Humble sync August 4 (#626)

* fixing 588 (#589) * In addScan, fix if-condition for processor_type (#610) Co-authored-by: patrick.christoph.sowinski <[email protected]> * exclude lifelong launch file (#624) * bumping humble to 2.6.5 for release --------- Co-authored-by: Patrick Sowinski <[email protected]> Co-authored-by: patrick.christoph.sowinski <[email protected]>
SteveMacenski · Aug 4, 2023 · 72b6f61 · 72b6f61
1 parent f66f982
commit 72b6f61
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Showing 4 changed files with 5 additions and 14 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -194,6 +194,7 @@ install(TARGETS async_slam_toolbox_node
                 map_and_localization_slam_toolbox_node
                 merge_maps_kinematic
                 ${libraries}
+                kartoSlamToolbox
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
@@ -213,6 +214,7 @@ install(DIRECTORY include/
 
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
+  PATTERN "lifelong_launch.py" EXCLUDE
 )
 
 install(DIRECTORY config
@@ -224,7 +226,7 @@ install(FILES solver_plugins.xml rviz_plugins.xml
 )
 
 ament_export_include_directories(include)
-ament_export_libraries(${libraries})
+ament_export_libraries(${libraries} kartoSlamToolbox)
 ament_export_dependencies(${dependencies})
 ament_export_targets(SlamToolboxPlugin HAS_LIBRARY_TARGET)
 ament_package()
diff --git a/lib/karto_sdk/CMakeLists.txt b/lib/karto_sdk/CMakeLists.txt
@@ -34,14 +34,3 @@ target_link_libraries(kartoSlamToolbox ${Boost_LIBRARIES} TBB::tbb)
 install(DIRECTORY include/
 	DESTINATION include/
 )
-
-install(TARGETS kartoSlamToolbox
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
-ament_export_libraries(kartoSlamToolbox)
-ament_export_include_directories(include)
-ament_export_dependencies(${dependencies})
-ament_package()
diff --git a/package.xml b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>slam_toolbox</name>
-  <version>2.6.4</version>
+  <version>2.6.5</version>
   <description>
      This package provides a sped up improved slam karto with updated SDK and visualization and modification toolsets
   </description>

diff --git a/src/slam_toolbox_localization.cpp b/src/slam_toolbox_localization.cpp
@@ -150,7 +150,7 @@ LocalizedRangeScan * LocalizationSlamToolbox::addScan(
 {
   boost::mutex::scoped_lock l(pose_mutex_);
 
-  if (PROCESS_LOCALIZATION && process_near_pose_) {
+  if (processor_type_ == PROCESS_LOCALIZATION && process_near_pose_) {
     processor_type_ = PROCESS_NEAR_REGION;
   }