Fix Windows conflicting macros and missing usleep

gazebo_plugins/CMakeLists.txt

@@ -115,6 +115,9 @@ ament_target_dependencies(gazebo_ros_imu_sensor
   "sensor_msgs"
   "gazebo_dev"
 )
+target_link_libraries(gazebo_ros_imu_sensor
+  ImuSensorPlugin
+)
 ament_export_libraries(gazebo_ros_imu_sensor)
 
 # gazebo_ros_ray_sensor

gazebo_plugins/src/gazebo_ros_diff_drive.cpp

@@ -63,6 +63,12 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <sdf/sdf.hh>
+
+#ifdef NO_ERROR
+// NO_ERROR is a macro defined in Windows that's used as an enum in tf2
+#undef NO_ERROR
+#endif
+
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>

gazebo_plugins/src/gazebo_ros_p3d.cpp

@@ -20,6 +20,12 @@
 #include <gazebo_plugins/gazebo_ros_p3d.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/rclcpp.hpp>
+
+#ifdef NO_ERROR
+// NO_ERROR is a macro defined in Windows that's used as an enum in tf2
+#undef NO_ERROR
+#endif
+
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>

gazebo_ros/include/gazebo_ros/conversions/generic.hpp

@@ -32,31 +32,31 @@ static rclcpp::Logger conversions_logger = rclcpp::get_logger("gazebo_ros_conver
 /// Generic conversion from an Ignition Math vector to another type.
 /// \param[in] in Input vector.
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const ignition::math::Vector3d & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const ignition::math::Vector3d & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// Generic conversion from an Ignition Math quaternion to another type.
 /// \param[in] in Input quaternion
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const ignition::math::Quaterniond & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const ignition::math::Quaterniond & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// Generic conversion from an Gazebo Time object to another type.
 /// \param[in] in Input time;
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const gazebo::common::Time & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const gazebo::common::Time & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// \brief Specialized conversion from an Gazebo Time to a RCLCPP Time.
@@ -71,11 +71,11 @@ rclcpp::Time Convert(const gazebo::common::Time & in)
 /// Generic conversion from an Gazebo Time message to another type.
 /// \param[in] in Input time
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const gazebo::msgs::Time & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const gazebo::msgs::Time & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 }  // namespace gazebo_ros

gazebo_ros/include/gazebo_ros/conversions/geometry_msgs.hpp

@@ -30,11 +30,11 @@ namespace gazebo_ros
 /// Generic conversion from a ROS geometry vector message to another type.
 /// \param[in] in Input message.
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const geometry_msgs::msg::Vector3 & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const geometry_msgs::msg::Vector3 & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// \brief Specialized conversion from a ROS vector message to an Ignition Math vector.
@@ -53,11 +53,11 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Vector3 & msg)
 /// Generic conversion from a ROS geometry point32 message to another type.
 /// \param[in] in Input message.
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const geometry_msgs::msg::Point32 & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const geometry_msgs::msg::Point32 & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// \brief Specialized conversion from a ROS point32 message to an Ignition Math vector.
@@ -76,11 +76,11 @@ ignition::math::Vector3d Convert(const geometry_msgs::msg::Point32 & in)
 /// Generic conversion from a ROS geometry point message to another type.
 /// \param[in] in Input message.
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const geometry_msgs::msg::Point &)
+/// \tparam T Output type
+template<class T>
+T Convert(const geometry_msgs::msg::Point &)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// TODO(louise) This may already exist somewhere else, since it's within the same lib
@@ -153,11 +153,11 @@ geometry_msgs::msg::Quaternion Convert(const ignition::math::Quaterniond & in)
 /// Generic conversion from a ROS Quaternion message to another type
 /// \param[in] in Input quaternion
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const geometry_msgs::msg::Quaternion & in)
+/// \tparam T Output type
+template<class T>
+T Convert(const geometry_msgs::msg::Quaternion & in)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// \brief Specialized conversion from a ROS quaternion message to ignition quaternion

gazebo_ros/include/gazebo_ros/conversions/sensor_msgs.hpp

@@ -38,11 +38,11 @@ namespace gazebo_ros
 /// \param[in] in Input message;
 /// \param[in] min_intensity The minimum intensity value to clip the output intensities
 /// \return Conversion result
-/// \tparam OUT Output type
-template<class OUT>
-OUT Convert(const gazebo::msgs::LaserScanStamped & in, double min_intensity = 0.0)
+/// \tparam T Output type
+template<class T>
+T Convert(const gazebo::msgs::LaserScanStamped & in, double min_intensity = 0.0)
 {
-  OUT::ConversionNotImplemented;
+  T::ConversionNotImplemented;
 }
 
 /// \brief Specialized conversion from an Gazebo Laser Scan to a ROS Laser Scan.

gazebo_ros/include/gazebo_ros/utils.hpp

@@ -21,6 +21,14 @@
 
 #include <string>
 
+#ifdef _WIN32
+
+#include <chrono>
+#include <thread>
+#define usleep(usec) (std::this_thread::sleep_for(std::chrono::microseconds(usec)))
+
+#endif  // _WIN32
+
 namespace gazebo_ros
 {