From 95de05154f31a1304c863445bd88c401ef891ac9 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <olivier.stasse@laas.fr>
Date: Mon, 6 Feb 2023 06:48:32 +0100
Subject: [PATCH] [ros.cpp] Add macOS Support - Remove executor namespace for
Humble
---
src/ros.cpp | 19 +++++++++++++++++--
1 file changed, 17 insertions(+), 2 deletions(-)
diff --git a/src/ros.cpp b/src/ros.cpp
index 4917f4d..8255cf4 100644
--- a/src/ros.cpp
+++ b/src/ros.cpp
@@ -7,14 +7,24 @@
* @date 2019-05-22
*/
+/// Standard includes
#include <deque>
#include <atomic>
#include <fstream>
#include <chrono>
#include <thread>
+/// ROS2 includes
+#include <rclcpp/executor.hpp>
+
+/// Dynamic Bridge include
#include "dynamic_graph_bridge/ros.hpp"
+#ifdef __APPLE__
+#include <mach-o/dyld.h>
+#include <sys/param.h>
+#endif
+
namespace dynamic_graph_bridge
{
/*
@@ -49,7 +59,7 @@ static GlobalListOfRosNodeType GLOBAL_LIST_OF_ROS_NODE;
class Executor
{
public:
- Executor() : ros_executor_(rclcpp::executor::ExecutorArgs(), 4)
+ Executor() : ros_executor_(rclcpp::ExecutorOptions(), 4)
{
is_thread_running_ = false;
is_spinning_ = false;
@@ -189,7 +199,7 @@ ExecutorPtr EXECUTOR = nullptr;
/**
* @brief Private function that allow us to get the current executable name.
*
- * @return std::string the current executable name.
+ * @Return std::string the current executable name.
*/
std::string executable_name()
{
@@ -206,6 +216,11 @@ std::string executable_name()
GetModuleFileNameA(nullptr, buf, MAX_PATH);
return buf;
+#elif defined(__APPLE__)
+ uint32_t buf_length=MAXPATHLEN;
+ char buf[MAXPATHLEN];
+ _NSGetExecutablePath(buf,&buf_length);
+ return buf;
#else
static_assert(false, "unrecognized platform");
--
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