Merge pull request #29 from nim65s/devel

fix CI

Author: nim65s

.gitlab-ci.yml

@@ -1 +1 @@
-include: http://rainboard.laas.fr/project/roscontrol-sot/.gitlab-ci.yml
+include: http://rainboard.laas.fr/project/roscontrol_sot/.gitlab-ci.yml

CMakeLists.txt

@@ -56,10 +56,13 @@ ADD_PROJECT_DEPENDENCY(control_toolbox REQUIRED)
 
 # Detect the controller interface version to switch code
 if(controller_interface_FOUND)
-  if (${controller_interface_VERSION} VERSION_GREATER "0.2.5")
+  if(${controller_interface_VERSION} VERSION_GREATER "0.2.5")
     add_definitions(-DCONTROLLER_INTERFACE_KINETIC)
-  endif(${controller_interface_VERSION} VERSION_GREATER "0.2.5")
-endif(controller_interface_FOUND)
+    if(${controller_interface_VERSION} VERSION_GREATER "0.19.0")
+      add_definitions(-DCONTROLLER_INTERFACE_NOETIC)
+    endif()
+  endif()
+endif()
 
 # Detect if temperature sensor controller package is found
 # if yes then it is a PAL Robotics Forked code.
@@ -77,7 +80,7 @@ target_link_libraries(rcsot_controller
   sot-core::sot-core
   dynamic_graph_bridge::sot_loader
   ${control_toolbox_LIBRARIES})
-if (temperature_sensor_controller_FOUND)
+if(temperature_sensor_controller_FOUND)
   target_compile_definitions(rcsot_controller PUBLIC TEMPERATURE_SENSOR_CONTROLLER)
   message("temperature_sensor_controller_LIBRARIES: ${temperature_sensor_controller_LIBRARIES}")
   target_include_directories(rcsot_controller SYSTEM PUBLIC ${temperature_sensor_controller_INCLUDE_DIRS})

src/roscontrol-sot-controller.cpp

@@ -172,7 +172,11 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
   lns = "hardware_interface";
 
   // Check if construction finished cleanly
+#ifdef CONTROLLER_INTERFACE_NOETIC
+  if (state_ != ControllerState::CONSTRUCTED) {
+#else
   if (state_ != CONSTRUCTED) {
+#endif
     ROS_ERROR("Cannot initialize this controller because it "
               "failed to be constructed");
   }
@@ -319,8 +323,11 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
   if (verbosity_level_ > 0)
     ROS_INFO_STREAM("Initialization of sot-controller Ok !");
   // success
+#ifdef CONTROLLER_INTERFACE_NOETIC
+  state_ = ControllerState::INITIALIZED;
+#else
   state_ = INITIALIZED;
-
+#endif
   return true;
 }