Update API according to recent upstream deprecations

Author: evan-palmer

ardusub_manager/CMakeLists.txt

@@ -7,21 +7,14 @@ endif()
 
 include(GNUInstallDirs)
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-    rclcpp
-    rclcpp_lifecycle
-    tf2
-    tf2_ros
-    mavros_msgs
-    geometry_msgs
-    geographic_msgs
-)
-
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-    find_package(${Dependency} REQUIRED)
-endforeach()
-
 find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(mavros_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(geographic_msgs REQUIRED)
 find_package(generate_parameter_library REQUIRED)
 
 generate_parameter_library(ardusub_manager_parameters
@@ -30,9 +23,18 @@ generate_parameter_library(ardusub_manager_parameters
 
 add_executable(ardusub_manager)
 target_sources(ardusub_manager PRIVATE src/ardusub_manager.cpp)
-
-ament_target_dependencies(ardusub_manager PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-target_link_libraries(ardusub_manager PUBLIC ardusub_manager_parameters)
+target_link_libraries(
+    ardusub_manager
+    PUBLIC
+        ${mavros_msgs_TARGETS}
+        ${geometry_msgs_TARGETS}
+        ${geographic_msgs_TARGETS}
+        ardusub_manager_parameters
+        rclcpp::rclcpp
+        rclcpp_lifecycle::rclcpp_lifecycle
+        tf2::tf2
+        tf2_ros::tf2_ros
+)
 target_compile_features(ardusub_manager PUBLIC cxx_std_23)
 
 install(

ardusub_manager/src/ardusub_manager.hpp

@@ -26,7 +26,7 @@
 #include "mavros_msgs/srv/message_interval.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
-#include "tf2_ros/transform_broadcaster.h"
+#include "tf2_ros/transform_broadcaster.hpp"
 
 // auto-generated by generate_parameter_library
 #include <ardusub_manager/ardusub_manager_parameters.hpp>

thruster_hardware/CMakeLists.txt

@@ -7,21 +7,14 @@ endif()
 
 include(GNUInstallDirs)
 
-set(THIS_PACKAGE_INCLUDE_DEPENDS
-    rclcpp
-    rclcpp_lifecycle
-    pluginlib
-    hardware_interface
-    mavros_msgs
-    rcl_interfaces
-    rclcpp_lifecycle
-    realtime_tools
-)
-
 find_package(ament_cmake REQUIRED)
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-    find_package(${Dependency} REQUIRED)
-endforeach()
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(mavros_msgs REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(realtime_tools REQUIRED)
 
 add_library(thruster_hardware SHARED)
 target_sources(
@@ -34,7 +27,18 @@ target_sources(
             ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_hardware/thruster_hardware.hpp
 )
 target_compile_features(thruster_hardware PUBLIC cxx_std_23)
-ament_target_dependencies(thruster_hardware PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(
+    thruster_hardware
+    PUBLIC
+        ${mavros_msgs_TARGETS}
+        ${rcl_interfaces_TARGETS}
+        rclcpp::rclcpp
+        rclcpp_lifecycle::rclcpp_lifecycle
+        pluginlib::pluginlib
+        hardware_interface::hardware_interface
+        realtime_tools::realtime_tools
+)
+
 pluginlib_export_plugin_description_file(hardware_interface thruster_hardware.xml)
 
 install(
@@ -47,6 +51,14 @@ install(
 )
 
 ament_export_targets(export_thruster_hardware HAS_LIBRARY_TARGET)
-ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
+ament_export_dependencies(
+    "rclcpp"
+    "rclcpp_lifecycle"
+    "pluginlib"
+    "hardware_interface"
+    "mavros_msgs"
+    "rcl_interfaces"
+    "realtime_tools"
+)
 
 ament_package()

thruster_hardware/include/thruster_hardware/thruster_hardware.hpp

@@ -75,6 +75,9 @@ class ThrusterHardware : public hardware_interface::SystemInterface
   std::shared_ptr<rclcpp::Client<rcl_interfaces::srv::SetParameters>> set_params_client_;
   std::unordered_map<std::string, ThrusterConfig> thruster_configs_;
 
