Fix/build (#150)

* Include array, use cyclonedds tag from ROS 2 Humble Signed-off-by: Aaron Chong <[email protected]> * Revert version Signed-off-by: Aaron Chong <[email protected]> * Update readme with important note Signed-off-by: Aaron Chong <[email protected]> --------- Signed-off-by: Aaron Chong <[email protected]>
open-rmf · Oct 16, 2024 · 0909836 · 0909836
1 parent d385372
commit 0909836
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diff --git a/README.md b/README.md
@@ -24,7 +24,7 @@
 
 ## About
 
-Welcome to `free_fleet`, an open-source robot fleet management system. 
+Welcome to `free_fleet`, an open-source robot fleet management system.
 Sometimes it is called the "Fun Free Fleet For Friends" (F5).
 
 **Note**, this repository is under active development. Things will be quite unstable
@@ -53,6 +53,9 @@ sudo apt update && sudo apt install \
   # maven default-jdk   # Uncomment to install dependencies for message generation
 ```
 
+> [!IMPORTANT]
+> In order to ensure messages using `cyclonedds` are sent, received, serialized and deserialized properly between the ROS 1 and ROS 2 systems, the version of `cyclonedds` used/built should be the same, this can be checked with `dpkg -l | grep cyclonedds` on ROS 2 systems, while ROS 1 systems will need to build `cyclonedds` from source. For ROS 2 versions above `galactic`, users will need to manage the versions of `cyclonedds` themselves. We are working on a newer iteration of `free_fleet` that does not use DDS and has access to newer features of `Open-RMF`, stay tuned!
+
 </br>
 
 ### Message Generation
@@ -111,7 +114,7 @@ cd ~/ff_ros2_ws
 rosdep install --from-paths src --ignore-src --rosdistro galactic -yr
 ```
 
-Source ROS 2 and build, 
+Source ROS 2 and build,
 
 ```bash
 cd ~/ff_ros2_ws

diff --git a/free_fleet/src/dds_utils/DDSSubscribeHandler.hpp b/free_fleet/src/dds_utils/DDSSubscribeHandler.hpp
@@ -18,6 +18,7 @@
 #ifndef FREE_FLEET__SRC__DDS_UTILS__DDSSUBSCRIBEHANDLER_HPP
 #define FREE_FLEET__SRC__DDS_UTILS__DDSSUBSCRIBEHANDLER_HPP
 
+#include <array>
 #include <memory>
 #include <vector>
 
@@ -40,9 +41,9 @@ class DDSSubscribeHandler
   const dds_topic_descriptor_t* topic_desc;
 
   dds_entity_t topic;
-  
+
   dds_entity_t reader;
-  
+
   std::array<std::shared_ptr<Message>, MaxSamplesNum> shared_msgs;
 
   void* samples[MaxSamplesNum];
@@ -54,8 +55,8 @@ class DDSSubscribeHandler
 public:
 
   DDSSubscribeHandler(
-      const dds_entity_t& _participant, 
-      const dds_topic_descriptor_t* _topic_desc, 
+      const dds_entity_t& _participant,
+      const dds_topic_descriptor_t* _topic_desc,
       const std::string& _topic_name) :
     topic_desc(_topic_desc)
   {
@@ -111,7 +112,7 @@ class DDSSubscribeHandler
       msgs.clear();
       return msgs;
     }
-    
+
     if (return_code > 0)
     {
       for (size_t i = 0; i < MaxSamplesNum; ++i)