Fixed time types and a few other merging errors while compiling execu…

…tive
traclabs · Dec 12, 2024 · 5b4b29c · 5b4b29c
1 parent f5f7c8d
commit 5b4b29c
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Showing 6 changed files with 9 additions and 26 deletions.
diff --git a/communications/ff_msgs/msg/CombinedNavState.msg b/communications/ff_msgs/msg/CombinedNavState.msg
@@ -15,7 +15,7 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 #
-Header header
+std_msgs/Header header
 geometry_msgs/PoseWithCovarianceStamped pose 
 VelocityWithCovariance velocity
 ImuBiasWithCovariance imu_bias

diff --git a/communications/ff_msgs/msg/CombinedNavStateArray.msg b/communications/ff_msgs/msg/CombinedNavStateArray.msg
@@ -15,5 +15,5 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 #
-Header header
+std_msgs/Header header
 CombinedNavState[] combined_nav_states
diff --git a/communications/ff_msgs/msg/PoseCovarianceStamped.msg b/communications/ff_msgs/msg/PoseCovarianceStamped.msg
@@ -17,4 +17,4 @@
 #
 
 float64[36] covariance
-time time
+builtin_interfaces/Time time
diff --git a/management/executive/CMakeLists.txt b/management/executive/CMakeLists.txt
@@ -140,13 +140,11 @@ install(TARGETS ${PROJECT_NAME}
 # Install C++ executables
 install(TARGETS data_to_disk_pub DESTINATION bin)
 install(TARGETS plan_pub DESTINATION bin)
-<<<<<<< HEAD
 install(TARGETS simple_move DESTINATION lib/${PROJECT_NAME})
 install(TARGETS teleop_tool RUNTIME DESTINATION lib/${PROJECT_NAME})
-#install(TARGETS zones_pub DESTINATION bin)
+install(TARGETS zones_pub DESTINATION lib/${PROJECT_NAME})
 #install(CODE "execute_process(
 #  COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME}
-#  COMMAND ln -s ../../bin/ekf_switch_mux share/${PROJECT_NAME}
 #  COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME}
 #  COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME}
 #  COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME}
@@ -155,21 +153,6 @@ install(TARGETS teleop_tool RUNTIME DESTINATION lib/${PROJECT_NAME})
 #  OUTPUT_QUIET
 #  ERROR_QUIET
 #  )")
-=======
-install(TARGETS simple_move DESTINATION bin)
-install(TARGETS teleop_tool DESTINATION bin)
-install(TARGETS zones_pub DESTINATION bin)
-install(CODE "execute_process(
-  COMMAND ln -s ../../bin/data_to_disk_pub share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/plan_pub share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/simple_move share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/teleop_tool share/${PROJECT_NAME}
-  COMMAND ln -s ../../bin/zones_pub share/${PROJECT_NAME}
-  WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}
-  OUTPUT_QUIET
-  ERROR_QUIET
-  )")
->>>>>>> upstream/develop
 
 # Mark launch files for installation
 install(DIRECTORY include/${PROJECT_NAME}

diff --git a/management/executive/include/executive/executive.h b/management/executive/include/executive/executive.h
@@ -346,14 +346,14 @@ class Executive : public ff_util::FreeFlyerComponent {
   FreeFlyerServiceClient<ff_hw_msgs::srv::ConfigurePayloadPower>
                                                           payload_power_client_;
   FreeFlyerServiceClient<ff_hw_msgs::srv::SetEnabled> pmc_enable_client_;
-  FreeFlyerServiceClient<ff_hw_msgs::srv::SetExposure> set_dock_cam_exposure_client_;
-  FreeFlyerServiceClient<ff_hw_msgs::srv::SetExposure> set_nav_cam_exposure_client_;
+  FreeFlyerServiceClient<ff_msgs::srv::SetExposure> set_dock_cam_exposure_client_;
+  FreeFlyerServiceClient<ff_msgs::srv::SetExposure> set_nav_cam_exposure_client_;
   FreeFlyerServiceClient<ff_msgs::srv::SetInertia> set_inertia_client_;
   FreeFlyerServiceClient<ff_msgs::srv::SetRate> set_rate_client_;
   FreeFlyerServiceClient<ff_msgs::srv::SetDataToDisk> set_data_client_;
   FreeFlyerServiceClient<ff_msgs::srv::EnableRecording>
                                                       enable_recording_client_;
-  FreeFlyerServiceClient<ff_msgs::srv::ResetMap> reset_map_client_
+  FreeFlyerServiceClient<ff_msgs::srv::ResetMap> reset_map_client_;
   FreeFlyerServiceClient<ff_hw_msgs::srv::ClearTerminate> eps_terminate_client_;
   FreeFlyerServiceClient<ff_msgs::srv::ResponseOnly>
                                     enable_astrobee_intercommunication_client_;

diff --git a/management/executive/src/executive.cc b/management/executive/src/executive.cc
@@ -1697,7 +1697,7 @@ bool Executive::AutoReturn(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
     // command is received without a berth, set it to 0
     if (cmd->args.size() != 1) {
       cmd->args.resize(1);
-      cmd->args[0].data_type = ff_msgs::CommandArg::DATA_TYPE_INT;
+      cmd->args[0].data_type = ff_msgs::msg::CommandArg::DATA_TYPE_INT;
       cmd->args[0].i = 1;
     }
     if (!FillDockGoal(cmd, true)) {
@@ -2650,7 +2650,7 @@ bool Executive::SetEnableReplan(
 }
 
 bool Executive::SetExposure(ff_msgs::msg::CommandStamped::SharedPtr const cmd) {
-  NODELET_INFO("Executive executing set exposure command!");
+  FF_INFO("Executive executing set exposure command!");
   std::string err_msg = "";
   uint8_t completed_status = ff_msgs::msg::AckCompletedStatus::EXEC_FAILED;
   bool successful = false;