Merge pull request #20 from husarion/domain-update

added ROS_DOMAIN_ID support | fixed user
husarion · Jun 30, 2023 · 6ae5642 · 6ae5642
2 parents 0eae8dd + daeae30
commit 6ae5642
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Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/ignore_packages.py b/ignore_packages.py
@@ -1,11 +1,11 @@
 import os
-
+user_name = os.getenv('USER')
 try:
-    os.makedirs('/home/runner/.platformio/packages/framework-mbed/features/')
+    os.makedirs(f'/home/{user_name}/.platformio/packages/framework-mbed/features/')
 except FileExistsError:
     print('Folder already exists')
 
-with open('/home/runner/.platformio/packages/framework-mbed/features/.mbedignore', 'w') as f:
+with open(f'/home/{user_name}/.platformio/packages/framework-mbed/features/.mbedignore', 'w') as f:
     f.write('cellular/*\n')
     f.write('netsocket/cellular/*\n')
     f.write('nanostack/*\n')
diff --git a/include/microros.hpp b/include/microros.hpp
@@ -17,6 +17,8 @@
 #include <microros_transport/mbed_serial_transport.hpp>
 #include <rclc_parameter/rclc_parameter.h>
 
+constexpr const uint8_t UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV = 255;
+
 constexpr const char *NODE_NAME = "rosbot_ros2_firmware";
 constexpr const char *IMU_TOPIC_NAME = "_imu/data_raw";
 constexpr const char *WHEELS_STATE_TOPIC_NAME = "_motors_response";
@@ -28,7 +30,6 @@ constexpr const char *FRONT_LEFT_MOTOR_NAME = "fl_wheel_joint";
 constexpr const char *FRONT_RIGHT_MOTOR_NAME = "fr_wheel_joint";
 constexpr const char *REAR_LEFT_MOTOR_NAME = "rl_wheel_joint";
 constexpr const char *REAR_RIGHT_MOTOR_NAME = "rr_wheel_joint";
-
 enum Buttons{
     button_left,
     button_right,

diff --git a/src/microros.cpp b/src/microros.cpp
@@ -43,7 +43,12 @@ bool microros_init() {
     fill_servos_command_msg(&servos_command_msg);
 
     rcl_allocator = rcl_get_default_allocator();
-    RCCHECK(rclc_support_init(&support, 0, NULL, &rcl_allocator));
+
+    rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
+    RCCHECK(rcl_init_options_init(&init_options, rcl_allocator));
+    RCCHECK(rcl_init_options_set_domain_id(&init_options, UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV));
+    RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &rcl_allocator));
+
     RCCHECK(rclc_node_init_default(&node, NODE_NAME, "", &support));
 
     if (not init_wheels_command_subscriber() or