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feat: Add macro to support different distributions by changing NavigateToPose action name

main
Juan Galvis 2021-11-09 18:14:34 +01:00
parent a578a72168
commit 0d68cb2612
3 changed files with 23 additions and 7 deletions
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16
explore/CMakeLists.txt
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@ -15,6 +15,20 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic) add_compile_options(-Wall -Wextra -Wpedantic)
endif() endif()
# Set flag depending on distro
if(NOT DEFINED ENV{ROS_DISTRO})
message(FATAL_ERROR "ROS_DISTRO is not defined." )
endif()
if("$ENV{ROS_DISTRO}" STREQUAL "eloquent")
message(STATUS "Build for ROS2 eloquent")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DELOQUENT")
elseif("$ENV{ROS_DISTRO}" STREQUAL "dashing")
message(STATUS "Build for ROS2 dashing")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDASHING")
else()
message(STATUS "BuilD for ROS2: " "$ENV{ROS_DISTRO}")
endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
@ -27,7 +41,6 @@ find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED) find_package(nav_msgs REQUIRED)
find_package(map_msgs REQUIRED) find_package(map_msgs REQUIRED)
find_package(visualization_msgs REQUIRED) find_package(visualization_msgs REQUIRED)
find_package(nav2_costmap_2d REQUIRED) find_package(nav2_costmap_2d REQUIRED)
@ -63,6 +76,7 @@ install(DIRECTORY
DESTINATION share/${PROJECT_NAME} DESTINATION share/${PROJECT_NAME}
) )
add_executable(explore add_executable(explore
src/costmap_client.cpp src/costmap_client.cpp
src/explore.cpp src/explore.cpp

8
explore/include/explore/explore.h
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@ -58,7 +58,13 @@
#include "rclcpp_action/rclcpp_action.hpp" #include "rclcpp_action/rclcpp_action.hpp"
using namespace std::placeholders; using namespace std::placeholders;
#ifdef ELOQUENT
#define ACTION_NAME "/NavigateToPose"
#elif DASHING
#define ACTION_NAME "/NavigateToPose"
#else
#define ACTION_NAME "/navigate_to_pose"
#endif
namespace explore namespace explore
{ {
/** /**

6
explore/src/explore.cpp
View File

@ -68,12 +68,8 @@ Explore::Explore()
this->get_parameter("gain_scale", gain_scale_); this->get_parameter("gain_scale", gain_scale_);
this->get_parameter("min_frontier_size", min_frontier_size); this->get_parameter("min_frontier_size", min_frontier_size);
progress_timeout_ = timeout; progress_timeout_ = timeout;
move_base_client_ = move_base_client_ =
rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(this, rclcpp_action::create_client<nav2_msgs::action::NavigateToPose>(this,ACTION_NAME);
"/navigat"
"e_to_"
"pose");
search_ = frontier_exploration::FrontierSearch(costmap_client_.getCostmap(), search_ = frontier_exploration::FrontierSearch(costmap_client_.getCostmap(),
potential_scale_, gain_scale_, potential_scale_, gain_scale_,