chore(nebula_ros): replace non-standard stringstream usage with nebul…

…a::util::to_string

Fixes #254.

Signed-off-by: Max SCHMELLER <max.schmeller@tier4.jp>

nebula_ros/src/continental/continental_ars548_decoder_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_ars548_decoder_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace nebula::ros
@@ -39,8 +41,7 @@ ContinentalARS548DecoderWrapper::ContinentalARS548DecoderWrapper(
   status_ = driver_ptr_->get_status();
 
   if (Status::OK != status_) {
-    throw std::runtime_error(
-      (std::stringstream() << "Error instantiating decoder: " << status_).str());
+    throw std::runtime_error("Error instantiating decoder: " + util::to_string(status_));
   }
 
   // Publish packets only if HW interface is connected

nebula_ros/src/continental/continental_ars548_hw_interface_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_ars548_hw_interface_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
@@ -36,8 +38,7 @@ ContinentalARS548HwInterfaceWrapper::ContinentalARS548HwInterfaceWrapper(
   status_ = hw_interface_->set_sensor_configuration(config_ptr);
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+    throw std::runtime_error("Could not initialize HW interface: " + util::to_string(status_));
   }
 
   status_ = Status::OK;
@@ -166,7 +167,7 @@ void ContinentalARS548HwInterfaceWrapper::set_network_configuration_request_call
 {
   auto result = hw_interface_->set_sensor_ip_address(request->sensor_ip.data);
   response->success = result == Status::OK;
-  response->message = (std::stringstream() << result).str();
+  response->message = util::to_string(result);
 }
 
 void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
@@ -230,7 +231,7 @@ void ContinentalARS548HwInterfaceWrapper::set_sensor_mounting_request_callback(
     longitudinal, lateral, vertical, yaw, pitch, request->plug_orientation);
 
   response->success = result == Status::OK;
-  response->message = (std::stringstream() << result).str();
+  response->message = util::to_string(result);
 }
 
 void ContinentalARS548HwInterfaceWrapper::set_vehicle_parameters_request_callback(
@@ -277,7 +278,7 @@ void ContinentalARS548HwInterfaceWrapper::set_vehicle_parameters_request_callbac
     vehicle_length, vehicle_width, vehicle_height, vehicle_wheelbase);
 
   response->success = result == Status::OK;
-  response->message = (std::stringstream() << result).str();
+  response->message = util::to_string(result);
 }
 
 void ContinentalARS548HwInterfaceWrapper::set_radar_parameters_request_callback(
@@ -291,7 +292,7 @@ void ContinentalARS548HwInterfaceWrapper::set_radar_parameters_request_callback(
     request->country_code, request->powersave_standstill);
 
   response->success = result == Status::OK;
-  response->message = (std::stringstream() << result).str();
+  response->message = util::to_string(result);
 }
 
 }  // namespace nebula::ros

nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_ars548_ros_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
 
 namespace nebula::ros
@@ -31,8 +33,7 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio
   wrapper_status_ = declare_and_get_sensor_config_params();
 
   if (wrapper_status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+    throw std::runtime_error("Sensor configuration invalid: " + util::to_string(wrapper_status_));
   }
 
   RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *config_ptr_);
@@ -222,7 +223,7 @@ rcl_interfaces::msg::SetParametersResult ContinentalARS548RosWrapper::on_paramet
     RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    result.reason = "Invalid configuration: " + util::to_string(status);
     return result;
   }
 

nebula_ros/src/continental/continental_srr520_decoder_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_srr520_decoder_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #include <pcl_conversions/pcl_conversions.h>
 
 namespace nebula::ros
@@ -41,8 +43,7 @@ ContinentalSRR520DecoderWrapper::ContinentalSRR520DecoderWrapper(
   status_ = driver_ptr_->get_status();
 
   if (Status::OK != status_) {
-    throw std::runtime_error(
-      (std::stringstream() << "Error instantiating decoder: " << status_).str());
+    throw std::runtime_error("Error instantiating decoder: " + util::to_string(status_));
   }
 
