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fixes for comiling on ubuntu 22.04 ros2 humble #1

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fixes for comiling on ubuntu 22.04 ros2 humble #1

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1 change: 0 additions & 1 deletion omni_common/src/omni.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
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13 changes: 6 additions & 7 deletions omni_common/src/omni_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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;
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