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fix: modify build failure of nav2 bt navigator #2836

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Merged
SteveMacenski merged 1 commit into from
Mar 1, 2022
Merged

fix: modify build failure of nav2 bt navigator #2836

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1 change: 1 addition & 0 deletions nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <vector>

#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/odometry_utils.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "tf2_ros/buffer.h"
#include "tf2_ros/transform_listener.h"
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3 changes: 2 additions & 1 deletion nav2_bt_navigator/include/nav2_bt_navigator/navigator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <vector>
#include <mutex>

#include "nav2_util/odometry_utils.hpp"
#include "tf2_ros/buffer.h"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
Expand Down Expand Up @@ -296,7 +297,7 @@ class Navigator
* @param Method to configure resources.
*/
virtual bool configure(
rclcpp_lifecycle::LifecycleNode::WeakPtr /*node*/
rclcpp_lifecycle::LifecycleNode::WeakPtr /*node*/,
std::shared_ptr<nav2_util::OdomSmoother> /*odom_smoother*/)
{
return true;
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2 changes: 1 addition & 1 deletion nav2_bt_navigator/src/bt_navigator.cpp
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Expand Up @@ -112,7 +112,7 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
feedback_utils.transform_tolerance = transform_tolerance_;

// Odometry smoother object for getting current speed
odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_)
odom_smoother_ = std::make_shared<nav2_util::OdomSmoother>(shared_from_this(), 0.3, odom_topic_);

if (!pose_navigator_->on_configure(
shared_from_this(), plugin_lib_names, feedback_utils, &plugin_muxer_, odom_smoother_))
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