build fix

LCAS · Dec 7, 2024 · 853d94e · 853d94e
1 parent eca83dc
commit 853d94e
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 8 deletions.
diff --git a/src/teach_repeat_controller/include/nav2_teach_repeat_controller/teach_repeat_controller.hpp b/src/teach_repeat_controller/include/nav2_teach_repeat_controller/teach_repeat_controller.hpp
@@ -42,7 +42,7 @@ class TeachRepeatController : public nav2_core::Controller
     const geometry_msgs::msg::Twist & velocity,
     nav2_core::GoalChecker * goal_checker) override;
 
-  void setPlan(const nav_msgs::msg::Path & path) override {};
+  void setPlan(const nav_msgs::msg::Path & path) override {(void) path;};
 
 protected:
 
@@ -60,7 +60,7 @@ class TeachRepeatController : public nav2_core::Controller
   std::queue<geometry_msgs::msg::TwistStamped> vel_queue_; 
   std::mutex queue_mutex_;
 
-  std::shared_ptr<rclcpp_lifecycle::LifecycleSubscriper<geometry_msgs::msg::TwistStamped>> cmd_vel_sub_;
+  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr cmd_vel_sub_;
 
   void velCallback(const geometry_msgs::msg::TwistStamped::SharedPtr msg);
   void clearQueue();

diff --git a/src/teach_repeat_controller/src/teach_repeat_controller.cpp b/src/teach_repeat_controller/src/teach_repeat_controller.cpp
@@ -28,13 +28,13 @@ void TeachRepeatController::configure(
   logger_ = node->get_logger();
   clock_ = node->get_clock();
 
-  declare_parameter_if_not_declared(
+  nav2_util::declare_parameter_if_not_declared(
     node, plugin_name_ + ".desired_linear_vel", rclcpp::ParameterValue(
       1.0));
-  declare_parameter_if_not_declared(
+  nav2_util::declare_parameter_if_not_declared(
     node, plugin_name_ + ".max_angular_vel", rclcpp::ParameterValue(
       1.0));
-  declare_parameter_if_not_declared(
+  nav2_util::declare_parameter_if_not_declared(
     node, plugin_name_ + ".vel_cmd_topic_", rclcpp::ParameterValue(
       "/teach_repeat/vel_cmd"));
 
@@ -64,15 +64,13 @@ void TeachRepeatController::activate() {
     logger_,
     "Activating controller: %s of type teach_repeat_controller::TeachRepeatController\"  %s",
     plugin_name_.c_str(),plugin_name_.c_str());
-  // global_pub_->on_activate();
 }
 
 void TeachRepeatController::deactivate() {
   RCLCPP_INFO(
     logger_,
     "Dectivating controller: %s of type teach_repeat_controller::TeachRepeatController\"  %s",
     plugin_name_.c_str(),plugin_name_.c_str());
-  // global_pub_->on_deactivate();
 }
 
 void TeachRepeatController::setSpeedLimit(const double& speed_limit, const bool& percentage) {
@@ -82,7 +80,7 @@ void TeachRepeatController::setSpeedLimit(const double& speed_limit, const bool&
 
 geometry_msgs::msg::TwistStamped TeachRepeatController::computeVelocityCommands(
   const geometry_msgs::msg::PoseStamped & pose,
-  const geometry_msgs::msg::TwistStamped & velocity,
+  const geometry_msgs::msg::Twist & velocity,
   nav2_core::GoalChecker * goal_checker) {
   (void)velocity;
   (void)goal_checker;