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[ROS2PoseControl] fix build with ROS 2 Lyrical #190

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Merged
jhanca-robotecai merged 1 commit into from
Sep 18, 2026
Merged

[ROS2PoseControl] fix build with ROS 2 Lyrical #190

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8 changes: 4 additions & 4 deletions Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@
#include <ROS2/Utilities/ROS2Conversions.h>
#include <Source/RigidBodyComponent.h>
#include <imgui/imgui.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/transform_listener.hpp>

namespace ROS2PoseControl
{
Expand Down Expand Up @@ -135,7 +135,7 @@ namespace ROS2PoseControl
m_poseSubscription = ros2Node->create_subscription<geometry_msgs::msg::PoseStamped>(
namespacedTopicName.data(),
m_configuration.m_poseTopicConfiguration.GetQoS(),
[this](geometry_msgs::msg::PoseStamped::SharedPtr msg)
[this](geometry_msgs::msg::PoseStamped::ConstSharedPtr msg)
{
OnPoseMessageReceived(msg);
}
Expand Down Expand Up @@ -287,7 +287,7 @@ namespace ROS2PoseControl
return AZ::Success(AZ::Transform::CreateFromQuaternionAndTranslation(rotation, translation));
}

AZ::Outcome<AZ::Transform, void> ROS2PoseControl::GetTransformFromPoseStamped(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
AZ::Outcome<AZ::Transform, void> ROS2PoseControl::GetTransformFromPoseStamped(const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg)
{
if (!msg)
{
Expand All @@ -314,7 +314,7 @@ namespace ROS2PoseControl
return AZ::Success(transform);
}

void ROS2PoseControl::OnPoseMessageReceived(const geometry_msgs::msg::PoseStamped::SharedPtr msg)
void ROS2PoseControl::OnPoseMessageReceived(const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg)
{
if (m_configuration.m_tracking_mode != TrackingMode::PoseMessages)
{
Expand Down
9 changes: 5 additions & 4 deletions Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <rclcpp/publisher.hpp>
#include <rclcpp/subscription.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.hpp>
#include <tf2_ros/transform_listener.hpp>

namespace ROS2PoseControl
{
Expand Down Expand Up @@ -77,7 +77,8 @@ namespace ROS2PoseControl
//! transform is assumed to be in the global frame.
//! @param msg The PoseStamped message.
//! @return The world transform translated using the global frame and the pose stamped.
[[nodiscard]] AZ::Outcome<AZ::Transform, void> GetTransformFromPoseStamped(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
[[nodiscard]] AZ::Outcome<AZ::Transform, void> GetTransformFromPoseStamped(
const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg);

//! Removes the tilt from a transform by projecting the transform's forward vector onto the gravity direction and creating a new
//! basis from the projected forward vector and the gravity direction.
Expand All @@ -94,7 +95,7 @@ namespace ROS2PoseControl

//! Applies the given transform to the entity. Run when a transform is received from a PoseStamped message.
//! @param transform The transform to apply.
void OnPoseMessageReceived(const geometry_msgs::msg::PoseStamped::SharedPtr msg);
void OnPoseMessageReceived(const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg);

//! Applies the given transform to the entity. Will check if removing tilt, applying an offset, and clamping to the ground are
//! enabled in the configuration and add those modifications to the input transform.
Expand Down
2 changes: 1 addition & 1 deletion Gems/ROS2PoseControl/gem.json
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
{
"gem_name": "ROS2PoseControl",
"version": "4.0.0",
"version": "4.0.1",
"display_name": "ROS2PoseControl",
"license": "Apache-2.0",
"license_url": "https://opensource.org/licenses/Apache-2.0",
Expand Down
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