Fix Plan Route plugin in ROS2 Humble #765
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The Plan Route plugin was previously creating a publisher for the swri_route_util::Route class, which is not an actual ROS message but a wrapper around the marti_nav_msgs::Route message. ROS2 Humble appears to have a compile-time check that prevents creating publishers for classes that are not ROS2 message definitions, so that will fail. This changes the type of the publisher to marti_nav_msgs::Route and manually converts the message to that type before publishing it. Signed-off-by: P. J. Reed <phillipreed@hatchbed.com>
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After merging this and swri-robotics/marti_common#693, mapviz should work on ROS2 Humble now. |
danthony06
approved these changes
Oct 10, 2022
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The Plan Route plugin was previously creating a publisher for the swri_route_util::Route class, which is not an actual ROS message but a wrapper around the marti_nav_msgs::Route message. ROS2 Humble appears to have a compile-time check that prevents creating publishers for classes that are not ROS2 message definitions, so that will fail.
This changes the type of the publisher to marti_nav_msgs::Route and manually converts the message to that type before publishing it.
Signed-off-by: P. J. Reed phillipreed@hatchbed.com