fixed tutorial examples test build

nasa · Jun 7, 2024 · 5e91f37 · 5e91f37
1 parent 5d4ff97
commit 5e91f37
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/localization/factor_adders/include/factor_adders/pose_factor_adder.h b/localization/factor_adders/include/factor_adders/pose_factor_adder.h
@@ -67,6 +67,7 @@ int PoseFactorAdder<PoseNodeAdderType>::AddFactorsForSingleMeasurement(
   const gtsam::PriorFactor<gtsam::Pose3>::shared_ptr pose_prior_factor(
     new gtsam::PriorFactor<gtsam::Pose3>(pose_key, measurement.pose, pose_noise));
   factors.push_back(pose_prior_factor);
+  return 1;
 }
 
 template <class PoseNodeAdderType>

diff --git a/localization/factor_adders/include/factor_adders/relative_pose_factor_adder.h b/localization/factor_adders/include/factor_adders/relative_pose_factor_adder.h
@@ -81,7 +81,7 @@ int RelativePoseFactorAdder<PoseNodeAdderType>::AddFactorsForSingleMeasurement(
 template <class PoseNodeAdderType>
 bool RelativePoseFactorAdder<PoseNodeAdderType>::CanAddFactor(
   const localization_measurements::RelativePoseWithCovarianceMeasurement& measurement) const {
-  return node_adder_->CanAddNode(measurement.time_a) && node_adder_->CanAddNode(measurement.time_b);
+  return node_adder_->CanAddNode(measurement.timestamp_a) && node_adder_->CanAddNode(measurement.timestamp_b);
 }
 }  // namespace factor_adders
 

diff --git a/localization/tutorial_examples/CMakeLists.txt b/localization/tutorial_examples/CMakeLists.txt
@@ -75,14 +75,14 @@ if(CATKIN_ENABLE_TESTING)
     test/test_simple_localizer.cc
   )
   target_link_libraries(test_simple_localizer
-    ${PROJECT_NAME} ${catkin_LIBRARIES} 
+    ${catkin_LIBRARIES} 
   )
   add_rostest_gtest(test_simple_odometry
     test/test_simple_odometry.test
     test/test_simple_odometry.cc
   )
   target_link_libraries(test_simple_odometry
-    ${PROJECT_NAME} ${catkin_LIBRARIES} 
+    ${catkin_LIBRARIES} 
   )
 
 endif()