From b860b0a8e4b9e3a1ba93016e0d1e27dff26fbb21 Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 11:56:38 +0200 Subject: [PATCH 1/6] fix Lyrical build and CI --- .github/ci.sh | 2 +- fixposition_driver_ros2/CMakeLists.txt | 19 +++++++++++++------ .../fixposition_driver_ros2/ros2_msgs.hpp | 9 ++++----- 3 files changed, 18 insertions(+), 12 deletions(-) diff --git a/.github/ci.sh b/.github/ci.sh index ac9dbab..d9f1acf 100755 --- a/.github/ci.sh +++ b/.github/ci.sh @@ -189,7 +189,7 @@ if [ "${ROS_DISTRO}" = "noetic" ]; then do_step build_catkin_debug || true # continue # ROS 2 -elif [ "${ROS_DISTRO}" = "humble" -o "${ROS_DISTRO}" = "jazzy" ]; then +elif [ "${ROS_DISTRO}" = "humble" -o "${ROS_DISTRO}" = "jazzy" -o "${ROS_DISTRO}" = "lyrical" ]; then set +u source /opt/ros/${ROS_DISTRO}/setup.bash set -u diff --git a/fixposition_driver_ros2/CMakeLists.txt b/fixposition_driver_ros2/CMakeLists.txt index 6389b98..18c053c 100644 --- a/fixposition_driver_ros2/CMakeLists.txt +++ b/fixposition_driver_ros2/CMakeLists.txt @@ -1,7 +1,7 @@ # GENERAL ============================================================================================================== cmake_minimum_required(VERSION 3.5) project(fixposition_driver_ros2) -set(CMAKE_CXX_STANDARD 14) +set(CMAKE_CXX_STANDARD 17) set(CMAKE_BUILD_TYPE "Release") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror\ -Wshadow -Wunused-parameter -Wformat -Wpointer-arith") @@ -47,14 +47,24 @@ add_executable( src/data_to_ros2.cpp ) -target_link_libraries( - ${PROJECT_NAME}_exec +target_link_libraries(${PROJECT_NAME}_exec ${fixposition_driver_lib_LIBRARIES} ${rtcm_msgs_LIBRARIES} ${Boost_LIBRARIES} ${EIGEN3_LIBRARIES} ${fpsdk_common_LIBRARIES} ${fpsdk_ros2_LIBRARIES} ${rosbag2_cpp_TARGETS} + ${rclcpp_TARGETS} + ${std_msgs_TARGETS} + ${nav_msgs_TARGETS} + ${geometry_msgs_TARGETS} + ${sensor_msgs_TARGETS} + ${tf2_ros_TARGETS} + ${tf2_eigen_TARGETS} + ${fixposition_driver_lib_TARGETS} + ${fixposition_driver_msgs_TARGETS} + ${rtcm_msgs_TARGETS} + ${tf2_geometry_msgs_TARGETS} pthread ) @@ -73,9 +83,6 @@ install(DIRECTORY "launch" DESTINATION share/${PROJECT_NAME}/ ) -ament_target_dependencies(${PROJECT_NAME}_exec - rclcpp std_msgs nav_msgs geometry_msgs sensor_msgs tf2_ros tf2_eigen - fixposition_driver_lib fixposition_driver_msgs rtcm_msgs tf2_geometry_msgs) # define ament package for this project ament_package() diff --git a/fixposition_driver_ros2/include/fixposition_driver_ros2/ros2_msgs.hpp b/fixposition_driver_ros2/include/fixposition_driver_ros2/ros2_msgs.hpp index 3d265dc..9ef053f 100644 --- a/fixposition_driver_ros2/include/fixposition_driver_ros2/ros2_msgs.hpp +++ b/fixposition_driver_ros2/include/fixposition_driver_ros2/ros2_msgs.hpp @@ -7,19 +7,18 @@ #pragma GCC diagnostic ignored "-Wshadow" // Standard ROS messages -#include -#include -#include -#include - #include #include #include #include #include #include +#include #include #include +#include +#include +#include // RTCM #include From f015a4c044e9e0698326a7de4414584dafd1ed89 Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 14:25:33 +0200 Subject: [PATCH 2/6] bump sdk --- fixposition-sdk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fixposition-sdk b/fixposition-sdk index 405edd4..12b04af 160000 --- a/fixposition-sdk +++ b/fixposition-sdk @@ -1 +1 @@ -Subproject commit 405edd4ce58cd297241404744c9b3e1ea24ed68f +Subproject commit 12b04af2e669c5f6ad60fa34523d44079b92c599 From 4251d760b596dd8cebbbf08b60e9638ace1a524c Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 14:30:52 +0200 Subject: [PATCH 3/6] clang --- .github/ci.sh | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/.github/ci.sh b/.github/ci.sh index