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added conditioning to have rolling tags compilable in older versions #1422

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merged 3 commits into from
Mar 2, 2024
Merged

added conditioning to have rolling tags compilable in older versions #1422

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9d45200
added conditioning to have rolling tags compilable in older versions
saikishor Feb 29, 2024
31a0531
add comments on source-compatibility with Humble
saikishor Mar 1, 2024
24b9f05
Merge branch 'master' into rolling_compilable_in_humble
saikishor Mar 1, 2024
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7 changes: 7 additions & 0 deletions controller_interface/include/controller_interface/controller_interface_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,14 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
CONTROLLER_INTERFACE_PUBLIC
virtual rclcpp::NodeOptions define_custom_node_options() const
{
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 21
return rclcpp::NodeOptions().enable_logger_service(true);
#else
return rclcpp::NodeOptions()
.allow_undeclared_parameters(true)
.automatically_declare_parameters_from_overrides(true);
#endif
}

/// Declare and initialize a parameter with a type.
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14 changes: 14 additions & 0 deletions controller_manager/src/controller_manager.cpp
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Expand Up @@ -36,10 +36,24 @@ static constexpr const char * kChainableControllerInterfaceClassName =
"controller_interface::ChainableControllerInterface";

// Changed services history QoS to keep all so we don't lose any client service calls
// \note The versions conditioning is added here to support the source-compatibility with Humble
#if RCLCPP_VERSION_MAJOR >= 17
rclcpp::QoS qos_services =
rclcpp::QoS(rclcpp::QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 1))
.reliable()
.durability_volatile();
#else
static const rmw_qos_profile_t qos_services = {
RMW_QOS_POLICY_HISTORY_KEEP_ALL,
1, // message queue depth
RMW_QOS_POLICY_RELIABILITY_RELIABLE,
RMW_QOS_POLICY_DURABILITY_VOLATILE,
RMW_QOS_DEADLINE_DEFAULT,
RMW_QOS_LIFESPAN_DEFAULT,
RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
false};
#endif

inline bool is_controller_inactive(const controller_interface::ControllerInterfaceBase & controller)
{
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