fix: build on jazzy

Greenroom-Robotics · Aug 12, 2024 · 94b0767 · 94b0767
1 parent 4ef0f32
commit 94b0767
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Showing 3 changed files with 18 additions and 660 deletions.
diff --git a/ros2/CMakeLists.txt b/ros2/CMakeLists.txt
@@ -80,14 +80,18 @@ if(BUILD_LIBRARY)
     add_library(${PROJECT_NAME}
         SHARED
             src/Factory.cpp
-            $<IF:$<STREQUAL:"${IS_ROS2_DISTRO}","foxy">,src/SystemHandle__foxy.cpp,src/SystemHandle.cpp>
+            src/SystemHandle.cpp
             src/MetaPublisher.cpp
         )
 
     if (Sanitizers_FOUND)
         add_sanitizers(${PROJECT_NAME})
     endif()
 
+    if($ENV{ROS_DISTRO} STREQUAL "iron")
+        add_definitions(-DROS_IRON)
+    endif()
+
     set_target_properties(${PROJECT_NAME} PROPERTIES
         VERSION
             ${PROJECT_VERSION}

diff --git a/ros2/src/MetaPublisher.cpp b/ros2/src/MetaPublisher.cpp
@@ -158,16 +158,26 @@ class MetaSubscriber
 
       _subscription = node.create_generic_subscription(
               _topic_name, _message_type.name(), qos_profile,
-              [=](const std::shared_ptr<rclcpp::SerializedMessage>& msg) {
-                  this->subscription_callback(msg);
+              #ifdef ROS_IRON
+              [=](const std::shared_ptr<rclcpp::SerializedMessage> msg) {
+                  this->subscription_callback(msg, message_info);
               },
+              #else
+              [=](const std::shared_ptr<rclcpp::SerializedMessage> msg, const rclcpp::MessageInfo& message_info) {
+                  this->subscription_callback(msg, message_info);
+              },
+              #endif
               subscription_options);
     }
 
 private:
 
     void subscription_callback(
-            const std::shared_ptr<rclcpp::SerializedMessage>& msg)
+        #ifdef ROS_IRON
+            const std::shared_ptr<rclcpp::SerializedMessage> msg)
+        #else
+            const std::shared_ptr<rclcpp::SerializedMessage> msg, [[maybe_unused]] const rclcpp::MessageInfo & message_info)
+        #endif
     {
       logger_ << utils::Logger::Level::DEBUG
              << "Receiving message from ROS 2 for topic '"