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ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
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industrial_robot_client: Fix signature of goal and cancel callbacks. #143

Closed de-vri-es closed 8 years ago

de-vri-es commented 8 years ago

The goal and cancel callbacks of ActionServer take GoalHandles by value [1], but the callbacks defined in JointTrajectoryActionServer took them by reference. I'm not sure why this compiled before C++11, but it doesn't now. Since g++ 6 compiles with C++11 support enabled by default, it is quite important to fix this.

Note that GoalHandle already acts like a reference type; it contains only (shared) pointers. So accepting them by value or by reference wont change the behaviour of the program.

[1] https://github.com/ros/actionlib/blob/da39083c513066e0d3d05346f3b1be9f9f90268d/include/actionlib/server/action_server.h#L87

shaun-edwards commented 8 years ago

@de-vri-es, Thank you for the contribution. +1 to merging. I am curious as to why you are using gc++ 6? Does it come standard with a version of Ubuntu? I wonder if we should add this configuration to our travis CI testing?

de-vri-es commented 8 years ago

I'm running Arch Linux and compiling from source. Arch recently switched to gcc 6.0. Painfully paving the way for other distros :]