From de1ba743f1aa1c8fc1c35e5c592c7303e24759ac Mon Sep 17 00:00:00 2001 From: Kenzo Lobos-Tsunekawa Date: Wed, 8 Jan 2025 10:25:20 +0900 Subject: [PATCH] fix: fixed compilation and spells Signed-off-by: Kenzo Lobos-Tsunekawa --- .../decoders/continental_ars548_decoder.cpp | 1 + .../continental/continental_ars548_decoder_wrapper.cpp | 8 +++++--- .../continental_ars548_hw_interface_wrapper.cpp | 7 +++---- 3 files changed, 9 insertions(+), 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 index 936db1e7..c2ee20c5 100644 --- 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 index 0e312955..a0040b8f 100644 --- a/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp +++ b/nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp @@ -191,6 +191,7 @@ 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). @@ -198,10 +199,11 @@ void ContinentalARS548DecoderWrapper::sensor_status_callback( // 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 index 333c7fd6..905e8a40 100644 --- 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 "