d9f1acf..a090c84 100755 --- a/.github/ci.sh +++ b/.github/ci.sh @@ -150,13 +150,13 @@ function build_colcon_release_clang local buildname=${FPSDK_IMAGE}_build_colcon_release_clang ${FP_SRC_DIR}/create_ros_ws.sh ${buildname} || return 1 cd ${FP_SRC_DIR}/${buildname} - export CC=clang CXX=clang++ - colcon build || return 1 + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \ + -DFPSDK_BUILD_TESTING=OFF -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ \ + || return 1 set +u source install/setup.bash set -u ros2 pkg executables fixposition_driver_ros2 - unset CC CXX } TITLES["build_colcon_debug_clang"]="Build colcon (debug, with ROS2, clang instead of GCC)" @@ -165,13 +165,13 @@ function build_colcon_debug_clang local buildname=${FPSDK_IMAGE}_build_colcon_debug_clang ${FP_SRC_DIR}/create_ros_ws.sh -d ${buildname} || return 1 cd ${FP_SRC_DIR}/${buildname} - export CC=clang CXX=clang++ - colcon build || return 1 + colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug \ + -DFPSDK_BUILD_TESTING=OFF -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ \ + || return 1 set +u source install/setup.bash set -u ros2 pkg executables fixposition_driver_ros2 - unset CC CXX } ######################################################################################################################## From bb826ba21c97064d338c5ae733e35b16910bacf1 Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 18:43:55 +0200 Subject: [PATCH 4/6] fix --- fixposition-sdk | 2 +- fixposition_driver_lib/CMakeLists.txt | 2 ++ fixposition_driver_msgs/CMakeLists.txt | 5 ++++- fixposition_driver_msgs/msg/ParserMsg.msg | 2 +- fixposition_driver_ros1/CMakeLists.txt | 2 ++ fixposition_driver_ros2/CMakeLists.txt | 4 +++- rtcm_msgs/CMakeLists.txt | 4 +++- 7 files changed, 16 insertions(+), 5 deletions(-) diff --git a/fixposition-sdk b/fixposition-sdk index 12b04af..cc36044 160000 --- a/fixposition-sdk +++ b/fixposition-sdk @@ -1 +1 @@ -Subproject commit 12b04af2e669c5f6ad60fa34523d44079b92c599 +Subproject commit cc360444105f817e1f369f1e1bd14bdf55df4a76 diff --git a/fixposition_driver_lib/CMakeLists.txt b/fixposition_driver_lib/CMakeLists.txt index 6fd0c39..ea98f90 100644 --- a/fixposition_driver_lib/CMakeLists.txt +++ b/fixposition_driver_lib/CMakeLists.txt @@ -16,6 +16,8 @@ if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug") add_compile_definitions(NDEBUG) endif() +set(_unused "${FPSDK_BUILD_TESTING}") # suppress warning +set(_unused "${CMAKE_C_COMPILER}") # suppress warning # DEPENDENCIES ========================================================================================================= diff --git a/fixposition_driver_msgs/CMakeLists.txt b/fixposition_driver_msgs/CMakeLists.txt index c3e5f0a..24537c6 100644 --- a/fixposition_driver_msgs/CMakeLists.txt +++ b/fixposition_driver_msgs/CMakeLists.txt @@ -4,7 +4,8 @@ cmake_minimum_required(VERSION 3.16) project(fixposition_driver_msgs VERSION 8.0.0 LANGUAGES CXX C) set(CMAKE_CXX_STANDARD 17) -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror\ +# -Wno-invalid-offsetof warning in ROS IDL generated code. Not something we can control... +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror -Wno-invalid-offsetof \ -Wshadow -Wunused-parameter -Wformat -Wpointer-arith -Woverloaded-virtual") set(CMAKE_CXX_FLAGS_RELEASE "-O3") set(CMAKE_EXPORT_COMPILE_COMMANDS ON) @@ -15,6 +16,8 @@ if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug") add_compile_definitions(NDEBUG) endif() +set(_unused "${FPSDK_BUILD_TESTING}") # suppress warning + # DEPENDENCIES ========================================================================================================= diff --git a/fixposition_driver_msgs/msg/ParserMsg.msg