failing 5

usdot-fhwa-stol · Nov 22, 2024 · 6d51fae · 6d51fae
1 parent 5708a54
commit 6d51fae
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Showing 17 changed files with 13 additions and 13 deletions.
diff --git a/arbitrator/include/arbitrator.hpp b/arbitrator/include/arbitrator.hpp
@@ -60,7 +60,7 @@ class Arbitrator
     std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> nh,
     std::shared_ptr<ArbitratorStateMachine> sm, std::shared_ptr<CapabilitiesInterface> ci,
     std::shared_ptr<PlanningStrategy> planning_strategy, rclcpp::Duration min_plan_duration,
-    double planning_period, carma_wm::WorldModelConstPtr wm)
+    rclcpp::Duration planning_period, carma_wm::WorldModelConstPtr wm)
   : sm_(sm),
     nh_(nh),
     min_plan_duration_(min_plan_duration),

diff --git a/arbitrator/src/arbitrator.cpp b/arbitrator/src/arbitrator.cpp
@@ -211,7 +211,7 @@ void Arbitrator::twist_cb(geometry_msgs::msg::TwistStamped::UniquePtr msg)
 
 void Arbitrator::initializeBumperTransformLookup()
 {
-  tf2_listener_->reset(*tf2_buffer_);
+  tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
   tf2_buffer_->setUsingDedicatedThread(true);
 }
 }  // namespace arbitrator
diff --git a/arbitrator/src/arbitrator_node.cpp b/arbitrator/src/arbitrator_node.cpp
@@ -86,7 +86,7 @@ carma_ros2_utils::CallbackReturn ArbitratorNode::handle_on_configure(
     shared_from_this(), std::make_shared<ArbitratorStateMachine>(sm), ci,
     std::make_shared<TreePlanner>(tp),
     rclcpp::Duration::from_nanoseconds(config_.min_plan_duration * 1e9),
-    1 / config_.planning_frequency, wm_);
+    rclcpp::Duration::from_nanoseconds(1 / config_.planning_frequency * 1e9), wm_);
 
   twist_sub_ = create_subscription<geometry_msgs::msg::TwistStamped>(
     "current_velocity", 1,

diff --git a/lci_strategic_plugin/src/lci_strategic_plugin.cpp b/lci_strategic_plugin/src/lci_strategic_plugin.cpp
@@ -252,7 +252,7 @@ bool LCIStrategicPlugin::supportedLightState(lanelet::CarmaTrafficSignalState st
 
 void LCIStrategicPlugin::lookupFrontBumperTransform()
 {
-  tf2_listener_->reset(new tf2_ros::TransformListener(*tf2_buffer_));
+  tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
   tf2_buffer_->setUsingDedicatedThread(true);
   try {
     geometry_msgs::msg::TransformStamped tf2 = tf2_buffer_->lookupTransform(

diff --git a/plan_delegator/src/plan_delegator.cpp b/plan_delegator/src/plan_delegator.cpp
@@ -884,7 +884,7 @@ void PlanDelegator::onTrajPlanTick()
 
 void PlanDelegator::lookupFrontBumperTransform()
 {
-  tf2_listener_->reset(new tf2_ros::TransformListener(*tf2_buffer_));
+  tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
   tf2_buffer_->setUsingDedicatedThread(true);
   try {
     geometry_msgs::msg::TransformStamped tf = tf2_buffer_->lookupTransform(

diff --git a/platooning_strategic_ihp/CMakeLists.txt b/platooning_strategic_ihp/CMakeLists.txt
@@ -43,8 +43,8 @@ include_directories(
 # Build
 ament_auto_add_library(${node_lib} SHARED
         src/platoon_manager_ihp.cpp
-        src/platoon_strategic_ihp_node.cpp
-        src/platoon_strategic_ihp.cpp
+        src/platooning_strategic_ihp_node.cpp
+        src/platooning_strategic_ihp.cpp
 )
 
