Create ros-humble-webots-ros2-control.patch

RoboStack · Feb 3, 2024 · 54b5701 · 54b5701
1 parent b908bec
commit 54b5701
Showing 1 changed file with 22 additions and 0 deletions.
diff --git a/patch/ros-humble-webots-ros2-control.patch b/patch/ros-humble-webots-ros2-control.patch
@@ -0,0 +1,22 @@
+diff --git a/webots_ros2_control/src/Ros2Control.cpp b/webots_ros2_control/src/Ros2Control.cpp
+index fca501e86..fa414b150 100644
+--- a/webots_ros2_control/src/Ros2Control.cpp
++++ b/webots_ros2_control/src/Ros2Control.cpp
+@@ -78,7 +78,7 @@ namespace webots_ros2_control {
+     }
+     for (unsigned int i = 0; i < controlHardware.size(); i++) {
+ // Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (#590)
+-#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
++#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 || HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
+       const std::string pluginName = controlHardware[i].hardware_plugin_name;
+       auto webotsSystem =
+         std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(mHardwareLoader->createUnmanagedInstance(pluginName));
+@@ -93,7 +93,7 @@ namespace webots_ros2_control {
+ // Configure and activate all components
+ // Necessary hotfix for deprecation of component activation present in "hardware_interface" package for versions above 3.15
+ // (#793)
+-#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 15
++#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 || HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 15
+       using lifecycle_msgs::msg::State;
+       rclcpp_lifecycle::State active_state(State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
+       resourceManager->set_component_state(controlHardware[i].name, active_state);