diff options
Diffstat (limited to 'microstrain-inertial-driver-fix_error_no_define.patch')
| -rw-r--r-- | microstrain-inertial-driver-fix_error_no_define.patch | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/microstrain-inertial-driver-fix_error_no_define.patch b/microstrain-inertial-driver-fix_error_no_define.patch new file mode 100644 index 0000000..72729ab --- /dev/null +++ b/microstrain-inertial-driver-fix_error_no_define.patch @@ -0,0 +1,67 @@ +diff -Naur ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h +--- ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h 2023-02-11 05:19:58.000000000 +0800 ++++ ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h 2023-10-21 17:04:27.000000000 +0800 +@@ -172,7 +172,12 @@ + * \return Pointer to an initialized service + */ + template<typename ServiceType> +- typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)); ++ typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)) ++{ ++ MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str()); ++ return createService<ServiceType>(node_, name, callback, this); ++} ++ + + /** + * \brief Configures a MIP command dependent service. This service will only be configured if the device supports the command +@@ -184,7 +189,19 @@ + * \return Pointer to an initialized service, or nullptr if the device does not support the MipType + */ + template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET> +- typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)); ++ typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)) ++{ ++ if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR)) ++ { ++ MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR); ++ return createService<ServiceType>(node_, name, callback, this); ++ } ++ else ++ { ++ MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR); ++ return nullptr; ++ } ++} + + // Handles to the ROS node and the config + RosNodeType* node_; +@@ -253,27 +270,8 @@ + RosServiceType<SetFilterSpeedLeverArmServiceMsg>::SharedPtr set_filter_speed_lever_arm_service_; + }; + +-template<typename ServiceType> +-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)) +-{ +- MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str()); +- return createService<ServiceType>(node_, name, callback, this); +-} + +-template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET> +-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&)) +-{ +- if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR)) +- { +- MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR); +- return createService<ServiceType>(node_, name, callback, this); +- } +- else +- { +- MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR); +- return nullptr; +- } +-} ++ + + } // namespace microstrain + |