b/fixposition_driver_msgs/msg/ParserMsg.msg index 8d8a39a..1ed11f7 100644 --- a/fixposition_driver_msgs/msg/ParserMsg.msg +++ b/fixposition_driver_msgs/msg/ParserMsg.msg @@ -17,7 +17,7 @@ int8 PROTOCOL_SPARTN = 8 int8 PROTOCOL_OTHER = 9 int8 PROTOCOL_SBF = 10 int8 PROTOCOL_QGC = 11 -uint8[] data # Message data string name # Message name uint64 seq # Message counter string info # Message (debug) info +uint8[] data # Message data diff --git a/fixposition_driver_ros1/CMakeLists.txt b/fixposition_driver_ros1/CMakeLists.txt index 0d9b040..53c9935 100644 --- a/fixposition_driver_ros1/CMakeLists.txt +++ b/fixposition_driver_ros1/CMakeLists.txt @@ -15,6 +15,8 @@ if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug") add_compile_definitions(NDEBUG) endif() +set(_unused "${FPSDK_BUILD_TESTING}") # suppress warning + # DEPENDENCIES ========================================================================================================= diff --git a/fixposition_driver_ros2/CMakeLists.txt b/fixposition_driver_ros2/CMakeLists.txt index 18c053c..f6a297f 100644 --- a/fixposition_driver_ros2/CMakeLists.txt +++ b/fixposition_driver_ros2/CMakeLists.txt @@ -1,5 +1,5 @@ # GENERAL ============================================================================================================== -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.16) project(fixposition_driver_ros2) set(CMAKE_CXX_STANDARD 17) set(CMAKE_BUILD_TYPE "Release") @@ -8,6 +8,8 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Werror\ set(CMAKE_CXX_FLAGS_RELEASE "-O3") set(CMAKE_EXPORT_COMPILE_COMMANDS ON) +set(_unused "${FPSDK_BUILD_TESTING}") # suppress warning + # DEPENDENCIES ========================================================================================================= find_package(Boost 1.65.0 REQUIRED COMPONENTS date_time) find_package(Eigen3 REQUIRED) diff --git a/rtcm_msgs/CMakeLists.txt b/rtcm_msgs/CMakeLists.txt index 2529b16..66b80ae 100644 --- a/rtcm_msgs/CMakeLists.txt +++ b/rtcm_msgs/CMakeLists.txt @@ -1,6 +1,8 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.16) project(rtcm_msgs) +set(_unused "${FPSDK_BUILD_TESTING}") # suppress warning + # ros_environment is needed to have ROS_VERSION find_package(ros_environment REQUIRED) set(ROS_VERSION $ENV{ROS_VERSION}) From aa45821650f1752babf3fce22b74b2963d00e5a5 Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 19:13:42 +0200 Subject: [PATCH 5/6] sdk --- fixposition-sdk | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/fixposition-sdk b/fixposition-sdk index cc36044..4d935a0 160000 --- a/fixposition-sdk +++ b/fixposition-sdk @@ -1 +1 @@ -Subproject commit cc360444105f817e1f369f1e1bd14bdf55df4a76 +Subproject commit 4d935a0f2d44b02b9e46f193a21b3c11f3a6d874 From a0c2c7d7c4b0e1834b0a7ea25baf56797b0c1993 Mon Sep 17 00:00:00 2001 From: flipflip Date: Wed, 5 Aug 2026 19:21:17 +0200 Subject: [PATCH 6/6] stfu --- .github/workflows/ci.yml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index d8569ef..056ae1c 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -19,7 +19,7 @@ jobs: shell: bash steps: - name: Checkout - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: submodules: 'recursive' - name: Build @@ -36,7 +36,7 @@ jobs: shell: bash steps: - name: Checkout - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: submodules: 'recursive' - name: Build @@ -53,7 +53,7 @@ jobs: shell: bash steps: - name: Checkout - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: submodules: 'recursive' - name: Build @@ -70,7 +70,7 @@ jobs: shell: bash steps: - name: Checkout - uses: actions/checkout@v4 + uses: actions/checkout@v6 with: submodules: 'recursive' - name: Build