Creating a Fast RTPS Listener application Documentation Issue

[amano001]

@TSC21 I have been following the guide to get PX4 running with Gazebo and ROS2 and I have run into another issue with the documentation.

The last line to call fastrtpsgen shows sensor_combined.idl but the file that is in the idl folder is called sensor_combined_.idl. cd /path/to/PX4/Firmware/build/px4_sitl_rtps/src/modules/micrortps_bridge mkdir micrortps_listener cd micrortps_listener fastrtpsgen -example x64Linux2.6gcc ../micrortps_client/micrortps_agent/idl/sensor_combined.idl

Also once I was able to generate the files by adding the _ to the end of sensor_combined I then run into the issue below from trying to run the make command in the documentation after altering the function in sensor_combined_subscriber.cxx

`` void sensor_combined_Subscriber::SubListener::onNewDataMessage(Subscriber* sub) { // Take data sensor_combined_ st;

if(sub->takeNextData(&st, &m_info))
{
    if(m_info.sampleKind == ALIVE)
    {
        // Print your structure data here.
        ++n_msg;
        std::cout << "\n\n\n\n\n\n\n\n\n\n";
        std::cout << "Sample received, count=" << n_msg << std::endl;
        std::cout << "=============================" << std::endl;
        std::cout << "gyro_rad: " << st.gyro_rad().at(0);
        std::cout << ", " << st.gyro_rad().at(1);
        std::cout << ", " << st.gyro_rad().at(2) << std::endl;
        std::cout << "gyro_integral_dt: " << st.gyro_integral_dt() << std::endl;
        std::cout << "accelerometer_timestamp_relative: " << st.accelerometer_timestamp_relative() << std::endl;
        std::cout << "accelerometer_m_s2: " << st.accelerometer_m_s2().at(0);
        std::cout << ", " << st.accelerometer_m_s2().at(1);
        std::cout << ", " << st.accelerometer_m_s2().at(2) << std::endl;
        std::cout << "accelerometer_integral_dt: " << st.accelerometer_integral_dt() << std::endl;
        std::cout << "magnetometer_timestamp_relative: " << st.magnetometer_timestamp_relative() << std::endl;
        std::cout << "magnetometer_ga: " << st.magnetometer_ga().at(0);
        std::cout << ", " << st.magnetometer_ga().at(1);
        std::cout << ", " << st.magnetometer_ga().at(2) << std::endl;
        std::cout << "baro_timestamp_relative: " << st.baro_timestamp_relative() << std::endl;
        std::cout << "baro_alt_meter: " << st.baro_alt_meter() << std::endl;
        std::cout << "baro_temp_celcius: " << st.baro_temp_celcius() << std::endl;

    }
}

}

g++ -c -Wall -fpic -m64 -O2 -std=c++0x -I. -c sensor_combined_Subscriber.cxx -o output/x64Linux2.6gcc/sensor_combined_Subscriber.o sensor_combined_Subscriber.cxx: In member function ‘virtual void sensor_combined_Subscriber::SubListener::onNewDataMessage(eprosima::fastrtps::Subscriber*)’: sensor_combined_Subscriber.cxx:98:45: error: ‘class sensor_combined_’ has no member named ‘gyro_rad’; did you mean ‘gyro_rad_’? std::cout << "gyro_rad: " << st.gyro_rad().at(0); ^~~~~~~~ gyro_rad_ sensor_combined_Subscriber.cxx:99:37: error: ‘class sensor_combined_’ has no member named ‘gyro_rad’; did you mean ‘gyro_rad_’? std::cout << ", " << st.gyro_rad().at(1); ^~~~~~~~ gyro_rad_ sensor_combined_Subscriber.cxx:100:37: error: ‘class sensor_combined_’ has no member named ‘gyro_rad’; did you mean ‘gyro_rad_’? std::cout << ", " << st.gyro_rad().at(2) << std::endl; ^~~~~~~~ gyro_rad_ sensor_combined_Subscriber.cxx:101:53: error: ‘class sensor_combined_’ has no member named ‘gyro_integral_dt’; did you mean ‘gyro_integral_dt_’? std::cout << "gyro_integral_dt: " << st.gyro_integral_dt() << std::endl; ^~~~~~~~~~~~~~~~ gyro_integral_dt_ sensor_combined_Subscriber.cxx:102:69: error: ‘class sensor_combined_’ has no member named ‘accelerometer_timestamp_relative’; did you mean ‘accelerometer_timestamp_relative_’? std::cout << "accelerometer_timestamp_relative: " << st.accelerometer_timestamp_relative() << std::endl; ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ accelerometer_timestamp_relative_ sensor_combined_Subscriber.cxx:103:55: error: ‘class sensor_combined_’ has no member named ‘accelerometer_m_s2’; did you mean ‘accelerometer_m_s2_’? std::cout << "accelerometer_m_s2: " << st.accelerometer_m_s2().at(0); ^~~~~~~~~~~~~~~~~~ accelerometer_m_s2_ sensor_combined_Subscriber.cxx:104:37: error: ‘class sensor_combined_’ has no member named ‘accelerometer_m_s2’; did you mean ‘accelerometer_m_s2_’? std::cout << ", " << st.accelerometer_m_s2().at(1); ^~~~~~~~~~~~~~~~~~ accelerometer_m_s2_ sensor_combined_Subscriber.cxx:105:37: error: ‘class sensor_combined_’ has no member named ‘accelerometer_m_s2’; did you mean ‘accelerometer_m_s2_’? std::cout << ", " << st.accelerometer_m_s2().at(2) << std::endl; ^~~~~~~~~~~~~~~~~~ accelerometer_m_s2_ sensor_combined_Subscriber.cxx:106:62: error: ‘class sensor_combined_’ has no member named ‘accelerometer_integral_dt’; did you mean ‘accelerometer_integral_dt_’? std::cout << "accelerometer_integral_dt: " << st.accelerometer_integral_dt() << std::endl; ^~~~~~~~~~~~~~~~~~~~~~~~~

which when I look into the sensor_combined_.cxx shows different naming for those functions shown below have an extra _ at the end compared to the example code at the top that just has st.gyro_rad(). This applies to the timestamp, gyro and accelerometer but there is no barometer or magnotometer in sensor_combined_.cxx which breaks the example code trying to make those calls as well.

void sensor_combined_::gyro_rad_(sensor_combined__float_array_3 &&_gyro_rad_)

[TSC21]

@amano001 the msg spec for sensor_combined has change and the docs for the RTPS listener didn't. That might happen ocasionally has the listener example is not actually something actively being used - it just serves as an example.

May I ask you if you are open to open a PR and fix the naming and fields on the example on docs? Thanks

[amano001]

will do, I would say the examples are definitely being used. For someone new to this, its hard to know if I screwed up something or if the documentation has a bug (usually I think its me messing it up).