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Fix compilation on Resolute (for ROS lyrical) #755

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Fix compilation on Resolute (for ROS lyrical) #755

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774afa0
fix for building on resolute
aaronchongth Aug 5, 2026
ef08ecc
use string_view instead, pass as argument to fmt since v10 is now con…
aaronchongth Aug 6, 2026
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17 changes: 9 additions & 8 deletions core/src/cost_terms.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
/*********************************************************************
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2020, Hamburg University
Expand Down Expand Up @@ -253,7 +253,7 @@ Clearance::Clearance(bool with_world, bool cumulative, std::string group_propert
, distance_to_cost{ [](double d) { return 1.0 / (d + 1e-5); } } {}

double Clearance::operator()(const SubTrajectory& s, std::string& comment) const {
static const std::string PREFIX{ "Clearance: " };
constexpr std::string_view PREFIX{ "Clearance: " };

collision_detection::DistanceRequest request;
request.type =
Expand Down Expand Up @@ -298,8 +298,8 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
} };

auto collision_comment = [=](const auto& distance) {
return fmt::format(PREFIX + "allegedly valid solution collides between '{}' and '{}'", distance.link_names[0],
distance.link_names[1]);
return fmt::format("{}allegedly valid solution collides between '{}' and '{}'", PREFIX,
distance.link_names[0], distance.link_names[1]);
};

double distance{ 0.0 };
Expand All @@ -313,10 +313,10 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
}
distance = distance_data.distance;
if (!cumulative)
comment = fmt::format(PREFIX + "distance {} between '{}' and '{}'", distance, distance_data.link_names[0],
distance_data.link_names[1]);
comment = fmt::format("{}distance {} between '{}' and '{}'", PREFIX, distance,
distance_data.link_names[0], distance_data.link_names[1]);
else
comment = fmt::format(PREFIX + "cumulative distance {}", distance);
comment = fmt::format("{}cumulative distance {}", PREFIX, distance);
} else { // check trajectory
for (size_t i = 0; i < s.trajectory()->getWayPointCount(); ++i) {
auto distance_data = check_distance(state, s.trajectory()->getWayPoint(i));
Expand All @@ -327,7 +327,8 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
distance += distance_data.distance;
}
distance /= s.trajectory()->getWayPointCount();
comment = fmt::format(PREFIX + "average{} distance: {}", (cumulative ? " cumulative" : ""), distance);
comment = fmt::format("{}average{} distance: {}", PREFIX, (cumulative ? " cumulative" : ""),
distance);
}

return distance_to_cost(distance);
Expand Down
5 changes: 3 additions & 2 deletions core/src/stage.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -909,8 +909,9 @@ bool Connecting::compatible(const InterfaceState& from_state, const InterfaceSta
const planning_scene::PlanningSceneConstPtr& from = from_state.scene();
const planning_scene::PlanningSceneConstPtr& to = to_state.scene();

auto false_with_debug = [](auto... args) {
RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"), fmt::format(args...));
auto false_with_debug = [](const char* format_str, auto&&... args) {
RCLCPP_DEBUG_STREAM(rclcpp::get_logger("Connecting"),
fmt::format(fmt::runtime(format_str), std::forward<decltype(args)>(args)...));
return false;
};

Expand Down