   // Publish packets only if HW interface is connected

nebula_ros/src/continental/continental_srr520_hw_interface_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_srr520_hw_interface_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 
@@ -36,8 +38,7 @@ ContinentalSRR520HwInterfaceWrapper::ContinentalSRR520HwInterfaceWrapper(
   status_ = hw_interface_->set_sensor_configuration(config_ptr_);
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+    throw std::runtime_error("Could not initialize HW interface: " + util::to_string(status_));
   }
 
   status_ = Status::OK;
@@ -170,7 +171,7 @@ void ContinentalSRR520HwInterfaceWrapper::configure_sensor_request_callback(
     request->plug_bottom, request->reset_sensor_configuration);
 
   response->success = result == Status::OK;
-  response->message = (std::stringstream() << result).str();
+  response->message = util::to_string(result);
 }
 
 void ContinentalSRR520HwInterfaceWrapper::sync_timer_callback()

nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp

@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_srr520_ros_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
 
 namespace nebula::ros
@@ -31,8 +33,7 @@ ContinentalSRR520RosWrapper::ContinentalSRR520RosWrapper(const rclcpp::NodeOptio
   wrapper_status_ = declare_and_get_sensor_config_params();
 
   if (wrapper_status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+    throw std::runtime_error("Sensor configuration invalid: " + util::to_string(wrapper_status_));
   }
 
   RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *config_ptr_);
@@ -207,7 +208,7 @@ rcl_interfaces::msg::SetParametersResult ContinentalSRR520RosWrapper::on_paramet
     RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    result.reason = "Invalid configuration: " + util::to_string(status);
     return result;
   }
 

nebula_ros/src/hesai/decoder_wrapper.cpp

@@ -3,6 +3,7 @@
 #include "nebula_ros/hesai/decoder_wrapper.hpp"
 
 #include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/util/string_conversions.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/time.hpp>
 
@@ -42,8 +43,7 @@ HesaiDecoderWrapper::HesaiDecoderWrapper(
   status_ = driver_ptr_->get_status();
 
   if (Status::OK != status_) {
-    throw std::runtime_error(
-      (std::stringstream() << "Error instantiating decoder: " << status_).str());
+    throw std::runtime_error("Error instantiating decoder: " + util::to_string(status_));
   }
 
   // Publish packets only if enabled by the ROS wrapper

nebula_ros/src/hesai/hesai_ros_wrapper.cpp

@@ -6,6 +6,7 @@
 
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/nebula_common.hpp>
+#include <nebula_common/util/string_conversions.hpp>
 #include <nebula_decoders/nebula_decoders_common/angles.hpp>
 
 #include <cstdint>
@@ -32,8 +33,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
   wrapper_status_ = declare_and_get_sensor_config_params();
 
   if (wrapper_status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+    throw std::runtime_error("Sensor configuration invalid: " + util::to_string(wrapper_status_));
   }
 
   RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);
@@ -61,7 +61,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     get_calibration_data(sensor_cfg_ptr_->calibration_path, force_load_caibration_from_file);
   if (!calibration_result.has_value()) {
     throw std::runtime_error(
-      (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+      "No valid calibration found: " + util::to_string(calibration_result.error()));
   }
 
   bool lidar_range_supported =
@@ -72,8 +72,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
     auto status =
       hw_interface_wrapper_->hw_interface()->check_and_set_lidar_range(*calibration_result.value());
     if (status != Status::OK) {
-      throw std::runtime_error(
-        (std::stringstream{} << "Could not set sensor FoV: " << status).str());
+      throw std::runtime_error("Could not set sensor FoV: " + util::to_string(status));
     }
   }
 
@@ -387,7 +386,7 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::on_parameter_change(
     RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    result.reason = "Invalid configuration: " + util::to_string(status);
     return result;
   }
 

nebula_ros/src/hesai/hw_interface_wrapper.cpp

@@ -5,6 +5,7 @@
 #include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/common/rclcpp_logger.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
 
 #include <memory>
@@ -28,8 +29,7 @@ HesaiHwInterfaceWrapper::HesaiHwInterfaceWrapper(
     std::static_pointer_cast<const drivers::SensorConfigurationBase>(config));
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+    throw std::runtime_error("Could not initialize HW interface: " + util::to_string(status_));
   }
 
   hw_interface_->set_target_model(config->sensor_model);

nebula_ros/src/robosense/hw_interface_wrapper.cpp

@@ -2,6 +2,8 @@
 
 #include "nebula_ros/robosense/hw_interface_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 namespace nebula::ros
 {
 RobosenseHwInterfaceWrapper::RobosenseHwInterfaceWrapper(
@@ -16,8 +18,7 @@ RobosenseHwInterfaceWrapper::RobosenseHwInterfaceWrapper(
   status_ = hw_interface_->set_sensor_configuration(config);
 
   if (Status::OK != status_) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Sensor configuration invalid: " << status_).str());
+    throw std::runtime_error("Sensor configuration invalid: " + util::to_string(status_));
   }
 }
 

nebula_ros/src/robosense/robosense_ros_wrapper.cpp

@@ -4,6 +4,7 @@
 
 #include "nebula_ros/common/parameter_descriptors.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
 #include <rclcpp/qos.hpp>
 
