ros2 compilation error due to notifyPointcloudListener's handle type

[youliangtan]

Issue Description

I am getting compilation errors while using the latest master of sick_scan_xd, for ROS2 .

Setup Environment:

• ros2 foxy
• ubuntu 20.04
• latest main with commit hash: eacf743e3d432febeb9799b2fe9019f2eb46ba90

Error messages

Starting >>> sick_scan
[Processing: sick_scan]                             
[Processing: sick_scan]                                     
--- stderr: sick_scan                                       
/home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp: In member function ‘int sick_scan::SickScanCommon::loopOnce(rosNodePtr)’:
/home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp:4531:44: error: cannot convert ‘rosNodePtr’ {aka ‘std::shared_ptr<rclcpp::Node>’} to ‘sick_scan::Handle’ {aka ‘void*’}
4531 |                   notifyPointcloudListener(nh, &cloud_);
    |                                            ^~
    |                                            |
    |                                            rosNodePtr {aka std::shared_ptr<rclcpp::Node>}
In file included from /home/youliang/ros2_ws/src/sick_scan_xd/include/sick_scan/sick_scan_common.h:73,
               from /home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp:74:
/home/youliang/ros2_ws/src/sick_scan_xd/include/sick_scan/sick_generic_callback.h:69:42: note:   initializing argument 1 of ‘void sick_scan::notifyPointcloudListener(sick_scan::Handle, const PointCloud2*)’
 69 |     void notifyPointcloudListener(Handle handle, const ros_sensor_msgs::PointCloud2* msg);
    |                                   ~~~~~~~^~~~~~
/home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp: In member function ‘int sick_scan::SickScanCommon::loopOnce(rosNodePtr)’:
/home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp:4531:44: error: cannot convert ‘rosNodePtr’ {aka ‘std::shared_ptr<rclcpp::Node>’} to ‘sick_scan::Handle’ {aka ‘void*’}
4531 |                   notifyPointcloudListener(nh, &cloud_);
    |                                            ^~
    |                                            |
    |                                            rosNodePtr {aka std::shared_ptr<rclcpp::Node>}
In file included from /home/youliang/ros2_ws/src/sick_scan_xd/include/sick_scan/sick_scan_common.h:73,
               from /home/youliang/ros2_ws/src/sick_scan_xd/driver/src/sick_scan_common.cpp:74:
/home/youliang/ros2_ws/src/sick_scan_xd/include/sick_scan/sick_generic_callback.h:69:42: note:   initializing argument 1 of ‘void sick_scan::notifyPointcloudListener(sick_scan::Handle, const PointCloud2*)’
 69 |     void notifyPointcloudListener(Handle handle, const ros_sensor_msgs::PointCloud2* msg);

It seems like the error is related to the newly created notifyPointcloudListener class in #82 PR. Meanwhile, to run the driver with ros2, I am still using the commit after the merge of #76, which seems to work fine till now.

To ensure pkg stability, the recommendation is to have a simple CI process here in this repo. FYI, this can be easily implemented by using github action's ros-tooling/setup-ros.

[rostest]

@youliangtan Thanks for reporting! Sorry, my fault. The error is fixed. Please checkout the latest version or the new release 2.7.4.

[youliangtan]

Thanks for the fast fix, i managed to run it after this.