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Fix rolling CI failures #38

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Merged
otamachan merged 1 commit into from
Mar 21, 2026
Merged

Fix rolling CI failures #38

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5 changes: 4 additions & 1 deletion rclcpp_async/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,10 @@ if(NOT CMAKE_CXX_STANDARD)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations)
endif()
if(CMAKE_COMPILER_IS_GNUCXX)
add_compile_options(-fcoroutines)
endif()

find_package(ament_cmake REQUIRED)
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2 changes: 1 addition & 1 deletion rclcpp_async/include/rclcpp_async/co_context.hpp
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Expand Up @@ -186,7 +186,7 @@ class CoContext
{
auto stream = std::make_shared<TopicStream<MsgT>>(*this);
stream->sub_ = node_.template create_subscription<MsgT>(
topic, qos, [s = stream](typename MsgT::SharedPtr msg) {
topic, qos, [s = stream](std::shared_ptr<const MsgT> msg) {
if (s->closed_) {
return;
}
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4 changes: 2 additions & 2 deletions rclcpp_async/include/rclcpp_async/topic_stream.hpp
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Expand Up @@ -37,7 +37,7 @@ template <typename MsgT>
class TopicStream
{
CoContext & ctx_;
std::queue<typename MsgT::SharedPtr> queue_;
std::queue<std::shared_ptr<const MsgT>> queue_;
std::coroutine_handle<> waiter_;
typename rclcpp::Subscription<MsgT>::SharedPtr sub_;
bool closed_ = false;
Expand All @@ -49,7 +49,7 @@ class TopicStream

struct NextAwaiter
{
using SharedPtr = typename MsgT::SharedPtr;
using SharedPtr = std::shared_ptr<const MsgT>;

TopicStream & stream;
std::stop_token token;
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7 changes: 5 additions & 2 deletions rclcpp_async_example/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,10 @@ if(NOT CMAKE_CXX_STANDARD)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations)
endif()
if(CMAKE_COMPILER_IS_GNUCXX)
add_compile_options(-fcoroutines)
endif()

find_package(ament_cmake REQUIRED)
Expand Down Expand Up @@ -40,7 +43,7 @@ target_link_libraries(nested_demo rclcpp_async::rclcpp_async
add_library(component_demo SHARED src/component_demo.cpp)
target_link_libraries(component_demo rclcpp_async::rclcpp_async
${std_msgs_TARGETS} ${std_srvs_TARGETS})
ament_target_dependencies(component_demo rclcpp_components)
target_link_libraries(component_demo rclcpp_components::component)
rclcpp_components_register_node(component_demo
PLUGIN "rclcpp_async_example::ComponentDemo"
EXECUTABLE component_demo_node)
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