Merge branch 'ros2' into fix/small_updater_fixes

ros · Jun 27, 2024 · 04fa944 · 04fa944
2 parents 68639ca + 9ad7117
commit 04fa944
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Showing 3 changed files with 15 additions and 7 deletions.
diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
@@ -18,17 +18,23 @@ jobs:
             cppcheck,
             cpplint,
             flake8,
-            pep257,
+            # pep257, TODO: enable when we fixed
+            # Error: diagnostic_common_diagnostics/diagnostic_common_diagnostics/ntp_monitor.py:113 in public method `ntp_diag`: D417: Missing argument descriptions in the docstring (argument(s) st are missing descriptions in 'ntp_diag' docstring)
+            # using ros-rolling-ament-pep257 amd64 0.18.0-1noble.20240426.150718
             uncrustify,
             xmllint,
           ]
-    runs-on: ubuntu-latest
+        include:
+          - distro: rolling
+            os: ubuntu-24.04
+    runs-on: ${{ matrix.os }}
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
     steps:
       - uses: actions/checkout@v1
       - uses: ros-tooling/setup-ros@master
-      - run: sudo pip install pydocstyle==6.1.1  # downgrade to fix https://github.com/ament/ament_lint/pull/428
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
       - uses: ros-tooling/action-ros-lint@master
         with:
           linter: ${{ matrix.linter }}

diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
@@ -14,8 +14,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        package:
-          [
+        package: [
             diagnostic_aggregator,
             diagnostic_common_diagnostics,
             diagnostic_updater,
@@ -28,6 +27,8 @@ jobs:
     container: ubuntu:${{ matrix.os }}
     steps:
       - uses: ros-tooling/setup-ros@master
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
       - uses: ros-tooling/action-ros-ci@master
         with:
           target-ros2-distro: ${{ matrix.distro }}

diff --git a/diagnostic_updater/include/diagnostic_updater/publisher.hpp b/diagnostic_updater/include/diagnostic_updater/publisher.hpp
@@ -226,8 +226,9 @@ class DiagnosedPublisher : public TopicDiagnostic
     const typename PublisherT::SharedPtr & pub,
     diagnostic_updater::Updater & diag,
     const diagnostic_updater::FrequencyStatusParam & freq,
-    const diagnostic_updater::TimeStampStatusParam & stamp)
-  : TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp),
+    const diagnostic_updater::TimeStampStatusParam & stamp,
+    const rclcpp::Clock::SharedPtr & clock = std::make_shared<rclcpp::Clock>())
+  : TopicDiagnostic(pub->get_topic_name(), diag, freq, stamp, clock),
     publisher_(pub)
   {
     static_assert(has_header<MessageT>::value, "Message type has to have a header.");