Merge branch 'master' into effort-trajectory-master

ros-controls · Jul 17, 2024 · fedd208 · fedd208
2 parents 7b28c55 + 96a8d57
commit fedd208
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Showing 74 changed files with 45 additions and 243 deletions.
diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp
@@ -14,10 +14,8 @@
 
 #include "test_ackermann_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class AckermannSteeringControllerTest

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
@@ -15,22 +15,18 @@
 #ifndef TEST_ACKERMANN_STEERING_CONTROLLER_HPP_
 #define TEST_ACKERMANN_STEERING_CONTROLLER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <chrono>
-#include <limits>
 #include <memory>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
 #include "ackermann_steering_controller/ackermann_steering_controller.hpp"
-#include "gmock/gmock.h"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "rclcpp/parameter_value.hpp"
 #include "rclcpp/time.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =

diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller_preceeding.cpp
@@ -14,10 +14,8 @@
 
 #include "test_ackermann_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class AckermannSteeringControllerTest

diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp
@@ -17,7 +17,6 @@
 #ifndef ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_
 #define ADMITTANCE_CONTROLLER__ADMITTANCE_CONTROLLER_HPP_
 
-#include <chrono>
 #include <memory>
 #include <string>
 #include <vector>
@@ -29,21 +28,14 @@
 #include "admittance_controller/visibility_control.h"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "controller_interface/chainable_controller_interface.hpp"
-#include "geometry_msgs/msg/pose_stamped.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "pluginlib/class_loader.hpp"
 #include "rclcpp/duration.hpp"
 #include "rclcpp/time.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "semantic_components/force_torque_sensor.hpp"
 
-#include "trajectory_msgs/msg/joint_trajectory.hpp"
-
 namespace admittance_controller
 {
 using ControllerStateMsg = control_msgs::msg::AdmittanceControllerState;

diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp
@@ -18,23 +18,16 @@
 #define ADMITTANCE_CONTROLLER__ADMITTANCE_RULE_HPP_
 
 #include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <map>
+
 #include <memory>
 #include <string>
 #include <vector>
 
+#include "admittance_controller_parameters.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
-#include "control_toolbox/filters.hpp"
-#include "controller_interface/controller_interface.hpp"
-#include "geometry_msgs/msg/wrench_stamped.hpp"
+#include "controller_interface/controller_interface_base.hpp"
 #include "kinematics_interface/kinematics_interface.hpp"
 #include "pluginlib/class_loader.hpp"
-#include "tf2_eigen/tf2_eigen.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
-#include "tf2_kdl/tf2_kdl.hpp"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
 namespace admittance_controller

diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -22,9 +22,10 @@
 #include <memory>
 #include <vector>
 
+#include <control_toolbox/filters.hpp>
+#include <tf2_eigen/tf2_eigen.hpp>
+
 #include "rclcpp/duration.hpp"
-#include "rclcpp/utilities.hpp"
-#include "tf2_ros/transform_listener.h"
 
 namespace admittance_controller
 {

diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -16,17 +16,13 @@
 
 #include "admittance_controller/admittance_controller.hpp"
 
-#include <chrono>
 #include <cmath>
-#include <functional>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "admittance_controller/admittance_rule_impl.hpp"
 #include "geometry_msgs/msg/wrench.hpp"
-#include "rcutils/logging_macros.h"
-#include "tf2_ros/buffer.h"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
 namespace admittance_controller

diff --git a/admittance_controller/test/test_admittance_controller.cpp b/admittance_controller/test/test_admittance_controller.cpp
@@ -16,9 +16,7 @@
 
 #include "test_admittance_controller.hpp"
 
-#include <limits>
 #include <memory>
-#include <utility>
 #include <vector>
 
 // Test on_init returns ERROR when a required parameter is missing

diff --git a/admittance_controller/test/test_admittance_controller.hpp b/admittance_controller/test/test_admittance_controller.hpp
@@ -17,6 +17,8 @@
 #ifndef TEST_ADMITTANCE_CONTROLLER_HPP_
 #define TEST_ADMITTANCE_CONTROLLER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <chrono>
 #include <map>
 #include <memory>
@@ -25,21 +27,18 @@
 #include <utility>
 #include <vector>
 
-#include "gmock/gmock.h"
+#include "geometry_msgs/msg/pose_stamped.hpp"
 
 #include "admittance_controller/admittance_controller.hpp"
 #include "control_msgs/msg/admittance_controller_state.hpp"
 #include "geometry_msgs/msg/transform_stamped.hpp"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "rclcpp/parameter_value.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "semantic_components/force_torque_sensor.hpp"
 #include "test_asset_6d_robot_description.hpp"
 #include "tf2_ros/transform_broadcaster.h"
-#include "trajectory_msgs/msg/joint_trajectory.hpp"
 
 // TODO(anyone): replace the state and command message types
 using ControllerCommandWrenchMsg = geometry_msgs::msg::WrenchStamped;

diff --git a/admittance_controller/test/test_asset_6d_robot_description.hpp b/admittance_controller/test/test_asset_6d_robot_description.hpp
@@ -15,8 +15,6 @@
 #ifndef TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
 #define TEST_ASSET_6D_ROBOT_DESCRIPTION_HPP_
 
-#include <string>
-
 namespace ros2_control_test_assets
 {
 const auto valid_6d_robot_urdf =

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.cpp
@@ -14,10 +14,8 @@
 
 #include "test_bicycle_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class BicycleSteeringControllerTest

