fix build

kroshu · Dec 14, 2023 · caedd8e · caedd8e
1 parent 702ff05
commit caedd8e
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Showing 3 changed files with 9 additions and 11 deletions.
diff --git a/kuka_kss_rsi_driver/include/kuka_kss_rsi_driver/robot_manager_node.hpp b/kuka_kss_rsi_driver/include/kuka_kss_rsi_driver/robot_manager_node.hpp
@@ -22,13 +22,10 @@
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp/client.hpp"
-#include "lifecycle_msgs/srv/change_state.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
+#include "std_msgs/msg/bool.hpp"
 #include "controller_manager_msgs/srv/set_hardware_component_state.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
-#include "std_msgs/msg/bool.hpp"
 
-#include "communication_helpers/service_tools.hpp"
 #include "kuka_drivers_core/ros2_base_lc_node.hpp"
 
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

diff --git a/kuka_kss_rsi_driver/src/robot_manager_node.cpp b/kuka_kss_rsi_driver/src/robot_manager_node.cpp
@@ -12,11 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "kuka_kss_rsi_driver/robot_manager_node.hpp"
-#include "kuka_drivers_core/control_mode.hpp"
-
 #include "communication_helpers/ros2_control_tools.hpp"
+#include "communication_helpers/service_tools.hpp"
 
+#include "kuka_kss_rsi_driver/robot_manager_node.hpp"
 
 using namespace controller_manager_msgs::srv;  // NOLINT
 using namespace lifecycle_msgs::msg;  // NOLINT

diff --git a/kuka_sunrise_fri_driver/src/robot_manager_node.cpp b/kuka_sunrise_fri_driver/src/robot_manager_node.cpp
@@ -15,6 +15,8 @@
 #include <memory>
 
 #include "kuka_sunrise_fri_driver/robot_manager_node.hpp"
+#include "communication_helpers/ros2_control_tools.hpp"
+
 
 using namespace controller_manager_msgs::srv;  // NOLINT
 
@@ -73,7 +75,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
   // Configure hardware interface
   if (!kuka_drivers_core::changeHardwareState(
       change_hardware_state_client_, robot_model_,
-      State::PRIMARY_STATE_INACTIVE))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE))
   {
     RCLCPP_ERROR(get_logger(), "Could not configure hardware interface");
     return FAILURE;
@@ -156,7 +158,7 @@ RobotManagerNode::on_cleanup(const rclcpp_lifecycle::State &)
   // If it is inactive, cleanup will also succeed
   if (!kuka_drivers_core::changeHardwareState(
       change_hardware_state_client_, robot_model_,
-      State::PRIMARY_STATE_UNCONFIGURED))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED))
   {
     RCLCPP_ERROR(get_logger(), "Could not clean up hardware interface");
     return FAILURE;
@@ -193,7 +195,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   // Activate hardware interface
   if (!kuka_drivers_core::changeHardwareState(
       change_hardware_state_client_, robot_model_,
-      State::PRIMARY_STATE_ACTIVE))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE))
   {
     RCLCPP_ERROR(get_logger(), "Could not activate hardware interface");
     // 'unset config' does not exist, safe to return
@@ -266,7 +268,7 @@ RobotManagerNode::on_deactivate(const rclcpp_lifecycle::State &)
   // If it is inactive, deactivation will also succeed
   if (!kuka_drivers_core::changeHardwareState(
       change_hardware_state_client_, robot_model_,
-      State::PRIMARY_STATE_INACTIVE))
+      lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE))
   {
     RCLCPP_ERROR(get_logger(), "Could not deactivate hardware interface");
     return ERROR;