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grizzi wants to merge 3 commits into from
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Fix compilation errors #92

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f44f848
fix compilation errors
Oct 17, 2025
b213ffb
Merge branch 'main' into fix/compilation-error
grizzi Oct 17, 2025
4aaba0e
fix name of member
Oct 17, 2025
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2 changes: 1 addition & 1 deletion fixposition_driver_lib/src/helper.cpp
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Expand Up @@ -304,7 +304,7 @@ NmeaEpochData NmeaEpochData::CompleteAndReset() {
else if (rmc_.time.valid) { time_ = rmc_.time; }
else if (zda_.time.valid) { time_ = zda_.time; }
if (gga_.llh.latlon_valid) { llh_ = gga_.llh; }
else if (rmc_.llh.latlon_valid) { llh_ = rmc_.llh; }
else if (rmc_.ll.latlon_valid) { llh_ = rmc_.ll; }
else if (gll_.ll.latlon_valid) { llh_ = gll_.ll; } // last as it does not have height
// clang-format on

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1 change: 1 addition & 0 deletions fixposition_driver_msgs/include/fixposition_driver_msgs/data_to_ros.hpp
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Expand Up @@ -630,6 +630,7 @@ inline int NmeaSignalIdToMsg(const RosMsgT& msg, const fpsdk::common::parser::nm
case fpsdk::common::parser::nmea::NmeaSignalId::GLO_L1OF: return msg.consts.SIGNAL_ID_GLO_L1OF;
case fpsdk::common::parser::nmea::NmeaSignalId::GLO_L2OF: return msg.consts.SIGNAL_ID_GLO_L2OF;
case fpsdk::common::parser::nmea::NmeaSignalId::NAVIC_L5A: return msg.consts.SIGNAL_ID_NAVIC_L5A;
default: return msg.consts.SIGNAL_ID_UNSPECIFIED;
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@grizzi grizzi Oct 17, 2025

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clang complains about unhandled cases otherwise

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@flipflip8952 flipflip8952 Oct 17, 2025

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We should add and handle all enum values here and not use a default case. I'll fix that.

}
// clang-format on
return msg.consts.SIGNAL_ID_UNSPECIFIED;
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23 changes: 11 additions & 12 deletions fixposition_driver_ros2/src/data_to_ros2.cpp
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Expand Up @@ -520,7 +520,7 @@ void PublishNmeaGga(const fpsdk::common::parser::nmea::NmeaGgaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGga>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGga msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
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@grizzi grizzi Oct 17, 2025

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Maybe you want to align conventions and remove the underscore from talker_, being this a public member

if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -545,7 +545,7 @@ void PublishNmeaGll(const fpsdk::common::parser::nmea::NmeaGllPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGll>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGll msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -566,7 +566,7 @@ void PublishNmeaGsa(const fpsdk::common::parser::nmea::NmeaGsaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGsa>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGsa msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.opmode = NmeaOpModeGsaToMsg(msg, payload.opmode);
msg.navmode = NmeaNavModeGsaToMsg(msg, payload.navmode);
Expand All @@ -588,7 +588,7 @@ void PublishNmeaGst(const fpsdk::common::parser::nmea::NmeaGstPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGst>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGst msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.time.valid) {
msg.time_valid = true;
msg.time_h = payload.time.hours;
Expand All @@ -611,8 +611,7 @@ void PublishNmeaGsv(const fpsdk::common::parser::nmea::NmeaGsvPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaGsv>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaGsv msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.system = NmeaSystemIdToMsg(msg, payload.system);
msg.signal = NmeaSignalIdToMsg(msg, payload.signal);
msg.num_msgs = payload.num_msgs.value;
Expand Down Expand Up @@ -640,7 +639,7 @@ void PublishNmeaHdt(const fpsdk::common::parser::nmea::NmeaHdtPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaHdt>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaHdt msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.heading = (payload.heading.valid ? payload.heading.value : NAN);
pub->publish(msg);
}
Expand All @@ -652,7 +651,7 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaRmc>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaRmc msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
Expand All @@ -668,8 +667,8 @@ void PublishNmeaRmc(const fpsdk::common::parser::nmea::NmeaRmcPayload& payload,
msg.status = NmeaStatusGllRmcToMsg(msg, payload.status);
msg.mode = NmeaModeRmcGnsToMsg(msg, payload.mode);
msg.navstatus = NmeaNavStatusRmcToMsg(msg, payload.navstatus);
msg.latitude = (payload.llh.latlon_valid ? payload.llh.lat : NAN);
msg.longitude = (payload.llh.latlon_valid ? payload.llh.lon : NAN);
msg.latitude = (payload.ll.latlon_valid ? payload.ll.lat : NAN);
msg.longitude = (payload.ll.latlon_valid ? payload.ll.lon : NAN);
Comment on lines +670 to +671
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@grizzi grizzi Oct 17, 2025

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llh does not exist on this struct

msg.speed = (payload.speed.valid ? payload.speed.value : NAN);
msg.course = (payload.course.valid ? payload.course.value : NAN);
pub->publish(msg);
Expand All @@ -682,7 +681,7 @@ void PublishNmeaVtg(const fpsdk::common::parser::nmea::NmeaVtgPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaVtg>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaVtg msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
msg.cogt = (payload.cogt.valid ? payload.cogt.value : NAN);
msg.cogm = (payload.cogm.valid ? payload.cogm.value : NAN);
msg.sogn = (payload.sogn.valid ? payload.sogn.value : NAN);
Expand All @@ -698,7 +697,7 @@ void PublishNmeaZda(const fpsdk::common::parser::nmea::NmeaZdaPayload& payload,
rclcpp::Publisher<fpmsgs::NmeaZda>::SharedPtr& pub) {
if (pub->get_subscription_count() > 0) {
fpmsgs::NmeaZda msg;
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker);
msg.talker = NmeaTalkerIdToMsg(msg, payload.talker_);
if (payload.date.valid) {
msg.date_valid = true;
msg.date_y = payload.date.years;
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2 changes: 1 addition & 1 deletion fixposition_driver_ros2/src/fixposition_driver_node.cpp
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Expand Up @@ -625,7 +625,7 @@ void FixpositionDriverNode::ProcessOdometryData(const OdometryData& odometry_dat

// Output jump warning
if (params_.cov_warning_ && odometry_data.valid && jump_detector_.Check(odometry_data)) {
RCLCPP_WARN(logger_, jump_detector_.warning_.c_str());
RCLCPP_WARN(logger_, "%s", jump_detector_.warning_.c_str());
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@grizzi grizzi Oct 17, 2025

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Second argument should be a format string

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@flipflip8952 flipflip8952 Oct 17, 2025

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Yeah, that's better. Thanks.

PublishJumpWarning(jump_detector_, jump_pub_);
}

Expand Down