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
@@ -15,22 +15,18 @@
 #ifndef TEST_BICYCLE_STEERING_CONTROLLER_HPP_
 #define TEST_BICYCLE_STEERING_CONTROLLER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <chrono>
-#include <limits>
 #include <memory>
 #include <string>
-#include <tuple>
 #include <utility>
 #include <vector>
 
 #include "bicycle_steering_controller/bicycle_steering_controller.hpp"
-#include "gmock/gmock.h"
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "rclcpp/parameter_value.hpp"
 #include "rclcpp/time.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =

diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp b/bicycle_steering_controller/test/test_bicycle_steering_controller_preceeding.cpp
@@ -14,10 +14,8 @@
 
 #include "test_bicycle_steering_controller.hpp"
 
-#include <limits>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 class BicycleSteeringControllerTest

diff --git a/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp b/diff_drive_controller/include/diff_drive_controller/diff_drive_controller.hpp
@@ -30,15 +30,11 @@
 #include "diff_drive_controller/odometry.hpp"
 #include "diff_drive_controller/speed_limiter.hpp"
 #include "diff_drive_controller/visibility_control.h"
-#include "geometry_msgs/msg/twist.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
-#include "hardware_interface/handle.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "odometry.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_box.h"
-#include "realtime_tools/realtime_buffer.h"
 #include "realtime_tools/realtime_publisher.h"
 #include "tf2_msgs/msg/tf_message.hpp"
 

diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -14,7 +14,6 @@
 
 #include <gmock/gmock.h>
 
-#include <array>
 #include <memory>
 #include <string>
 #include <thread>
@@ -26,7 +25,6 @@
 #include "hardware_interface/loaned_state_interface.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 using CallbackReturn = controller_interface::CallbackReturn;
 using hardware_interface::HW_IF_POSITION;

diff --git a/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp b/effort_controllers/include/effort_controllers/joint_group_effort_controller.hpp
@@ -15,11 +15,8 @@
 #ifndef EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_
 #define EFFORT_CONTROLLERS__JOINT_GROUP_EFFORT_CONTROLLER_HPP_
 
-#include <string>
-
 #include "effort_controllers/visibility_control.h"
 #include "forward_command_controller/forward_command_controller.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 namespace effort_controllers
 {

diff --git a/effort_controllers/src/joint_group_effort_controller.cpp b/effort_controllers/src/joint_group_effort_controller.cpp
@@ -17,7 +17,6 @@
 #include "controller_interface/controller_interface.hpp"
 #include "effort_controllers/joint_group_effort_controller.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "rclcpp/logging.hpp"
 #include "rclcpp/parameter.hpp"
 
 namespace effort_controllers

diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -12,19 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <stddef.h>
-
-#include <functional>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include "hardware_interface/loaned_command_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "test_joint_group_effort_controller.hpp"
 
 using CallbackReturn = controller_interface::CallbackReturn;

diff --git a/effort_controllers/test/test_joint_group_effort_controller.hpp b/effort_controllers/test/test_joint_group_effort_controller.hpp
@@ -15,12 +15,12 @@
 #ifndef TEST_JOINT_GROUP_EFFORT_CONTROLLER_HPP_
 #define TEST_JOINT_GROUP_EFFORT_CONTROLLER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "effort_controllers/joint_group_effort_controller.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/types/hardware_interface_type_values.hpp"

diff --git a/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/...r_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp
@@ -20,15 +20,12 @@
 #define FORCE_TORQUE_SENSOR_BROADCASTER__FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
 
 #include <memory>
-#include <string>
-#include <vector>
 
 #include "controller_interface/controller_interface.hpp"
 #include "force_torque_sensor_broadcaster/visibility_control.h"
 // auto-generated by generate_parameter_library
 #include "force_torque_sensor_broadcaster_parameters.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_publisher.h"
 #include "semantic_components/force_torque_sensor.hpp"

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp
@@ -22,14 +22,9 @@
 #include <utility>
 #include <vector>
 
-#include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
-#include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_type_values.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
 #include "rclcpp/utilities.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using hardware_interface::LoanedStateInterface;
 using testing::IsEmpty;

diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp
@@ -19,11 +19,11 @@
 #ifndef TEST_FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
 #define TEST_FORCE_TORQUE_SENSOR_BROADCASTER_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 
-#include "gmock/gmock.h"
-
 #include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp"
 
 // subclassing and friending so we can access member variables

diff --git a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
@@ -16,8 +16,6 @@
 #define FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
 
 #include <memory>
-#include <string>
-#include <vector>
 
 #include "forward_command_controller/forward_controllers_base.hpp"
 #include "forward_command_controller/visibility_control.h"

diff --git a/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp b/forward_command_controller/include/forward_command_controller/forward_controllers_base.hpp
@@ -22,7 +22,6 @@
 #include "controller_interface/controller_interface.hpp"
 #include "forward_command_controller/visibility_control.h"
 #include "rclcpp/subscription.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "realtime_tools/realtime_buffer.h"
 #include "std_msgs/msg/float64_multi_array.hpp"

diff --git a/...troller/include/forward_command_controller/multi_interface_forward_command_controller.hpp b/...troller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
@@ -16,8 +16,6 @@
 #define FORWARD_COMMAND_CONTROLLER__MULTI_INTERFACE_FORWARD_COMMAND_CONTROLLER_HPP_
 
 #include <memory>
-#include <string>
-#include <vector>
 
 #include "forward_command_controller/forward_controllers_base.hpp"
 #include "forward_command_controller/visibility_control.h"