 #include <robosense_msgs/msg/detail/robosense_info_packet__struct.hpp>
@@ -26,8 +27,7 @@ RobosenseRosWrapper::RobosenseRosWrapper(const rclcpp::NodeOptions & options)
   wrapper_status_ = declare_and_get_sensor_config_params();
 
   if (wrapper_status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
+    throw std::runtime_error("Sensor configuration invalid: " + util::to_string(wrapper_status_));
   }
 
   RCLCPP_INFO_STREAM(get_logger(), "Sensor Configuration: " << *sensor_cfg_ptr_);
@@ -285,7 +285,7 @@ rcl_interfaces::msg::SetParametersResult RobosenseRosWrapper::on_parameter_chang
     RCLCPP_WARN_STREAM(get_logger(), "OnParameterChange aborted: " << status);
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason = (std::stringstream() << "Invalid configuration: " << status).str();
+    result.reason = "Invalid configuration: " + util::to_string(status);
     return result;
   }
 

nebula_ros/src/velodyne/decoder_wrapper.cpp

@@ -2,6 +2,7 @@
 
 #include "nebula_ros/velodyne/decoder_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
 #include <rclcpp/time.hpp>
 
 namespace nebula::ros
@@ -29,7 +30,7 @@ VelodyneDecoderWrapper::VelodyneDecoderWrapper(
 
   if (!calibration_result.has_value()) {
     throw std::runtime_error(
-      (std::stringstream() << "No valid calibration found: " << calibration_result.error()).str());
+      "No valid calibration found: " + util::to_string(calibration_result.error()));
   }
 
   calibration_cfg_ptr_ = calibration_result.value();
@@ -42,8 +43,7 @@ VelodyneDecoderWrapper::VelodyneDecoderWrapper(
   status_ = driver_ptr_->get_status();
 
   if (Status::OK != status_) {
-    throw std::runtime_error(
-      (std::stringstream() << "Error instantiating decoder: " << status_).str());
+    throw std::runtime_error("Error instantiating decoder: " + util::to_string(status_));
   }
 
   // Publish packets only if HW interface is connected
@@ -117,10 +117,8 @@ rcl_interfaces::msg::SetParametersResult VelodyneDecoderWrapper::on_parameter_ch
   if (!get_calibration_result.has_value()) {
     auto result = SetParametersResult();
     result.successful = false;
-    result.reason =
-      (std::stringstream() << "Could not change calibration file to '" << calibration_path
-                           << "': " << get_calibration_result.error())
-        .str();
+    result.reason = "Could not change calibration file to '" + calibration_path +
+                    "': " + util::to_string(get_calibration_result.error());
     return result;
   }
 

nebula_ros/src/velodyne/hw_interface_wrapper.cpp

@@ -2,6 +2,8 @@
 
 #include "nebula_ros/velodyne/hw_interface_wrapper.hpp"
 
+#include <nebula_common/util/string_conversions.hpp>
+
 namespace nebula::ros
 {
 
@@ -20,8 +22,7 @@ VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
   status_ = hw_interface_->initialize_sensor_configuration(config);
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not initialize HW interface: " << status_).str());
+    throw std::runtime_error("Could not initialize HW interface: " + util::to_string(status_));
   }
 
   if (use_udp_only_) {
@@ -32,8 +33,7 @@ VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
   status_ = hw_interface_->init_http_client();
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not initialize HTTP client: " << status_).str());
+    throw std::runtime_error("Could not initialize HTTP client: " + util::to_string(status_));
   }
 
   if (setup_sensor_) {
@@ -42,8 +42,7 @@ VelodyneHwInterfaceWrapper::VelodyneHwInterfaceWrapper(
   }
 
   if (status_ != Status::OK) {
-    throw std::runtime_error(
-      (std::stringstream{} << "Could not set sensor configuration: " << status_).str());
+    throw std::runtime_error("Could not set sensor configuration: " + util::to_string(status_));
   }
 
   status_ = Status::OK;