Fix ResourceManager parameters on humble (#74)

PickNikRobotics · Mar 5, 2025 · 856753c · 856753c
1 parent d41285d
commit 856753c
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Showing 3 changed files with 12 additions and 3 deletions.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
@@ -20,7 +20,7 @@ jobs:
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@v0.3
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -31,7 +31,7 @@ jobs:
             robotiq_description
 
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_robotiq_gripper-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_robotiq_gripper-not-released.${{ env.ROS_DISTRO }}.repos
           colcon-defaults: |
             {
               "build": {

diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -32,7 +32,7 @@ jobs:
       - uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@v0.3
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package

diff --git a/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp b/robotiq_driver/tests/test_robotiq_gripper_hardware_interface.cpp
@@ -29,6 +29,11 @@
 #include <gtest/gtest.h>
 
 #include <hardware_interface/resource_manager.hpp>
+#if __has_include(<hardware_interface/hardware_interface/version.h>)
+#include <hardware_interface/hardware_interface/version.h>
+#else
+#include <hardware_interface/version.h>
+#endif
 
 #include <rclcpp/node.hpp>
 
@@ -75,8 +80,12 @@ TEST(TestRobotiqGripperHardwareInterface, load_urdf)
 
   rclcpp::Node node{ "test_robotiq_gripper_hardware_interface" };
 
+#if HARDWARE_INTERFACE_VERSION_GTE(4, 13, 0)
   // Initialize the resource manager
   hardware_interface::ResourceManager rm(urdf, node.get_node_clock_interface(), node.get_node_logging_interface());
+#else
+  hardware_interface::ResourceManager rm(urdf);
+#endif
 
   // Check interfaces
   EXPECT_EQ(1u, rm.system_components_size());