 ament_auto_add_executable(${node_exec}

diff --git a/...latoon_strategic_ihp/platoon_config_ihp.h → ...ooning_strategic_ihp/platoon_config_ihp.h b/...latoon_strategic_ihp/platoon_config_ihp.h → ...ooning_strategic_ihp/platoon_config_ihp.h
diff --git a/...atoon_strategic_ihp/platoon_manager_ihp.h → ...oning_strategic_ihp/platoon_manager_ihp.h b/...atoon_strategic_ihp/platoon_manager_ihp.h → ...oning_strategic_ihp/platoon_manager_ihp.h
diff --git a/...oon_strategic_ihp/platoon_strategic_ihp.h → ..._strategic_ihp/platooning_strategic_ihp.h b/...oon_strategic_ihp/platoon_strategic_ihp.h → ..._strategic_ihp/platooning_strategic_ihp.h
diff --git a/...c_ihp/platoon_strategic_plugin_node_ihp.h → ...hp/platooning_strategic_plugin_node_ihp.h b/...c_ihp/platoon_strategic_plugin_node_ihp.h → ...hp/platooning_strategic_plugin_node_ihp.h
@@ -28,7 +28,7 @@
 #include <functional>
 
 #include "platoon_config_ihp.h"
-#include "platooning_strategic_ihp.h"
+#include "platooniing_strategic_ihp.h"
 #include <carma_guidance_plugins/strategic_plugin.hpp>
 #include <carma_wm/WMListener.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/...hp/launch/platoon_strategic_ihp_launch.py → ...launch/platooning_strategic_ihp_launch.py b/...hp/launch/platoon_strategic_ihp_launch.py → ...launch/platooning_strategic_ihp_launch.py
diff --git a/platooning_strategic_ihp/src/main.cpp b/platooning_strategic_ihp/src/main.cpp
@@ -14,7 +14,7 @@
  * the License.
  */
 
-#include "platooning_strategic_ihp/platoon_strategic_plugin_node_ihp.h"
+#include "platooning_strategic_ihp/platooning_strategic_plugin_node_ihp.h"
 #include <rclcpp/rclcpp.hpp>
 
 int main(int argc, char ** argv)

diff --git a/...rategic_ihp/src/platoon_strategic_ihp.cpp → ...egic_ihp/src/platooning_strategic_ihp.cpp b/...rategic_ihp/src/platoon_strategic_ihp.cpp → ...egic_ihp/src/platooning_strategic_ihp.cpp
diff --git a/...ic_ihp/src/platoon_strategic_ihp_node.cpp → ...ihp/src/platooning_strategic_ihp_node.cpp b/...ic_ihp/src/platoon_strategic_ihp_node.cpp → ...ihp/src/platooning_strategic_ihp_node.cpp
@@ -13,7 +13,7 @@
  * License for the specific language governing permissions and limitations under
  * the License.
  */
-#include "platooning_strategic_ihp/platoon_strategic_plugin_node_ihp.h"
+#include "platooning_strategic_ihp/platooning_strategic_plugin_node_ihp.h"
 #include <carma_ros2_utils/timers/ROSTimerFactory.hpp>
 #include <carma_ros2_utils/timers/TimerFactory.hpp>
 

diff --git a/platooning_strategic_ihp/test/main_test.cpp b/platooning_strategic_ihp/test/main_test.cpp
@@ -21,7 +21,7 @@
 #include <memory>
 #include <thread>
 
-#include "platooning_strategic_ihp/platoon_strategic_plugin_node_ihp.h"
+#include "platooning_strategic_ihp/platooning_strategic_plugin_node_ihp.h"
 
 int main(int argc, char ** argv)
 {

diff --git a/route/src/route_generator_worker.cpp b/route/src/route_generator_worker.cpp
@@ -490,7 +490,7 @@ bool RouteGeneratorWorker::abortActiveRouteCb(
 
 void RouteGeneratorWorker::initializeBumperTransformLookup()
 {
-  tf2_listener_->reset(new tf2_ros::TransformListener(*tf2_buffer_));
+  tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
   tf2_buffer_->setUsingDedicatedThread(true);
 }
 

diff --git a/route_following_plugin/src/route_following_plugin.cpp b/route_following_plugin/src/route_following_plugin.cpp
@@ -958,7 +958,7 @@ double RouteFollowingPlugin::findSpeedLimit(const lanelet::ConstLanelet & llt)
 
 void RouteFollowingPlugin::initializeBumperTransformLookup()
 {
-  tf2_listener_->reset(new tf2_ros::TransformListener(*tf2_buffer_));
+  tf2_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf2_buffer_);
   tf2_buffer_->setUsingDedicatedThread(true);
 }