added topic_based_ros2_control

[TedVanderfeen]

#345

[TedVanderfeen]

Looks like everything but MacOS built in the CI.

The current vinca.yaml does not have a section for if linux or win. Seeing as this is being added as a dependency for IsaacSim specific packages, excluding MacOS from the available platforms seems acceptable to me. So the options now are:

• I can add this to linux only (Not sure how popular this package is. ROS index reports unmaintained, but there was a patch on the 16/8/25).

• I can add a new section to the vinca.yaml that targets windows and linux seeing as the build appears to have passed anyway.

I'll go with the former for now. I can correct the PR on review if requested.

p.s. Is there a functional reason for there being two if: linux then: ... sections in the vinca.yaml?

[traversaro]

p.s. Is there a functional reason for there being two if: linux then: ... sections in the vinca.yaml?

Not a functional reason, but I just did that to separate between packages that are only built on Linux as they depend on Linux-only API (so realistically will never compile outside of Linux) and packages that have compilation failures that realistically can be fixed.

[traversaro]

The macOS failure is:

2025-09-10T05:13:04.4624540Z  │ │ [1/3] Building CXX object CMakeFiles/topic_based_ros2_control.dir/src/topic_based_system.cpp.o
2025-09-10T05:13:04.4726020Z  │ │ FAILED: [code=1] CMakeFiles/topic_based_ros2_control.dir/src/topic_based_system.cpp.o 
2025-09-10T05:13:04.4837870Z  │ │ $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ -DDEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -DTINYXML2_IMPORT -D_FILE_OFFSET_BITS=64 -Dtopic_based_ros2_control_EXPORTS -I$PREFIX/include/pluginlib -I$PREFIX/include/rclcpp_lifecycle -I$SRC_DIR/ros-humble-topic-based-ros2-control/src/work/include -isystem $PREFIX/include/angles -isystem $PREFIX/include/rclcpp -isystem $PREFIX/include/sensor_msgs -isystem $PREFIX/include/python3.11 -isystem $PREFIX/lib/python3.11/site-packages/numpy/core/include -isystem $PREFIX/include/control_msgs -isystem $PREFIX/include/lifecycle_msgs -isystem $PREFIX/include/rcpputils -isystem $PREFIX/include/rcutils -isystem $PREFIX/include/ament_index_cpp -isystem $PREFIX/include/libstatistics_collector -isystem $PREFIX/include/builtin_interfaces -isystem $PREFIX/include/rosidl_runtime_c -isystem $PREFIX/include/rosidl_typesupport_interface -isystem $PREFIX/include/rosidl_runtime_cpp -isystem $PREFIX/include/rosidl_typesupport_fastrtps_cpp -isystem $PREFIX/include/rmw -isystem $PREFIX/include/rosidl_typesupport_fastrtps_c -isystem $PREFIX/include/rosidl_typesupport_introspection_c -isystem $PREFIX/include/rosidl_typesupport_introspection_cpp -isystem $PREFIX/include/rcl -isystem $PREFIX/include/rcl_interfaces -isystem $PREFIX/include/rcl_logging_interface -isystem $PREFIX/include/rcl_yaml_param_parser -isystem $PREFIX/include/tracetools -isystem $PREFIX/include/statistics_msgs -isystem $PREFIX/include/rosgraph_msgs -isystem $PREFIX/include/rosidl_typesupport_cpp -isystem $PREFIX/include/rosidl_typesupport_c -isystem $PREFIX/include/geometry_msgs -isystem $PREFIX/include/std_msgs -isystem $PREFIX/include/rcl_lifecycle -isystem $PREFIX/include/class_loader -isystem $PREFIX/include/action_msgs -isystem $PREFIX/include/unique_identifier_msgs -isystem $PREFIX/include/trajectory_msgs -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-humble-topic-based-ros2-control-0.2.0 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -O3 -DNDEBUG -arch arm64 -isysroot /Applications/Xcode_15.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -mmacosx-version-min=10.15 -fPIC -Werror -Wall -Wextra -Wpedantic -Wshadow -Wsign-conversion -Winit-self -Wredundant-decls -MD -MT CMakeFiles/topic_based_ros2_control.dir/src/topic_based_system.cpp.o -MF CMakeFiles/topic_based_ros2_control.dir/src/topic_based_system.cpp.o.d -o CMakeFiles/topic_based_ros2_control.dir/src/topic_based_system.cpp.o -c $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp
2025-09-10T05:13:04.4928670Z  │ │ In file included from $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:39:
2025-09-10T05:13:04.5028690Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/executors.hpp:21:
2025-09-10T05:13:04.5106150Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25:
2025-09-10T05:13:04.5144140Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/executor.hpp:37:
2025-09-10T05:13:04.5244720Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/executor_options.hpp:20:
2025-09-10T05:13:04.5345920Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/memory_strategies.hpp:18:
2025-09-10T05:13:04.5369970Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/memory_strategy.hpp:25:
2025-09-10T05:13:04.5375520Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/any_executable.hpp:20:
