Compile fix for upcomming changes to rclcpp::Executor (#668)

Signed-off-by: Janosch Machowinski <j.machowinski@nospam.org>

Author: jmachowinski

test_tf2/test/buffer_core_test.cpp

@@ -46,7 +46,7 @@ class PermuteOptionBase
 public:
   virtual void reset() = 0;
   virtual bool step() = 0;
-  virtual ~PermuteOptionBase() {};
+  virtual ~PermuteOptionBase() {}
 };
 
 
@@ -57,14 +57,14 @@ template<class T>
 class PermuteOption : public PermuteOptionBase
 {
 public:
-  PermuteOption(const std::vector<T>& options, T* output)
+  PermuteOption(const std::vector<T> & options, T * output)
   {
     options_ = options;
     output_ = output;
     reset();
   }
 
-  virtual ~PermuteOption(){};
+  virtual ~PermuteOption() {}
 
   void reset()
   {
@@ -77,8 +77,9 @@ class PermuteOption : public PermuteOptionBase
   {
     std::lock_guard<std::mutex> lock(access_mutex_);
     current_element_++;
-    if (current_element_ == options_.end())
+    if (current_element_ == options_.end()) {
       return false;
+    }
     *output_ = *current_element_;
     return true;
   }
@@ -87,7 +88,7 @@ class PermuteOption : public PermuteOptionBase
   /// Local storage of the possible values
   std::vector<T> options_;
   /// The output variable
-  T* output_;
+  T * output_;
   typedef typename std::vector<T>::iterator V_T_iterator;
   /// The last updated element
   V_T_iterator current_element_;
@@ -104,15 +105,15 @@ class Permuter
 {
 public:
   /** \brief Destructor to clean up allocated data */
-  virtual ~Permuter(){ clearAll();};
+  virtual ~Permuter() {clearAll();}
 
 
   /** \brief Add a set of values and an output to the iteration
    * @param values The set of possible values for this output
    * @param output The value to set at each iteration
    */
   template<class T>
-  void addOptionSet(const std::vector<T>& values, T* output)
+  void addOptionSet(const std::vector<T> & values, T * output)
   {
     std::lock_guard<std::mutex> lock(access_mutex_);
     options_.emplace_back(std::make_unique<PermuteOption<T>>(values, output));
@@ -123,8 +124,7 @@ class Permuter
   /** \brief Reset the internal counters */
   void reset()
   {
-    for (unsigned int level= 0; level < options_.size(); level++)
-    {
+    for (unsigned int level = 0; level < options_.size(); level++) {
       options_[level]->reset();
     }
   }
@@ -136,15 +136,11 @@ class Permuter
   {
     std::lock_guard<std::mutex> lock(access_mutex_);
     // base case just iterating
-    for (size_t level = 0; level < options_.size(); level++)
-    {
-      if(options_[level]->step())
-      {
+    for (size_t level = 0; level < options_.size(); level++) {
+      if (options_[level]->step()) {
         //printf("stepping level %d returning true \n", level);
         return true;
-      }
-      else
-      {
+      } else {
         //printf("reseting level %d\n", level);
         options_[level]->reset();
       }

test_tf2/test/permuter.hpp

@@ -52,15 +52,21 @@ static const double EPS = 1e-3;
 TEST(tf2_ros, buffer_client)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("tf_action_node");
-  std::unique_ptr<tf2_ros::BufferClient> client = std::make_unique<tf2_ros::BufferClient>(node, "tf_action");
+  std::unique_ptr<tf2_ros::BufferClient> client = std::make_unique<tf2_ros::BufferClient>(
+    node,
+    "tf_action");
 
   rclcpp::executors::SingleThreadedExecutor executor;
 
   executor.add_node(node);
 
+  std::cout << "FOOO" << std::endl;
+
   // Start spinning in a thread
   std::thread spin_thread = std::thread(
-    std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
+    [&executor]() {
+      executor.spin();
+    });
 
   //make sure that things are set up
   ASSERT_TRUE(client->waitForServer(std::chrono::seconds(4)));
@@ -72,19 +78,17 @@ TEST(tf2_ros, buffer_client)
   p1.point.y = 0.0;
   p1.point.z = 0.0;
 
