but in Galactic it is much more of a problem. Just ignore parameters that we don't know about.

Note that these changes are backwards compatible to Foxy except for the rclcpp::Duration changes. My suggestion is that we make a new foxy branch off of the current HEAD, then review and merge these changes for the latest. If we do make a new foxy branch, we'll have to update https://github.com/ros/rosdistro/blob/8bc979c0be0632affdebbff2ea48f281e861bcde/foxy/distribution.yaml#L4711 and https://github.com/ros2-gbp/urg_node-release/blob/a6843561b50787f98c4a678c48d0ed359e5849b9/tracks.yaml#L63 to point to that branch.

clalancette commented 3 years ago

Thank you!

mikeferguson commented 3 years ago

Branched foxy-devel before merging, tracks.yaml updated, updates to rosdistro in: https://github.com/ros/rosdistro/pull/28912