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Remove the default all signal handler to avoid signal_handler message and FULL ROS MESSAGE QUEUE error #456

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merged 7 commits into from
Nov 25, 2024
Merged

Remove the default all signal handler to avoid signal_handler message and FULL ROS MESSAGE QUEUE error #456

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d1ed3c3
Avoid signint handler message and error concerning FULL ROS MESSAGGE …
ThomasDuvinage Jul 30, 2024
76f5f24
move automated added includes
ThomasDuvinage Jul 31, 2024
9f35846
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Jul 31, 2024
20291a7
[cmake] update find_description_package to find ROS2 description inst…
ThomasDuvinage Oct 7, 2024
54b6d01
move ros2 include to define ros2 scope
ThomasDuvinage Oct 7, 2024
6cc2c9a
merge ros2 include changes
ThomasDuvinage Oct 7, 2024
5d5fadd
[pre-commit.ci] auto fixes from pre-commit.com hooks
pre-commit-ci[bot] Oct 7, 2024
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6 changes: 2 additions & 4 deletions plugins/ROS/src/mc_rtc_ros/ros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,11 +18,9 @@
# include <sensor_msgs/msg/joint_state.hpp>
# include <std_msgs/msg/string.hpp>

# include <rclcpp/init_options.hpp>
# include <rclcpp/rclcpp.hpp>
#else
# include <geometry_msgs/WrenchStamped.h>
# include <mc_rtc_msgs/JointSensors.h>
# include <nav_msgs/Odometry.h>
# include <sensor_msgs/Imu.h>
# include <sensor_msgs/JointState.h>

Expand Down Expand Up @@ -586,7 +584,7 @@ inline bool ros_init([[maybe_unused]] const std::string & name)
if(ros::ok()) { return true; }
int argc = 0;
#ifdef MC_RTC_ROS_IS_ROS2
rclcpp::init(argc, nullptr);
rclcpp::init(argc, nullptr, rclcpp::InitOptions(), rclcpp::SignalHandlerOptions::SigTerm);
#else
ros::init(argc, nullptr, name.c_str(), ros::init_options::NoSigintHandler);
if(!ros::master::check())
Expand Down
12 changes: 8 additions & 4 deletions src/mc_rtcMacros.in.cmake
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Expand Up @@ -235,10 +235,14 @@ macro(find_description_package PACKAGE)
find_package(${PACKAGE} REQUIRED)
if("${${PACKAGE}_INSTALL_PREFIX}" STREQUAL "")
if("${${PACKAGE}_SOURCE_PREFIX}" STREQUAL "")
message(
FATAL_ERROR
"Your ${PACKAGE} does not define where to find the data, please update."
)
if("${${PACKAGE}_DIR}" STREQUAL "")
message(
FATAL_ERROR
"Your ${PACKAGE} does not define where to find the data, please update."
)
else()
set(${PACKAGE_PATH_VAR} "${${PACKAGE}_DIR}/..")
endif()
else()
set(${PACKAGE_PATH_VAR} "${${PACKAGE}_SOURCE_PREFIX}")
endif()
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