From 4f11badbe12b1ac608b740942d9573581a7b8ee4 Mon Sep 17 00:00:00 2001 From: wangtao Date: Thu, 7 Aug 2025 19:17:17 +0800 Subject: [PATCH 1/3] Fix parameter passing in generate_state_database.cpp --- .../ompl/ompl_interface/scripts/generate_state_database.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp index fe30f37753..7fab8884d2 100644 --- a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp +++ b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp @@ -54,8 +54,8 @@ static const std::string ROBOT_DESCRIPTION = "robot_description"; static const std::string CONSTRAINT_PARAMETER = "constraints"; -static bool getUintParameterOr(const rclcpp::Node::SharedPtr& node, const std::string& param_name, - size_t&& result_value, const size_t default_value) +static bool get_uint_parameter_or(const rclcpp::Node::SharedPtr& node, const std::string& param_name, + unsigned int& result_value, const size_t default_value) { int param_value; if (node->get_parameter(param_name, param_value)) @@ -76,6 +76,7 @@ static bool getUintParameterOr(const rclcpp::Node::SharedPtr& node, const std::s return true; } + struct GenerateStateDatabaseParameters { bool setFromNode(const rclcpp::Node::SharedPtr& node) From e1607a6c1a1bb57bdd9277b8fb8034aeb7242e36 Mon Sep 17 00:00:00 2001 From: wangtao Date: Fri, 8 Aug 2025 09:51:19 +0800 Subject: [PATCH 2/3] Address review: unify types to unsigned int (incl. default_value) --- .../ompl/ompl_interface/scripts/generate_state_database.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp index 7fab8884d2..fa11f85bc1 100644 --- a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp +++ b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp @@ -55,7 +55,7 @@ static const std::string ROBOT_DESCRIPTION = "robot_description"; static const std::string CONSTRAINT_PARAMETER = "constraints"; static bool get_uint_parameter_or(const rclcpp::Node::SharedPtr& node, const std::string& param_name, - unsigned int& result_value, const size_t default_value) + unsigned int& result_value, const unsigned int default_value) { int param_value; if (node->get_parameter(param_name, param_value)) From 6de5a4d57c28249799e291aef0e6dadbc26c01d5 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 8 Aug 2025 08:42:39 +0200 Subject: [PATCH 3/3] Restore original function name --- .../ompl/ompl_interface/scripts/generate_state_database.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp index fa11f85bc1..21cf5e6e2e 100644 --- a/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp +++ b/moveit_planners/ompl/ompl_interface/scripts/generate_state_database.cpp @@ -54,7 +54,7 @@ static const std::string ROBOT_DESCRIPTION = "robot_description"; static const std::string CONSTRAINT_PARAMETER = "constraints"; -static bool get_uint_parameter_or(const rclcpp::Node::SharedPtr& node, const std::string& param_name, +static bool getUintParameterOr(const rclcpp::Node::SharedPtr& node, const std::string& param_name, unsigned int& result_value, const unsigned int default_value) { int param_value;