Use own implementation of stod (#428) (#446)

(cherry picked from commit c9742eb) Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
ros-controls · Feb 15, 2024 · 5496b18 · 5496b18
1 parent 8defca7
commit 5496b18
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Showing 4 changed files with 19 additions and 9 deletions.
diff --git a/example_14/hardware/rrbot_actuator_without_feedback.cpp b/example_14/hardware/rrbot_actuator_without_feedback.cpp
@@ -26,6 +26,7 @@
 #include <vector>
 
 #include "hardware_interface/actuator_interface.hpp"
+#include "hardware_interface/lexical_casts.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -41,8 +42,10 @@ hardware_interface::CallbackReturn RRBotActuatorWithoutFeedback::on_init(
  return hardware_interface::CallbackReturn::ERROR;
  }
  // START: This part here is for exemplary purposes - Please do not copy to your production code
- hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
- hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
+ hw_start_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
+ hw_stop_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
  socket_port_ = std::stoi(info_.hardware_parameters["example_param_socket_port"]);
  // END: This part here is for exemplary purposes - Please do not copy to your production code
 

diff --git a/example_14/hardware/rrbot_sensor_for_position_feedback.cpp b/example_14/hardware/rrbot_sensor_for_position_feedback.cpp
@@ -27,6 +27,7 @@
 #include <thread>
 #include <vector>
 
+#include "hardware_interface/lexical_casts.hpp"
 #include "hardware_interface/sensor_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
@@ -43,9 +44,11 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
  return hardware_interface::CallbackReturn::ERROR;
  }
  // START: This part here is for exemplary purposes - Please do not copy to your production code
- hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
- hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
- hw_slowdown_ = std::stod(info_.hardware_parameters["example_param_hw_slowdown"]);
+ hw_start_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
+ hw_stop_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
+ hw_slowdown_ = hardware_interface::stod(info_.hardware_parameters["example_param_hw_slowdown"]);
  socket_port_ = std::stoi(info_.hardware_parameters["example_param_socket_port"]);
  // END: This part here is for exemplary purposes - Please do not copy to your production code
 
@@ -151,7 +154,7 @@ hardware_interface::CallbackReturn RRBotSensorPositionFeedback::on_init(
  rclcpp::get_logger("RRBotSensorPositionFeedback"),
  "Read form buffer sockets data: '%s'", buffer);
 
- rt_incomming_data_ptr_.writeFromNonRT(std::stod(buffer));
+ rt_incomming_data_ptr_.writeFromNonRT(hardware_interface::stod(buffer));
  }
  else
  {

diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp
@@ -21,6 +21,7 @@
 #include <memory>
 #include <vector>
 
+#include "hardware_interface/lexical_casts.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/rclcpp.hpp"
 
@@ -37,8 +38,10 @@ hardware_interface::CallbackReturn DiffBotSystemHardware::on_init(
  }
 
  // BEGIN: This part here is for exemplary purposes - Please do not copy to your production code
- hw_start_sec_ = std::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
- hw_stop_sec_ = std::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
+ hw_start_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
+ hw_stop_sec_ =
+ hardware_interface::stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
  // END: This part here is for exemplary purposes - Please do not copy to your production code
  hw_positions_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
  hw_velocities_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());

diff --git a/example_8/hardware/rrbot_transmissions_system_position_only.cpp b/example_8/hardware/rrbot_transmissions_system_position_only.cpp
@@ -22,6 +22,7 @@
 #include <sstream>
 #include <vector>
 
+#include "hardware_interface/lexical_casts.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/logging.hpp"
@@ -51,7 +52,7 @@ hardware_interface::CallbackReturn RRBotTransmissionsSystemPositionOnlyHardware:
  return hardware_interface::CallbackReturn::ERROR;
  }
 
- actuator_slowdown_ = std::stod(info_.hardware_parameters["actuator_slowdown"]);
+ actuator_slowdown_ = hardware_interface::stod(info_.hardware_parameters["actuator_slowdown"]);
 
  const auto num_joints = std::accumulate(
  info_.transmissions.begin(), info_.transmissions.end(), 0ul,