From af764d1da734381dc27506068696ddd0fc4ea5de Mon Sep 17 00:00:00 2001
From: kevilex <kevin@skaar-net.no>
Date: Tue, 30 Jul 2024 15:16:37 +0200
Subject: [PATCH] fixes for comiling on ubuntu 22.04 ros2 humble

---
 omni_common/src/omni.cpp       |  1 -
 omni_common/src/omni_state.cpp | 13 ++++++-------
 2 files changed, 6 insertions(+), 8 deletions(-)

diff --git a/omni_common/src/omni.cpp b/omni_common/src/omni.cpp
index 06d0881..2dd8c1e 100644
--- a/omni_common/src/omni.cpp
+++ b/omni_common/src/omni.cpp
@@ -28,7 +28,6 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "tf2_ros/transform_broadcaster.h"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
-#include <urdf/model.h>
 #include "sensor_msgs/msg/joint_state.hpp"
 
 #include <string.h>
diff --git a/omni_common/src/omni_state.cpp b/omni_common/src/omni_state.cpp
index 2e64bd1..7aef3b2 100644
--- a/omni_common/src/omni_state.cpp
+++ b/omni_common/src/omni_state.cpp
@@ -26,7 +26,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
-#include <urdf/model.h>
 #include "sensor_msgs/msg/joint_state.hpp"
 
 #include <string.h>
@@ -113,36 +112,36 @@ class PhantomROS
         stream1 << omni_name << "/button";
         std::string button_topic = std::string(stream1.str());
         button_publisher = node_->create_publisher<omni_msgs::msg::OmniButtonEvent>(button_topic.c_str(), 100);
-        RCLCPP_INFO(node_->get_logger(), "Publishing button events on: " + button_topic);
+        RCLCPP_INFO(node_->get_logger(), "Publishing button events on: %s", button_topic.c_str());
 
         // Publish on NAME/state
         std::ostringstream stream2;
         stream2 << omni_name << "/state";
         std::string state_topic_name = std::string(stream2.str());
         state_publisher = node_->create_publisher<omni_msgs::msg::OmniState>(state_topic_name.c_str(), 1);
-        RCLCPP_INFO(node_->get_logger(), "Publishing omni state on: " + state_topic_name);
+        RCLCPP_INFO(node_->get_logger(), "Publishing omni state on: %s", state_topic_name.c_str());
 
         // Subscribe to NAME/force_feedback
         std::ostringstream stream3;
         stream3 << omni_name << "/force_feedback";
         std::string force_feedback_topic = std::string(stream3.str());
         haptic_sub = node_->create_subscription<omni_msgs::msg::OmniFeedback>(force_feedback_topic.c_str(), 1, std::bind(&PhantomROS::force_callback, this, std::placeholders::_1));
-        RCLCPP_INFO(node_->get_logger(), "listening to: " + force_feedback_topic + " for haptic info");
+        RCLCPP_INFO(node_->get_logger(), "listening to: %s for haptic info", force_feedback_topic.c_str() );
 
         // Publish on NAME/pose
         std::ostringstream stream4;
         stream4 << omni_name << "/pose";
         std::string pose_topic_name = std::string(stream4.str());
         pose_publisher = node_->create_publisher<geometry_msgs::msg::PoseStamped>(pose_topic_name.c_str(), 1);
-        RCLCPP_INFO(node_->get_logger(), "Publishing pose on: " + pose_topic_name);
+        RCLCPP_INFO(node_->get_logger(), "Publishing pose on: %s", pose_topic_name.c_str() );
 
         // Publish on NAME/joint_states
         std::ostringstream stream5;
         stream5 << omni_name << "/joint_states";
         std::string joint_topic_name = std::string(stream5.str());
         joint_publisher = node_->create_publisher<sensor_msgs::msg::JointState>(joint_topic_name.c_str(), 1);
-        RCLCPP_INFO(node_->get_logger(), "Publishing joint state on: " + joint_topic_name);
-
+        RCLCPP_INFO(node_->get_logger(), "Publishing joint state on: %s", joint_topic_name.c_str() );
+        
         state = s;
         state->buttons[0] = 0;
         state->buttons[1] = 0;