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Change variable types to make Colcon happy

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This commit is contained in:
Travis Mendoza 2025-08-25 17:07:40 -07:00
parent 0f774ae122
commit 7e6ef5ca91
2 changed files with 8 additions and 6 deletions
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2
turtlebot3_node/include/turtlebot3_node/sensors/analog_pins.hpp
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@ -43,7 +43,7 @@ public:
private:
rclcpp::Publisher<std_msgs::msg::UInt16MultiArray>::SharedPtr analog_publisher_;
std::vector<int> configured_pins_; // Which pins to read from
std::vector<int64_t> configured_pins_; // Which pins to read from
};
} // namespace sensors
} // namespace turtlebot3

12
turtlebot3_node/src/sensors/analog_pins.cpp
View File

@ -18,6 +18,8 @@
#include <string>
#include <utility>
#include "turtlebot3_node/control_table.hpp"
using robotis::turtlebot3::sensors::AnalogPins;
AnalogPins::AnalogPins(
@ -30,13 +32,13 @@ AnalogPins::AnalogPins(
analog_publisher_ = nh->create_publisher<std_msgs::msg::UInt16MultiArray>(topic_name, qos);
// Read analog pin configuration from parameters
nh->declare_parameter<std::vector<int>>("sensors.analog_pins");
nh->get_parameter_or<std::vector<int>>("sensors.analog_pins", configured_pins_, {0, 1, 2, 3, 4, 5});
nh->declare_parameter<std::vector<int64_t>>("sensors.analog_pins");
nh->get_parameter_or<std::vector<int64_t>>("sensors.analog_pins", configured_pins_, {0, 1, 2, 3, 4, 5});
// Validate pin numbers (must be 0-5)
for (auto pin : configured_pins_) {
if (pin < 0 || pin > 5) {
RCLCPP_WARN(nh->get_logger(), "Invalid analog pin %d, must be 0-5", pin);
RCLCPP_WARN(nh->get_logger(), "Invalid analog pin %ld, must be 0-5", pin);
}
}
@ -73,7 +75,7 @@ void AnalogPins::publish(
analog_msg->data.resize(configured_pins_.size());
// Array of control table entries for easy access
const auto* analog_entries[] = {
const robotis::turtlebot3::ControlItem* analog_entries[] = {
&extern_control_table.analog_a0,
&extern_control_table.analog_a1,
&extern_control_table.analog_a2,
@ -84,7 +86,7 @@ void AnalogPins::publish(
// Read values only from configured pins
for (size_t i = 0; i < configured_pins_.size(); ++i) {
int pin = configured_pins_[i];
int pin = static_cast<int>(configured_pins_[i]);
if (pin >= 0 && pin <= 5) {
analog_msg->data[i] = dxl_sdk_wrapper->get_data_from_device<uint16_t>(
analog_entries[pin]->addr,