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Fix parameter initialisation for galactic #199

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Merged
bmagyar merged 4 commits into from
Jun 18, 2021
Merged

Fix parameter initialisation for galactic #199

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934babb
Fix parameter initialisation for galactic
Timple Jun 8, 2021
20d11a5
Fix forward_command_controller the same way
Timple Jun 8, 2021
dcf3e18
Fix other compiler warnings
Timple Jun 8, 2021
d679a6d
Missing space
Timple Jun 14, 2021
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11 changes: 7 additions & 4 deletions diff_drive_controller/src/diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,10 @@ DiffDriveController::init(const std::string & controller_name)
try {
auto node = get_node();
// with the lifecycle node being initialized, we can declare parameters
node->declare_parameter<std::vector<std::string>>("left_wheel_names", {});
node->declare_parameter<std::vector<std::string>>("right_wheel_names", {});
node->declare_parameter<std::vector<std::string>>(
"left_wheel_names", std::vector<std::string>());
node->declare_parameter<std::vector<std::string>>(
"right_wheel_names", std::vector<std::string>());

node->declare_parameter<double>("wheel_separation", wheel_params_.separation);
node->declare_parameter<int>("wheels_per_side", wheel_params_.wheels_per_side);
Expand All @@ -79,8 +81,9 @@ DiffDriveController::init(const std::string & controller_name)

node->declare_parameter<std::string>("odom_frame_id", odom_params_.odom_frame_id);
node->declare_parameter<std::string>("base_frame_id", odom_params_.base_frame_id);
node->declare_parameter<std::vector<double>>("pose_covariance_diagonal", {});
node->declare_parameter<std::vector<double>>("twist_covariance_diagonal", {});
node->declare_parameter<std::vector<double>>("pose_covariance_diagonal", std::vector<double>());
node->declare_parameter<std::vector<double>>(
"twist_covariance_diagonal", std::vector<double>());
node->declare_parameter<bool>("open_loop", odom_params_.open_loop);
node->declare_parameter<bool>("enable_odom_tf", odom_params_.enable_odom_tf);

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2 changes: 1 addition & 1 deletion forward_command_controller/src/forward_command_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,7 @@ ForwardCommandController::init(const std::string & controller_name)

try {
auto node = get_node();
node->declare_parameter<std::vector<std::string>>("joints", {});
node->declare_parameter<std::vector<std::string>>("joints", std::vector<std::string>());

node->declare_parameter<std::string>("interface_name", "");
} catch (const std::exception & e) {
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4 changes: 2 additions & 2 deletions joint_trajectory_controller/src/joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -589,7 +589,7 @@ JointTrajectoryController::on_activate(const rclcpp_lifecycle::State &)
command_interfaces_, joint_names_, interface, joint_command_interface_[index]))
{
RCLCPP_ERROR(
node_->get_logger(), "Expected %u '%s' command interfaces, got %u.",
node_->get_logger(), "Expected %zu '%s' command interfaces, got %zu.",
joint_names_.size(), interface.c_str(), joint_command_interface_[index].size());
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
}
Expand All @@ -602,7 +602,7 @@ JointTrajectoryController::on_activate(const rclcpp_lifecycle::State &)
state_interfaces_, joint_names_, interface, joint_state_interface_[index]))
{
RCLCPP_ERROR(
node_->get_logger(), "Expected %u '%s' state interfaces, got %u.",
node_->get_logger(), "Expected %zu '%s' state interfaces, got %zu.",
joint_names_.size(), interface.c_str(), joint_state_interface_[index].size());
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
}
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