From d996762c6373c5ec9044346b56b27e40d9135701 Mon Sep 17 00:00:00 2001
From: JeongBong Seo <jb.seo@lge.com>
Date: Mon, 22 Apr 2019 11:28:41 +0900
Subject: [PATCH] DRAFT nav2-map-server-0.1.7.inc: Fix compile error

---
 .../navigation2/nav2-map-server-0.1.7.inc     |  1 +
 ...with-catching-polymorphic-type-error.patch | 80 +++++++++++++++++++
 2 files changed, 81 insertions(+)
 create mode 100644 includes-ros2/navigation2/nav2-map-server/0002-Fix-build-with-catching-polymorphic-type-error.patch

diff --git a/includes-ros2/navigation2/nav2-map-server-0.1.7.inc b/includes-ros2/navigation2/nav2-map-server-0.1.7.inc
index b2ed1b7..4d09835 100644
--- a/includes-ros2/navigation2/nav2-map-server-0.1.7.inc
+++ b/includes-ros2/navigation2/nav2-map-server-0.1.7.inc
@@ -8,4 +8,5 @@ FILESEXTRAPATHS_prepend := "${THISDIR}/nav2-map-server:"
 
 SRC_URI += " \
     file://0001-removed-bullet-dependency-from-map_server-594.patch \
+    file://0002-Fix-build-with-catching-polymorphic-type-error.patch \
 "
diff --git a/includes-ros2/navigation2/nav2-map-server/0002-Fix-build-with-catching-polymorphic-type-error.patch b/includes-ros2/navigation2/nav2-map-server/0002-Fix-build-with-catching-polymorphic-type-error.patch
new file mode 100644
index 0000000..aa606e1
--- /dev/null
+++ b/includes-ros2/navigation2/nav2-map-server/0002-Fix-build-with-catching-polymorphic-type-error.patch
@@ -0,0 +1,80 @@
+From 061dd9f0ca8b67ea6ccd8c692d69f1c4c5aa7e80 Mon Sep 17 00:00:00 2001
+From: JeongBong Seo <jb.seo@lge.com>
+Date: Mon, 22 Apr 2019 11:25:51 +0900
+Subject: Fix build with catching polymorphic type error
+
+---
+ src/map_server.cpp      |  4 ++--
+ src/occ_grid_loader.cpp | 10 +++++-----
+ 2 files changed, 7 insertions(+), 7 deletions(-)
+
+diff --git a/src/map_server.cpp b/src/map_server.cpp
+index 61e483e..86aae6d 100644
+--- a/src/map_server.cpp
++++ b/src/map_server.cpp
+@@ -75,7 +75,7 @@ void MapServer::getParameters()
+       map_filename_ = std::string(dirname(fname_copy)) + '/' + map_filename_;
+       free(fname_copy);
+     }
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     std::string msg = "'" + yaml_filename_ + "' does not contain an image tag or it is invalid";
+     throw std::runtime_error(msg);
+   }
+@@ -83,7 +83,7 @@ void MapServer::getParameters()
+   // Get the map type so that we can create the correct map loader
+   try {
+     map_type_ = doc_["map_type"].as<std::string>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     // Default to occupancy grid if not specified in the YAML file
+     map_type_ = "occupancy";
+   }
+diff --git a/src/occ_grid_loader.cpp b/src/occ_grid_loader.cpp
+index ae32b63..aa72fa7 100644
+--- a/src/occ_grid_loader.cpp
++++ b/src/occ_grid_loader.cpp
+@@ -56,7 +56,7 @@ OccGridLoader::OccGridLoader(rclcpp::Node * node, YAML::Node & doc)
+ {
+   try {
+     resolution_ = doc_["resolution"].as<double>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     throw std::runtime_error("The map does not contain a resolution tag or it is invalid");
+   }
+ 
+@@ -64,19 +64,19 @@ OccGridLoader::OccGridLoader(rclcpp::Node * node, YAML::Node & doc)
+     origin_[0] = doc_["origin"][0].as<double>();
+     origin_[1] = doc_["origin"][1].as<double>();
+     origin_[2] = doc_["origin"][2].as<double>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     throw std::runtime_error("The map does not contain an origin tag or it is invalid");
+   }
+ 
+   try {
+     free_thresh_ = doc_["free_thresh"].as<double>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     throw std::runtime_error("The map does not contain a free_thresh tag or it is invalid");
+   }
+ 
+   try {
+     occupied_thresh_ = doc_["occupied_thresh"].as<double>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     throw std::runtime_error("The map does not contain an occupied_thresh tag or it is invalid");
+   }
+ 
+@@ -104,7 +104,7 @@ OccGridLoader::OccGridLoader(rclcpp::Node * node, YAML::Node & doc)
+ 
+   try {
+     negate_ = doc_["negate"].as<int>();
+-  } catch (YAML::Exception) {
++  } catch (YAML::Exception &) {
+     throw std::runtime_error("The map does not contain a negate tag or it is invalid");
+   }
+ 
+-- 
+2.17.1
+