+  // maintain a message so that we don't have to allocate one every time we write to the hardware
+  mavros_msgs::msg::OverrideRCIn rc_override_msg_;
+
   // the write loop run regardless of whether or not the hardware is active
   // so we need to keep track of this to ensure that we only send commands when the hardware is active
   bool is_active_{false};

thruster_hardware/src/thruster_hardware.cpp

@@ -75,7 +75,7 @@ auto ThrusterHardware::on_init(const hardware_interface::HardwareComponentInterf
 
     // store the thruster configurations
     ThrusterConfig config;
-    config.param.name = name;
+    config.param.name = std::to_string(name);
     config.param.value.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
     config.param.value.integer_value = default_value;
     config.channel = channel;
@@ -104,11 +104,9 @@ auto ThrusterHardware::on_configure(const rclcpp_lifecycle::State & /*previous_s
   rt_override_rc_pub_ =
     std::make_unique<realtime_tools::RealtimePublisher<mavros_msgs::msg::OverrideRCIn>>(override_rc_pub_);
 
-  rt_override_rc_pub_->lock();
-  for (auto & channel : rt_override_rc_pub_->msg_.channels) {
+  for (auto & channel : rc_override_msg_.channels) {
     channel = mavros_msgs::msg::OverrideRCIn::CHAN_NOCHANGE;
   }
-  rt_override_rc_pub_->unlock();
 
   // configure a service client to set the ardusub thruster parameters
   using namespace std::chrono_literals;
@@ -127,11 +125,12 @@ auto ThrusterHardware::on_configure(const rclcpp_lifecycle::State & /*previous_s
 // NOLINTNEXTLINE(readability-convert-member-functions-to-static)
 auto ThrusterHardware::stop_thrusters() -> void
 {
-  if (rt_override_rc_pub_ && rt_override_rc_pub_->trylock()) {
-    for (const auto & [name, config] : thruster_configs_) {
-      rt_override_rc_pub_->msg_.channels[config.channel - 1] = config.neutral_pwm;
-    }
-    rt_override_rc_pub_->unlockAndPublish();
+  for (const auto & [name, config] : thruster_configs_) {
+    rc_override_msg_.channels[config.channel - 1] = config.neutral_pwm;
+  }
+
+  if (rt_override_rc_pub_ && rt_override_rc_pub_->can_publish()) {
+    rt_override_rc_pub_->try_publish(rc_override_msg_);
   }
 }
 
@@ -252,17 +251,18 @@ auto ThrusterHardware::write(const rclcpp::Time & /*time*/, const rclcpp::Durati
     return hardware_interface::return_type::OK;
   }
 
-  if (rt_override_rc_pub_ && rt_override_rc_pub_->trylock()) {
-    for (const auto & [name, desc] : joint_command_interfaces_) {
-      const auto command = get_command(name);
-      if (std::isnan(command)) {
-        continue;
-      }
-
-      const auto config = thruster_configs_.at(desc.prefix_name);
-      rt_override_rc_pub_->msg_.channels[config.channel - 1] = static_cast<int>(command);
+  for (const auto & [name, desc] : joint_command_interfaces_) {
+    const auto command = get_command(name);
+    if (std::isnan(command)) {
+      continue;
     }
-    rt_override_rc_pub_->unlockAndPublish();
+
+    const auto config = thruster_configs_.at(desc.prefix_name);
+    rc_override_msg_.channels[config.channel - 1] = static_cast<int>(command);
+  }
+
+  if (rt_override_rc_pub_ && rt_override_rc_pub_->can_publish()) {
+    rt_override_rc_pub_->try_publish(rc_override_msg_);
   }
 
   return hardware_interface::return_type::OK;