Fix operator+ error when adding Duration to header.stamp in PublishEventBasedCamera #6
Description
Description
When building stonefish_ros2 against ROS 2 Humble, the call
msg.events[i].ts = msg.header.stamp + rclcpp::Duration(0, offset_ns)
### Steps to Reproduce
1. Clone the stonefish_ros2 wrapper on Ubuntu 22.04 with ROS 2 Humble.
2. Run `colcon build` in your workspace.
3. Observe the error:
```/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:223:1: note: candidate: ‘rclcpp::Time rclcpp::operator+(const rclcpp::Duration&, const rclcpp::Time&)’
223 | operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs);
| ^~~~~~~~
/opt/ros/humble/include/rclcpp/rclcpp/time.hpp:223:36: note: no known conversion for argument 1 from ‘std_msgs::msg::Header_<std::allocator<void> >::_stamp_type’ {aka ‘builtin_interfaces::msg::Time_<std::allocator<void> >’} to ‘const rclcpp::Duration&’
223 | operator+(const rclcpp::Duration & lhs, const rclcpp::Time & rhs);
| ~~~~~~~~~~~~~~~~~~~~~~~~~^~~
gmake[2]: *** [CMakeFiles/stonefish_ros2_interface.dir/build.make:132: CMakeFiles/stonefish_ros2_interface.dir/src/stonefish_ros2/ROS2Interface.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:597: CMakeFiles/stonefish_ros2_interface.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---- Build stops at
ROS2Interface.cpp:701.
Proposed Fix
Convert msg.header.stamp into an rclcpp::Time (which does support operator+ with rclcpp::Duration).
Add the duration.
Assign back to the event timestamp via the implicit conversion operator.
Environment
Pop!_OS 22.04 / Ubuntu 22.04
ROS 2 Humble Hawksbill
C++17
I’ll submit a branch that applies this patch and updates the includes accordingly.