2025-09-10T05:13:04.5376000Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/callback_group.hpp:29:
2025-09-10T05:13:04.5376450Z  │ │ In file included from $PREFIX/include/rclcpp/rclcpp/subscription_base.hpp:32:
2025-09-10T05:13:04.5377510Z  │ │ $PREFIX/include/rclcpp/rclcpp/any_subscription_callback.hpp:391:7: error: 'set_deprecated<sensor_msgs::msg::JointState_<std::allocator<void>>>' is deprecated: use 'void(std::shared_ptr<const MessageT>)' instead [-Werror,-Wdeprecated-declarations]
2025-09-10T05:13:04.5378450Z  │ │   391 |       set_deprecated(static_cast<typename scbth::callback_type>(callback));
2025-09-10T05:13:04.5378770Z  │ │       |       ^
2025-09-10T05:13:04.5379870Z  │ │ $PREFIX/include/rclcpp/rclcpp/subscription_factory.hpp:94:29: note: in instantiation of function template specialization 'rclcpp::AnySubscriptionCallback<sensor_msgs::msg::JointState_<std::allocator<void>>>::set<(lambda at $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:151:7)>' requested here
2025-09-10T05:13:04.5380980Z  │ │    94 |   any_subscription_callback.set(std::forward<CallbackT>(callback));
2025-09-10T05:13:04.5381760Z  │ │       |                             ^
2025-09-10T05:13:04.5383610Z  │ │ $PREFIX/include/rclcpp/rclcpp/create_subscription.hpp:122:26: note: in instantiation of function template specialization 'rclcpp::create_subscription_factory<sensor_msgs::msg::JointState_<std::allocator<void>>, (lambda at $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:151:7), std::allocator<void>, rclcpp::Subscription<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::JointState_<std::allocator<void>>>, sensor_msgs::msg::JointState_<std::allocator<void>>>' requested here
2025-09-10T05:13:04.5385420Z  │ │   122 |   auto factory = rclcpp::create_subscription_factory<MessageT>(
2025-09-10T05:13:04.5385750Z  │ │       |                          ^
2025-09-10T05:13:04.5387850Z  │ │ $PREFIX/include/rclcpp/rclcpp/create_subscription.hpp:190:26: note: in instantiation of function template specialization 'rclcpp::detail::create_subscription<sensor_msgs::msg::JointState_<std::allocator<void>>, (lambda at $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:151:7), std::allocator<void>, rclcpp::Subscription<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::Node, rclcpp::Node, sensor_msgs::msg::JointState_<std::allocator<void>>>' requested here
2025-09-10T05:13:04.5389530Z  │ │   190 |   return rclcpp::detail::create_subscription<
2025-09-10T05:13:04.5389790Z  │ │       |                          ^
2025-09-10T05:13:04.5391390Z  │ │ $PREFIX/include/rclcpp/rclcpp/node_impl.hpp:99:18: note: in instantiation of function template specialization 'rclcpp::create_subscription<sensor_msgs::msg::JointState_<std::allocator<void>>, (lambda at $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:151:7), std::allocator<void>, rclcpp::Subscription<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::Node>' requested here
2025-09-10T05:13:04.5392900Z  │ │    99 |   return rclcpp::create_subscription<MessageT>(
2025-09-10T05:13:04.5393150Z  │ │       |                  ^
2025-09-10T05:13:04.5394830Z  │ │ $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:149:49: note: in instantiation of function template specialization 'rclcpp::Node::create_subscription<sensor_msgs::msg::JointState_<std::allocator<void>>, (lambda at $SRC_DIR/ros-humble-topic-based-ros2-control/src/work/src/topic_based_system.cpp:151:7), std::allocator<void>, rclcpp::Subscription<sensor_msgs::msg::JointState_<std::allocator<void>>>, rclcpp::message_memory_strategy::MessageMemoryStrategy<sensor_msgs::msg::JointState_<std::allocator<void>>>>' requested here
2025-09-10T05:13:04.5396640Z  │ │   149 |   topic_based_joint_states_subscriber_ = node_->create_subscription<sensor_msgs::msg::JointState>(
2025-09-10T05:13:04.5397040Z  │ │       |                                                 ^
2025-09-10T05:13:04.5397730Z  │ │ $PREFIX/include/rclcpp/rclcpp/any_subscription_callback.hpp:405:5: note: 'set_deprecated<sensor_msgs::msg::JointState_<std::allocator<void>>>' has been explicitly marked deprecated here
2025-09-10T05:13:04.5398430Z  │ │   405 |   [[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
2025-09-10T05:13:04.5398710Z  │ │       |     ^
2025-09-10T05:13:04.5398900Z  │ │ 1 error generated.

a classical use of Werror enabled by default, that is not ideal for package managers. I think we can easily patch those.

[traversaro]

I think we can easily patch those.

Actually, it was already patched upstream: PickNikRobotics/topic_based_ros2_control#36 .

[traversaro]

@TedVanderfeen the patch seems to be working fine, feel free to let me know if it is ok to merge, thanks!

[TedVanderfeen]

LGTM. Thanks @traversaro!