Make it compile on bionic

CMakeLists.txt

@@ -8,6 +8,7 @@ endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra)
+  add_compile_options(-Wno-deprecated)
 endif()
 
 find_package(ament_cmake REQUIRED)
@@ -27,6 +28,12 @@ endif()
 
 include(ExternalProject)
 
+if(WIN32)
+  set(patch_exe patch.exe)
+else()
+  set(patch_exe patch)
+endif()
+
 ExternalProject_Add(astra_openni2
   PREFIX astra_openni2
   # SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/astra_openni2/OpenNI2
@@ -38,6 +45,9 @@ ExternalProject_Add(astra_openni2
   BUILD_COMMAND make release FILTER=${obfilter}
   INSTALL_DIR openni2
   INSTALL_COMMAND tar -xjf <SOURCE_DIR>/Packaging/Final/OpenNI-Linux-2.3.tar.bz2 -C <INSTALL_DIR> --strip 1 && mkdir -p <INSTALL_DIR>/include && ln -fs <INSTALL_DIR>/Include <INSTALL_DIR>/include/openni2
+  PATCH_COMMAND
+    ${patch_exe} -p1 -N < ${CMAKE_CURRENT_SOURCE_DIR}/astra_openni2-patch.diff
+
 )
 
 link_directories(${CMAKE_CURRENT_BINARY_DIR}/openni2/Redist)

astra_openni2-patch.diff

@@ -0,0 +1,100 @@
+diff --git a/Source/Drivers/orbbec/Formats/XnFormatsMirror.cpp b/Source/Drivers/orbbec/Formats/XnFormatsMirror.cpp
+index bbbf213..cc8bfe0 100644
+--- a/Source/Drivers/orbbec/Formats/XnFormatsMirror.cpp
++++ b/Source/Drivers/orbbec/Formats/XnFormatsMirror.cpp
+@@ -43,8 +43,14 @@ XnStatus XnMirrorOneBytePixels(XnUChar* pBuffer, XnUInt32 nBufferSize, XnUInt32
+ 	XnUInt8* pSrcEnd = pSrc + nBufferSize;
+ 	XnUInt8* pDest = NULL;
+ 	XnUInt8* pDestVal = &pLineBuffer[0] + nLineSize - 1;
++#ifndef _WIN32
++#pragma GCC diagnostic push
++#pragma GCC diagnostic ignored "-Warray-bounds"
++#endif
+ 	XnUInt8* pDestEnd = &pLineBuffer[0] - 1;
+-
++#ifndef _WIN32
++#pragma GCC diagnostic pop
++#endif
+ 	if (nLineSize > XN_MIRROR_MAX_LINE_SIZE)
+ 	{
+ 		return (XN_STATUS_INTERNAL_BUFFER_TOO_SMALL);
+@@ -76,7 +82,14 @@ XnStatus XnMirrorTwoBytePixels(XnUChar* pBuffer, XnUInt32 nBufferSize, XnUInt32
+ 	XnUInt16* pSrcEnd = pSrc + nBufferSize / sizeof(XnUInt16);
+ 	XnUInt16* pDest = NULL;
+ 	XnUInt16* pDestVal = &pLineBuffer[0] + nLineSize - 1;
++#ifndef _WIN32
++#pragma GCC diagnostic push
++#pragma GCC diagnostic ignored "-Warray-bounds"
++#endif
+ 	XnUInt16* pDestEnd = &pLineBuffer[0] - 1;
++#ifndef _WIN32
++#pragma GCC diagnostic pop
++#endif
+ 	XnUInt16 nMemCpyLineSize = (XnUInt16)(nLineSize * sizeof(XnUInt16));
+ 	XnUInt16 nValue;
+
+@@ -112,7 +125,14 @@ XnStatus XnMirrorThreeBytePixels(XnUChar* pBuffer, XnUInt32 nBufferSize, XnUInt3
+ 	XnUInt8* pSrcEnd = pSrc + nBufferSize;
+ 	XnUInt8* pDest = NULL;
+ 	XnUInt8* pDestVal = &pLineBuffer[0] + nLineSize * 3 - 1;
++#ifndef _WIN32
++#pragma GCC diagnostic push
++#pragma GCC diagnostic ignored "-Warray-bounds"
++#endif
+ 	XnUInt8* pDestEnd = &pLineBuffer[0] - 1;
++#ifndef _WIN32
++#pragma GCC diagnostic pop
++#endif
+ 	XnUInt16 nMemCpyLineSize = (XnUInt16)(nLineSize * 3);
+
+ 	if (nMemCpyLineSize > XN_MIRROR_MAX_LINE_SIZE)
+diff --git a/Source/Drivers/orbbec/Sensor/XnFrameStreamProcessor.cpp b/Source/Drivers/orbbec/Sensor/XnFrameStreamProcessor.cpp
+index d6105ec..fc459e3 100644
+--- a/Source/Drivers/orbbec/Sensor/XnFrameStreamProcessor.cpp
++++ b/Source/Drivers/orbbec/Sensor/XnFrameStreamProcessor.cpp
+@@ -28,6 +28,10 @@
+ //---------------------------------------------------------------------------
+ // Code
+ //---------------------------------------------------------------------------
++#ifndef _WIN32
++#pragma GCC diagnostic push
++#pragma GCC diagnostic ignored "-Wformat-overflow="
++#endif
+ XnFrameStreamProcessor::XnFrameStreamProcessor(XnFrameStream* pStream, XnSensorStreamHelper* pHelper, XnFrameBufferManager* pBufferManager, XnUInt16 nTypeSOF, XnUInt16 nTypeEOF) :
+ 	XnStreamProcessor(pStream, pHelper),
+ 	m_nTypeSOF(nTypeSOF),
+@@ -45,6 +49,9 @@ XnFrameStreamProcessor::XnFrameStreamProcessor(XnFrameStream* pStream, XnSensorS
+ 	m_InDump = xnDumpFileOpen(m_csInDumpMask, "%s_0.raw", m_csInDumpMask);
+ 	m_InternalDump = xnDumpFileOpen(m_csInternalDumpMask, "%s_0.raw", m_csInternalDumpMask);
+ }
++#ifndef _WIN32
++#pragma GCC diagnostic pop
++#endif
+
+ XnFrameStreamProcessor::~XnFrameStreamProcessor()
+ {
+diff --git a/Source/Drivers/orbbec/Sensor/XnSensorFirmwareParams.cpp b/Source/Drivers/orbbec/Sensor/XnSensorFirmwareParams.cpp
+index 476b88d..7046b76 100644
+--- a/Source/Drivers/orbbec/Sensor/XnSensorFirmwareParams.cpp
++++ b/Source/Drivers/orbbec/Sensor/XnSensorFirmwareParams.cpp
+@@ -251,6 +251,10 @@ void XnSensorFirmwareParams::Free()
+ 	m_AllFirmwareParams.Clear();
+ }
+
++#ifndef _WIN32
++#pragma GCC diagnostic push
++#pragma GCC diagnostic ignored "-Wformat-overflow="
++#endif
+ XnStatus XnSensorFirmwareParams::AddFirmwareParam(XnActualIntProperty& Property, XnUInt16 nFirmwareParam, XnFWVer nMinVer /* = XN_SENSOR_FW_VER_UNKNOWN */, XnFWVer nMaxVer /* = XN_SENSOR_FW_VER_UNKNOWN */, XnUInt16 nValueIfNotSupported /* = 0 */)
+ {
+ 	XnStatus nRetVal = XN_STATUS_OK;
+@@ -275,6 +279,9 @@ XnStatus XnSensorFirmwareParams::AddFirmwareParam(XnActualIntProperty& Property,
+
+ 	return (XN_STATUS_OK);
+ }
++#ifndef _WIN32
++#pragma GCC diagnostic pop
++#endif
+
+ XnStatus XnSensorFirmwareParams::AddFirmwareAudioParam(XnActualIntProperty& Property, XnUInt16 nFirmwareParam, XnFWVer nMinVer /* = XN_SENSOR_FW_VER_3_0 */, XnFWVer nMaxVer /* = XN_SENSOR_FW_VER_UNKNOWN */, XnUInt16 nValueIfNotSupported /* = 0 */)
+ {

