fix(demo): update gripper_rate_ on fallback, add explicit geometry_msgs dep for path_planner

bburda · bburda · commit 18f42563c08b · 2026-04-02T15:49:43.000+02:00
diff --git a/demos/multi_ecu_aggregation/CMakeLists.txt b/demos/multi_ecu_aggregation/CMakeLists.txt
@@ -31,7 +31,7 @@ ament_target_dependencies(object_detector rclcpp sensor_msgs vision_msgs diagnos
 
 # --- Planning ECU nodes ---
 add_executable(path_planner src/planning/path_planner.cpp)
-ament_target_dependencies(path_planner rclcpp nav_msgs vision_msgs diagnostic_msgs rcl_interfaces)
+ament_target_dependencies(path_planner rclcpp nav_msgs geometry_msgs vision_msgs diagnostic_msgs rcl_interfaces)
 
 add_executable(behavior_planner src/planning/behavior_planner.cpp)
 ament_target_dependencies(behavior_planner rclcpp nav_msgs geometry_msgs diagnostic_msgs rcl_interfaces)
diff --git a/demos/multi_ecu_aggregation/src/actuation/gripper_controller.cpp b/demos/multi_ecu_aggregation/src/actuation/gripper_controller.cpp
@@ -61,6 +61,7 @@ class GripperControllerNode : public rclcpp::Node
         "Parameter 'gripper_rate' must be positive; using default 10.0 Hz instead of %.3f",
         rate);
       rate = 10.0;
+      gripper_rate_ = rate;
     }
     auto period = std::chrono::duration<double>(1.0 / rate);
     timer_ = this->create_wall_timer(

Original file line number	Diff line number	Diff line change
`@@ -61,6 +61,7 @@ class GripperControllerNode : public rclcpp::Node`
`61`	`61`	`"Parameter 'gripper_rate' must be positive; using default 10.0 Hz instead of %.3f",`
`62`	`62`	`rate);`
`63`	`63`	`rate = 10.0;`
	`64`	`+ gripper_rate_ = rate;`
`64`	`65`	`}`
`65`	`66`	`auto period = std::chrono::duration<double>(1.0 / rate);`
`66`	`67`	`timer_ = this->create_wall_timer(`