fixed ament warning

Author: Javier Moreno

RAD0_actuator/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(std_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclc_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
   return()
 endif()
 

RAD0_actuator/main.c

@@ -5,6 +5,8 @@
 
 #include <stdio.h>
 
+#define ASSERT(ptr) if (ptr == NULL) return -1;
+
 static rclc_publisher_t* engine_pub;
 static uint32_t engine_power = 100;
 
@@ -40,8 +42,11 @@ int main(int argc, char* argv[])
 
     rclc_init(0, NULL);
     node = rclc_create_node("actuator", "");
+    ASSERT(node);
     engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "std_msgs_msg_Int32", engine_on_message, 1, false);
+    ASSERT(engine_sub);
     engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", 1);
+    ASSERT(engine_pub);
 
     // Publish new altitude    
     std_msgs__msg__UInt32  msg_out;

RAD0_altitude_sensor/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(std_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclc_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
   return()
 endif()
 

RAD0_altitude_sensor/main.c

@@ -6,7 +6,7 @@
 #include <math.h>
 #include <time.h>
 
-
+#define ASSERT(ptr) if (ptr == NULL) return -1;
 
 /**
  * @brief 
@@ -25,7 +25,9 @@ int main(int argc, char *argv[])
     rclc_publisher_t* publisher = NULL;
 
     node = rclc_create_node("altitude_sensor", "");
+    ASSERT(node);
     publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", 1);
+    ASSERT(publisher);
 
 
     double A = 0;

RAD0_control/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(std_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclcpp_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
+  ament_package()
   return()
 endif()
 

RAD0_display/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(std_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclc_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
   return()
 endif()
 

RAD0_display/main.c

@@ -6,6 +6,7 @@
 
 #include <stdio.h>
 
+#define ASSERT(ptr) if (ptr == NULL) return -1;
 
 static float altitude;
 static uint32_t engine_power;
@@ -84,10 +85,13 @@ int main(int argc, char *argv[])
     rclc_init(0, NULL);
 
     node = rclc_create_node("display", "");
-    
+    ASSERT(node);
     alert_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), "std_msgs_msg_String", on_alert_message, 1, false);
+    ASSERT(alert_subscription);
     altitude_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", on_altitude_message, 1, false);
+    ASSERT(altitude_subscription);
     power_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", on_power_message, 1, false);
+    ASSERT(power_subscription);
 
     rclc_spin_node(node);
 

complex_msg_publisher/CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(complex_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclc_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
   return()
 endif()
 

complex_msg_publisher/main.c

@@ -9,8 +9,16 @@ int main(int argc, char* argv[])
     (void)argv;
     rclc_init(0, NULL);
     rclc_node_t* node = rclc_create_node("publisher_node", "");
+    if (node == NULL)
+    {
+        return -1;
+    }
     rclc_publisher_t* publisher =
         rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(complex_msgs, msg, NestedMsgTest), "complex_msgs_msg_NestedMsgTest", 1);
+    if (publisher == NULL)
+    {
+        return -1;
+    }
 
     complex_msgs__msg__NestedMsgTest msg;
     char Buff1[30];

complex_msg_subscriber/CMakeLists.txt

@@ -9,6 +9,7 @@ find_package(complex_msgs REQUIRED)
 # Do not compile package if rclcpp is not found
 if (NOT rclc_FOUND)
   message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
   return()
 endif()