fix: fixed compilation and spells

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · Jan 8, 2025 · de1ba74 · de1ba74
1 parent f49bb47
commit de1ba74
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Showing 3 changed files with 9 additions and 7 deletions.
diff --git a/nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp b/nebula_decoders/src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
@@ -345,6 +345,7 @@ bool ContinentalARS548Decoder::parse_objects_list_packet(
     object_msg.orientation = object.position_orientation.value();
     object_msg.orientation_std = object.position_orientation_std.value();
 
+    // cSpell:ignore knzo25
     // NOTE(knzo25): In the radar firmware used when developing this driver,
     // corner radars are not supported. We can partially address this,
     // but the coordinates look only spatially correct (not the dynamics).

diff --git a/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp
@@ -191,17 +191,19 @@ void ContinentalARS548DecoderWrapper::object_list_callback(
 void ContinentalARS548DecoderWrapper::sensor_status_callback(
   const drivers::continental_ars548::ContinentalARS548Status & sensor_status)
 {
+  // cSpell:ignore knzo25
   // NOTE(knzo25): In the radar firmware used when developing this driver,
   // corner radars are not supported. We can partially address this,
   // but the coordinates look only spatially correct (not the dynamics).
   // so its use is the responsibility of the user.
   // Corner radars are expected to be supported in a new firmware version,
   // but this is not yet confirmed.
   if (
-    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
-    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+    std::abs(sensor_status.yaw) > 5.0 * M_PI / 180.0 &&
+    std::abs(sensor_status.yaw) < 90.0 * M_PI / 180.0) {
+    rclcpp::Clock clock{RCL_ROS_TIME};
     RCLCPP_WARN_THROTTLE(
-      logger_, *rclcpp::Clock::now(), 5000,
+      logger_, clock, 5000,
       "This radar has been configured as a corner radar, which is not supported by the sensor. We "
       "can partially address this, but the coordinates look only spatially correct (not the "
       "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "

diff --git a/nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp
@@ -215,17 +215,16 @@ void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
     pitch = rpy.y;
   }
 
+  // cSpell:ignore knzo25
   // NOTE(knzo25): In the radar firmware used when developing this driver,
   // corner radars are not supported. We can partially address this,
   // but the coordinates look only spatially correct (not the dynamics).
   // so its use is the responsibility of the user.
   // Corner radars are expected to be supported in a new firmware version,
   // but this is not yet confirmed.
-  if (
-    std::abs(radar_status_.yaw) > 5.0 * M_PI / 180.0 &&
-    std::abs(radar_status_.yaw) < 90.0 * M_PI / 180.0) {
+  if (std::abs(yaw) > 5.0 * M_PI / 180.0 && std::abs(yaw) < 90.0 * M_PI / 180.0) {
     RCLCPP_WARN(
-      logger_, *rclcpp::Clock::now(), 5000,
+      logger_,
       "This radar has been configured as a corner radar, which is not supported by the sensor. We "
       "can partially address this, but the coordinates look only spatially correct (not the "
       "dynamics). so its use is the responsibility of the user. Corner radars are expected to be "