-  try
-  {
+  try {
     geometry_msgs::msg::PointStamped p2 = client->transform(p1, "b");
-    RCLCPP_INFO(node->get_logger(),
-                "p1: (%.2f, %.2f, %.2f), p2: (%.2f, %.2f, %.2f)", p1.point.x,
-                p1.point.y, p1.point.z, p2.point.x, p2.point.y, p2.point.z);
+    RCLCPP_INFO(
+      node->get_logger(),
+      "p1: (%.2f, %.2f, %.2f), p2: (%.2f, %.2f, %.2f)", p1.point.x,
+      p1.point.y, p1.point.z, p2.point.x, p2.point.y, p2.point.z);
 
     EXPECT_NEAR(p2.point.x, -5.0, EPS);
     EXPECT_NEAR(p2.point.y, -6.0, EPS);
     EXPECT_NEAR(p2.point.z, -7.0, EPS);
-  }
-  catch(tf2::TransformException& ex)
-  {
+  } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR(node->get_logger(), "Failed to transform: %s", ex.what());
     ASSERT_FALSE("Should not get here");
   }
@@ -96,23 +100,26 @@ TEST(tf2_ros, buffer_client)
 TEST(tf2_ros, buffer_client_different_types)
 {
   rclcpp::Node::SharedPtr node = std::make_shared<rclcpp::Node>("tf_action_node");
-  std::unique_ptr<tf2_ros::BufferClient> client = std::make_unique<tf2_ros::BufferClient>(node, "tf_action");
+  std::unique_ptr<tf2_ros::BufferClient> client = std::make_unique<tf2_ros::BufferClient>(
+    node,
+    "tf_action");
 
   rclcpp::executors::SingleThreadedExecutor executor;
 
   executor.add_node(node);
 
   // Start spinning in a thread
   std::thread spin_thread = std::thread(
-    std::bind(&rclcpp::executors::SingleThreadedExecutor::spin, &executor));
+    [&executor]() {
+      executor.spin();
+    });
 
   //make sure that things are set up
   ASSERT_TRUE(client->waitForServer(std::chrono::seconds(4)));
 
   tf2::Stamped<KDL::Vector> k1(KDL::Vector(0, 0, 0), tf2::TimePoint(), "a");
 
-  try
-  {
+  try {
     tf2::Stamped<btVector3> b1;
     client->transform(k1, b1, "b");
     RCLCPP_ERROR(node->get_logger(), "Bullet: (%.4f, %.4f, %.4f)", b1[0], b1[1], b1[2]);
@@ -122,9 +129,7 @@ TEST(tf2_ros, buffer_client_different_types)
     EXPECT_NEAR(b1[2], -7.0, EPS);
     EXPECT_EQ(b1.frame_id_, "b");
     EXPECT_EQ(k1.frame_id_, "a");
-  }
-  catch(tf2::TransformException& ex)
-  {
+  } catch (tf2::TransformException & ex) {
     RCLCPP_ERROR(node->get_logger(), "Failed to transform: %s", ex.what());
     ASSERT_FALSE("Should not get here");
   }
@@ -134,7 +139,7 @@ TEST(tf2_ros, buffer_client_different_types)
 
 }
 
-int main(int argc, char** argv)
+int main(int argc, char ** argv)
 {
   // This is needed because we need to wait a little bit for the other nodes
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));

test_tf2/test/test_buffer_client.cpp

@@ -40,7 +40,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <memory>
 
-int main(int argc, char** argv)
+int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
@@ -49,7 +49,10 @@ int main(int argc, char** argv)
   rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
   tf2_ros::Buffer buffer(clock);
   tf2_ros::TransformListener tfl(buffer, node, false);
-  std::unique_ptr<tf2_ros::BufferServer> server = std::make_unique<tf2_ros::BufferServer>(buffer, node, "tf_action");
+  std::unique_ptr<tf2_ros::BufferServer> server = std::make_unique<tf2_ros::BufferServer>(
+    buffer,
+    node,
+    "tf_action");
 
   rclcpp::spin(node);
 }