Merge pull request #3 from robotology/fixcompatyarp310

Fix compatibility with YARP 3.10
robotology · Oct 11, 2024 · 5aa2269 · 5aa2269
2 parents e98fcc3 + 1e6d30b
commit 5aa2269
Show file tree

Hide file tree

Showing 3 changed files with 27 additions and 8 deletions.
diff --git a/src/devices/Rangefinder2D_nws_ros/Rangefinder2D_nws_ros.h b/src/devices/Rangefinder2D_nws_ros/Rangefinder2D_nws_ros.h
@@ -25,7 +25,6 @@
 
 #include <yarp/sig/Vector.h>
 
-#include <yarp/dev/LaserScan2D.h>
 #include <yarp/dev/IRangefinder2D.h>
 #include <yarp/dev/PolyDriver.h>
 #include <yarp/dev/DeviceDriver.h>

diff --git a/src/devices/laserFromRosTopic/LaserFromRosTopic.cpp b/src/devices/laserFromRosTopic/LaserFromRosTopic.cpp
@@ -97,7 +97,7 @@ void InputPortProcessor::onRead(yarp::rosmsg::sensor_msgs::LaserScan& b)
     m_port_mutex.unlock();
 }
 
-inline void InputPortProcessor::getLast(yarp::dev::LaserScan2D& data, Stamp& stmp)
+inline void InputPortProcessor::getLast(yarp::sig::LaserScan2D& data, Stamp& stmp)
 {
     //this blocks untils the first data is received;
     size_t counter =0;
@@ -336,7 +336,7 @@ bool LaserFromRosTopic::threadInit()
     return true;
 }
 
-void LaserFromRosTopic::calculate(yarp::dev::LaserScan2D scan_data, yarp::sig::Matrix m)
+void LaserFromRosTopic::calculate(yarp::sig::LaserScan2D scan_data, yarp::sig::Matrix m)
 {
     yarp::sig::Vector temp(3);
     temp = yarp::math::dcm2rpy(m);

diff --git a/src/devices/laserFromRosTopic/LaserFromRosTopic.h b/src/devices/laserFromRosTopic/LaserFromRosTopic.h
@@ -14,7 +14,6 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/IRangefinder2D.h>
-#include <yarp/dev/LaserScan2D.h>
 #include <yarp/dev/Lidar2DDeviceBase.h>
 #include <yarp/sig/Vector.h>
 #include <yarp/dev/IFrameTransform.h>
@@ -30,6 +29,27 @@
 #include <string>
 #include <vector>
 
+// Compatibility with both YARP 3.9 and 3.10
+// See https://github.com/robotology/yarp/pull/3130
+#if __has_include (<yarp/dev/LaserScan2D.h>)
+
+// YARP 3.9 case
+#include <yarp/dev/LaserScan2D.h>
+
+namespace yarp {
+namespace sig {
+typedef yarp::dev::LaserScan2D LaserScan2D;
+}
+}
+
+#else
+
+// YARP 3.10 case
+#include <yarp/sig/LaserScan2D.h>
+
+#endif
+
+
 typedef unsigned char byte;
 
 //---------------------------------------------------------------------------------------------------------------
@@ -44,7 +64,7 @@ class InputPortProcessor :
     public yarp::os::Subscriber<yarp::rosmsg::sensor_msgs::LaserScan>
 {
     std::mutex             m_port_mutex;
-    yarp::dev::LaserScan2D m_lastScan;
+    yarp::sig::LaserScan2D m_lastScan;
     yarp::os::Stamp        m_lastStamp;
     bool                   m_contains_data;
 
@@ -60,7 +80,7 @@ class InputPortProcessor :
     InputPortProcessor();
     using yarp::os::Subscriber<yarp::rosmsg::sensor_msgs::LaserScan>::onRead;
     virtual void onRead(yarp::rosmsg::sensor_msgs::LaserScan& v) override;
-    void getLast(yarp::dev::LaserScan2D& data, yarp::os::Stamp& stmp);
+    void getLast(yarp::sig::LaserScan2D& data, yarp::os::Stamp& stmp);
 };
 
 /**
@@ -78,7 +98,7 @@ class LaserFromRosTopic : public yarp::dev::Lidar2DDeviceBase,
     yarp::os::Node*                 m_ros_node = nullptr;
     std::vector<InputPortProcessor> m_input_ports;
     std::vector <yarp::os::Stamp>        m_last_stamp;
-    std::vector <yarp::dev::LaserScan2D> m_last_scan_data;
+    std::vector <yarp::sig::LaserScan2D> m_last_scan_data;
     yarp::dev::PolyDriver                m_tc_driver;
     yarp::dev::IFrameTransform*          m_iTc = nullptr;
 
@@ -87,7 +107,7 @@ class LaserFromRosTopic : public yarp::dev::Lidar2DDeviceBase,
     yarp::sig::Vector                    m_empty_laser_data;
     base_enum                            m_base_type;
 
-    void calculate(yarp::dev::LaserScan2D scan, yarp::sig::Matrix m);
+    void calculate(yarp::sig::LaserScan2D scan, yarp::sig::Matrix m);
 
 public:
     LaserFromRosTopic(double period = 0.01) : Lidar2DDeviceBase(), PeriodicThread(period)