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swri-robotics / mapviz

Modular ROS visualization tool for 2D data.
BSD 3-Clause "New" or "Revised" License
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Fix Plan Route plugin in ROS2 Humble #765

Closed pjreed closed 2 years ago

pjreed commented 2 years ago

The Plan Route plugin was previously creating a publisher for the swri_route_util::Route class, which is not an actual ROS message but a wrapper around the marti_nav_msgs::Route message. ROS2 Humble appears to have a compile-time check that prevents creating publishers for classes that are not ROS2 message definitions, so that will fail.

This changes the type of the publisher to marti_nav_msgs::Route and manually converts the message to that type before publishing it.

Signed-off-by: P. J. Reed phillipreed@hatchbed.com

pjreed commented 2 years ago

After merging this and https://github.com/swri-robotics/marti_common/pull/693, mapviz should work on ROS2 Humble now.