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Fix up warnings and errors from latest Rolling releases. #99

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Apr 13, 2022
Merged

Fix up warnings and errors from latest Rolling releases. #99

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110b91e
Fix up warnings and errors from latest Rolling releases.
clalancette Apr 13, 2022
3dbecf1
Feedback from review.
clalancette Apr 13, 2022
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2 changes: 1 addition & 1 deletion ros2_ouster/include/ros2_ouster/conversions.hpp
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Expand Up @@ -29,7 +29,7 @@
#include "sensor_msgs/msg/imu.hpp"
#include "sensor_msgs/msg/laser_scan.hpp"
#include "tf2/LinearMath/Transform.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "ouster_msgs/msg/metadata.hpp"

#include "ros2_ouster/client/client.h"
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4 changes: 2 additions & 2 deletions ros2_ouster/src/ouster_driver.cpp
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Expand Up @@ -48,8 +48,8 @@ OusterDriver::OusterDriver(
this->declare_parameter("proc_mask", std::string("IMG|PCL|IMU|SCAN"));

// Declare parameters used across ALL _sensor_ implementations
this->declare_parameter("lidar_ip");
this->declare_parameter("computer_ip");
this->declare_parameter("lidar_ip", std::string(""));
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@SteveMacenski SteveMacenski Apr 13, 2022 •
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I intentionally don't want a default, is there not an API that sets the type without setting the value to something? I would like it to crash immediately if its not provided with a valid set of IPs. I don't want to even attempt to connect to a bogus address since the networking aspects of sensors are generally limited and I'm not sure it would successfully exit as invalid.

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Hm, maybe. Let me play around with setting the type via templating to see if that is happier.

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Yep, that works. See 3dbecf1 .

this->declare_parameter("computer_ip", std::string(""));
this->declare_parameter("imu_port", 7503);
this->declare_parameter("lidar_port", 7502);
this->declare_parameter("lidar_mode", std::string("512x10"));
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