Merge pull request #280 from ipa-vsp/fix/yaml-build-error

Fix undefined reference to yaml library

.github/workflows/rolling.yml

@@ -32,5 +32,4 @@ jobs:
           AFTER_BUILD_TARGET_WORKSPACE: 'set +u && COLCON_TRACE=0 AMENT_TRACE_SETUP_FILES=0 source /root/target_ws/install/setup.bash && set -u'
           ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: ${{ matrix.ROS_REPO }}
-          OS_CODE_NAME: jammy
           PRERELEASE: false

canopen/sphinx/user-guide/configuration.rst

@@ -152,7 +152,7 @@ device.
   software_version;	The expected software version (default: 0x00000000, see object 1F55).
   configuration_file;	The name of the file containing the configuration (default: "<dcf_path>/<name>.bin" (where <name> is the section name), see object 1F22).
   restore_configuration;	The sub-index of object 1011 to be used when restoring the configuration (default: 0x00).
-  sdo_timeout_ms; The timeout to use for SDO reads/writes to this device. (default: 20ms) 
+  sdo_timeout_ms; The timeout to use for SDO reads/writes to this device. (default: 20ms)
   sdo;	Additional SDO requests to be sent during configuration (see below).
 
 

canopen_base_driver/include/canopen_base_driver/lely_driver_bridge.hpp

@@ -314,7 +314,7 @@ class LelyDriverBridge : public canopen::FiberDriver
 
   uint8_t nodeid;
   std::string name_;
-  
+
   std::chrono::milliseconds sdo_timeout;
 
   std::function<void()> on_sync_function_;

canopen_base_driver/include/canopen_base_driver/node_interfaces/node_canopen_base_driver_impl.hpp

@@ -104,7 +104,7 @@ void NodeCanopenBaseDriver<rclcpp_lifecycle::LifecycleNode>::configure(bool call
   {
     sdo_timeout_ms = std::optional(this->config_["sdo_timeout_ms"].as<int>());
   }
-  catch(...)
+  catch (...)
   {
   }
   sdo_timeout_ms_ = sdo_timeout_ms.value_or(20);
@@ -181,7 +181,7 @@ void NodeCanopenBaseDriver<rclcpp::Node>::configure(bool called_from_base)
   {
     sdo_timeout_ms = std::optional(this->config_["sdo_timeout_ms"].as<int>());
   }
-  catch(...)
+  catch (...)
   {
   }
   sdo_timeout_ms_ = sdo_timeout_ms.value_or(20);

canopen_core/CMakeLists.txt

@@ -107,6 +107,7 @@ ament_target_dependencies(device_container
 target_link_libraries(device_container
   node_canopen_master
   node_canopen_driver
+  yaml-cpp
 )
 
 add_executable(device_container_node

canopen_core/test/CMakeLists.txt

@@ -13,6 +13,7 @@ target_include_directories(test_node_canopen_driver PUBLIC
 )
 target_link_libraries(test_node_canopen_driver
     node_canopen_driver
+    yaml-cpp
 )
 
 ament_add_gmock(test_node_canopen_master
@@ -30,6 +31,7 @@ target_include_directories(test_node_canopen_master PUBLIC
 )
 target_link_libraries(test_node_canopen_master
     node_canopen_master
+    yaml-cpp
 )
 
 # Temporary fixing ci build stability
@@ -49,6 +51,7 @@ target_link_libraries(test_device_container
     device_container
 )
 endif()
+
 file(COPY bus_configs DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
 ament_add_gmock(test_canopen_driver
@@ -62,6 +65,7 @@ target_include_directories(test_canopen_driver PUBLIC
 )
 target_link_libraries(test_canopen_driver
     node_canopen_driver
+    yaml-cpp
 )
 
 ament_add_gmock(test_lifecycle_canopen_driver
@@ -75,6 +79,7 @@ target_include_directories(test_lifecycle_canopen_driver PUBLIC
 )
 target_link_libraries(test_lifecycle_canopen_driver
     node_canopen_driver
+    yaml-cpp
 )
 
 ament_add_gmock(test_canopen_master
@@ -88,6 +93,7 @@ target_include_directories(test_canopen_master PUBLIC
 )
 target_link_libraries(test_canopen_master
     node_canopen_master
+    yaml-cpp
 )
 
 ament_add_gmock(test_lifecycle_canopen_master
@@ -101,6 +107,7 @@ target_include_directories(test_lifecycle_canopen_master PUBLIC
 )
 target_link_libraries(test_lifecycle_canopen_master
     node_canopen_master
+    yaml-cpp
 )
 
 ament_add_gmock(test_lifecycle_manager