Building vector_pursuit_controller with ros2 rolling

[chanhhoang99]

Thanks for the nice controller plugin.
Currently I am building this controller from source on ros2 rolling and nav2 rolling and got below error:

/root/vector_ws/src/vector_pursuit_controller/src/vector_pursuit_controller.cpp: In lambda function:
/root/vector_ws/src/vector_pursuit_controller/src/vector_pursuit_controller.cpp:883:22: error: declaration of ‘const auto:49& pose’ shadows a parameter [-Werror=shadow]
883 | [&](const auto & pose) {
| ~~~~~~~~~~~~~^~~~
/root/vector_ws/src/vector_pursuit_controller/src/vector_pursuit_controller.cpp:851:43: note: shadowed declaration is here
851 | const geometry_msgs::msg::PoseStamped & pose)

Below is my change:

  auto transformation_end = std::find_if(
    transformation_begin, global_plan_.poses.end(),
    [&](const auto & plan_pose) {
      return euclidean_distance(plan_pose, robot_pose) > max_costmap_extent;
    });

Would that fix the problem and still persist the idea of the original code ?

[exMachina316]

Could you point me to the nav2 repository you cloned for this build?

[chanhhoang99]

Hi @exMachina316 ,
I use nav2 main branch at commit 43d7f7e309e782f1e277191ff414c98b9ac4f51c
https://github.com/ros-navigation/navigation2

[exMachina316]

@chanhhoang99 We currently do not support ros rolling but I looked into your suggestions and logically your fix is sound. One thing to be added here is #include "nav2_core/exceptions.hpp" needs to be replaced with #include "nav2_core/planner_exceptions.hpp" in the files vector_pursuit_controller.cpp and test_vector_pursuit.cpp

P.S.You can expect a new official release soon!! Stay tuned!

[chanhhoang99]

Thanks @exMachina316 for reviewing.
I also did change the exception part.