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Merge branch 'main' into issue209
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@whoenig
whoenig committed Nov 16, 2023
2 parents b22d988 + ad90477 commit 5cb9a91
Showing 1 changed file with 7 additions and 2 deletions.
9 changes: 7 additions & 2 deletions crazyflie/src/crazyflie_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,11 @@ class CrazyflieROS
subscription_cmd_position_ = node->create_subscription<crazyflie_interfaces::msg::Position>(name + "/cmd_position", rclcpp::SystemDefaultsQoS(), std::bind(&CrazyflieROS::cmd_position_changed, this, _1), sub_opt_cf_cmd);

// spinning timer
spin_timer_ = node->create_wall_timer(std::chrono::milliseconds(100), std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv);
// used to process all incoming radio messages
spin_timer_ =
node->create_wall_timer(
std::chrono::milliseconds(1),
std::bind(&CrazyflieROS::spin_once, this), callback_group_cf_srv);

// link statistics
warning_freq_ = node->get_parameter("warnings.frequency").get_parameter_value().get<float>();
Expand Down Expand Up @@ -380,7 +384,8 @@ class CrazyflieROS

void spin_once()
{
cf_.spin_once();
// process all packets from the receive queue
cf_.processAllPackets();

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@boomer319

boomer319 Nov 19, 2023

@whoenig I ran into an error while building because of this.
I have my own fork of crazyswarm2.
Is there something else I forgot to update?

--- stderr: crazyflie                               
.../ros2_ws/src/verrueckterschwarm2/crazyflie/src/crazyflie_server.cpp: In member function ‘void CrazyflieROS::spin_once()’:
.../ros2_ws/src/verrueckterschwarm2/crazyflie/src/crazyflie_server.cpp:375:9: error: ‘class Crazyflie’ has no member named ‘processAllPackets’; did you mean ‘processPacket’?
  375 |     cf_.processAllPackets();
      |         ^~~~~~~~~~~~~~~~~
      |         processPacket
gmake[2]: *** [CMakeFiles/crazyflie_server.dir/build.make:76: CMakeFiles/crazyflie_server.dir/src/crazyflie_server.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:233: CMakeFiles/crazyflie_server.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< crazyflie [23.6s, exited with code 2]

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@whoenig

whoenig Nov 20, 2023

Author

You likely forgot to update your submodules: git submodule update --recursive.

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@boomer319

boomer319 Nov 20, 2023

You are right. Building works now. Thanks a lot!
}

std::string broadcastUri() const
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