src/astra_driver.cpp

@@ -103,8 +103,8 @@ AstraDriver::AstraDriver(rclcpp::Node::SharedPtr& n, rclcpp::Node::SharedPtr& pn
 			}
 			shm = (char *)shmat(shmid, 0, 0);
 			while( *shm!=bootOrder);
-			 initDevice();
-			 ROS_WARN("*********** device_id %s already open device************************ ", device_id_.c_str());
+			initDevice();
+			ROS_WARN("*********** device_id %s already open device************************ ", device_id_.c_str());
 			*shm = (bootOrder+1);
 		}
 		if(  bootOrder==1 )

src/astra_frame_listener.cpp

@@ -34,6 +34,7 @@
 #include "astra_camera/ros12_shim.h"
 #include "openni2/OpenNI.h"
 
+#include <cmath>
 #include <rcl/time.h>
 #include <sensor_msgs/image_encodings.hpp>
 
@@ -103,7 +104,7 @@ void AstraFrameListener::onNewFrame(openni::VideoStream& stream)
       double corrected_timestamp = device_time_in_sec+filtered_time_diff;
 
       //image->header.stamp.fromSec(corrected_timestamp);
-      image->header.stamp.sec = floor(corrected_timestamp);
+      image->header.stamp.sec = std::floor(corrected_timestamp);
       image->header.stamp.nanosec = (corrected_timestamp - floor(corrected_timestamp)) * 1000000000;
 
       ROS_DEBUG("Time interval between frames: %.4f ms", (float)((corrected_timestamp-prev_time_stamp_)*1000.0));