From 7eb7aec8a5182aac3ba53410dc82886e889d629f Mon Sep 17 00:00:00 2001 From: Henry Moore Date: Tue, 16 Jul 2024 06:50:22 -0600 Subject: [PATCH] Unused header cleanup (#1199) (cherry picked from commit 96a8d5798c1e2a80b104d2fb3312e1444dc142c5) # Conflicts: # joint_state_broadcaster/src/joint_state_broadcaster.cpp # joint_trajectory_controller/test/test_assets.hpp # pid_controller/src/pid_controller.cpp # tricycle_controller/include/tricycle_controller/odometry.hpp --- .../test_ackermann_steering_controller.cpp | 2 - .../test_ackermann_steering_controller.hpp | 8 +- ...kermann_steering_controller_preceeding.cpp | 2 - .../admittance_controller.hpp | 8 - .../admittance_controller/admittance_rule.hpp | 13 +- .../admittance_rule_impl.hpp | 5 +- .../src/admittance_controller.cpp | 4 - .../test/test_admittance_controller.cpp | 2 - .../test/test_admittance_controller.hpp | 7 +- .../test/test_asset_6d_robot_description.hpp | 2 - .../test/test_bicycle_steering_controller.cpp | 2 - .../test/test_bicycle_steering_controller.hpp | 8 +- ...bicycle_steering_controller_preceeding.cpp | 2 - .../diff_drive_controller.hpp | 4 - .../test/test_diff_drive_controller.cpp | 2 - .../joint_group_effort_controller.hpp | 3 - .../src/joint_group_effort_controller.cpp | 1 - .../test_joint_group_effort_controller.cpp | 5 - .../test_joint_group_effort_controller.hpp | 4 +- .../force_torque_sensor_broadcaster.hpp | 3 - .../test_force_torque_sensor_broadcaster.cpp | 5 - .../test_force_torque_sensor_broadcaster.hpp | 4 +- .../forward_command_controller.hpp | 2 - .../forward_controllers_base.hpp | 1 - ...i_interface_forward_command_controller.hpp | 2 - .../src/forward_command_controller.cpp | 3 - .../src/forward_controllers_base.cpp | 2 - .../hardware_interface_adapter.hpp | 1 - .../test/test_gripper_controllers.cpp | 4 - .../test/test_gripper_controllers.hpp | 4 +- .../imu_sensor_broadcaster.hpp | 3 - .../test/test_imu_sensor_broadcaster.cpp | 5 - .../test/test_imu_sensor_broadcaster.hpp | 4 +- .../joint_state_broadcaster.hpp | 2 - .../src/joint_state_broadcaster.cpp | 9 +- .../test/test_joint_state_broadcaster.cpp | 5 +- .../test/test_joint_state_broadcaster.hpp | 4 +- .../joint_trajectory_controller.hpp | 2 - .../tolerances.hpp | 3 - .../src/joint_trajectory_controller.cpp | 3 - .../src/trajectory.cpp | 1 - .../test/test_assets.hpp | 276 ++++++++++++++++++ .../test_load_joint_trajectory_controller.cpp | 4 +- .../test/test_tolerances.cpp | 5 +- .../test/test_trajectory.cpp | 7 +- .../test/test_trajectory_actions.cpp | 8 - .../test/test_trajectory_controller.cpp | 14 +- .../include/pid_controller/pid_controller.hpp | 6 - pid_controller/src/pid_controller.cpp | 4 + pid_controller/test/test_pid_controller.cpp | 1 - pid_controller/test/test_pid_controller.hpp | 7 +- .../test/test_pid_controller_preceding.cpp | 2 - .../joint_group_position_controller.hpp | 3 - .../src/joint_group_position_controller.cpp | 1 - .../test_joint_group_position_controller.cpp | 5 - .../test_joint_group_position_controller.hpp | 4 +- .../range_sensor_broadcaster.hpp | 3 - .../steering_controllers_library.hpp | 6 - .../steering_odometry.hpp | 3 +- .../src/steering_controllers_library.cpp | 4 - .../src/steering_odometry.cpp | 1 - .../test_steering_controllers_library.cpp | 3 - .../test_steering_controllers_library.hpp | 8 +- .../test/test_steering_odometry.cpp | 2 +- .../include/tricycle_controller/odometry.hpp | 6 + .../tricycle_controller.hpp | 3 - .../test/test_tricycle_controller.cpp | 2 - .../test_tricycle_steering_controller.cpp | 2 - .../test_tricycle_steering_controller.hpp | 8 +- ...ricycle_steering_controller_preceeding.cpp | 2 - .../joint_group_velocity_controller.hpp | 3 - .../src/joint_group_velocity_controller.cpp | 1 - .../test_joint_group_velocity_controller.cpp | 5 - .../test_joint_group_velocity_controller.hpp | 4 +- 74 files changed, 333 insertions(+), 236 deletions(-) create mode 100644 joint_trajectory_controller/test/test_assets.hpp diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.cpp index 718e6f5856..7357bfdaba 100644 --- 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 #include #include -#include #include class AckermannSteeringControllerTest diff --git a/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp b/ackermann_steering_controller/test/test_ackermann_steering_controller.hpp index c28e692b78..8c5cb2b66c 100644 --- 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 + #include -#include #include #include -#include #include #include #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 index 1a16bed838..96dd20d80e 100644 --- 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 #include #include -#include #include class AckermannSteeringControllerTest diff --git a/admittance_controller/include/admittance_controller/admittance_controller.hpp b/admittance_controller/include/admittance_controller/admittance_controller.hpp index 6ff6cdae7a..9be6c3298c 100644 --- 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 #include #include #include @@ -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 index 36c027491c..7223dbe9d1 100644 --- 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 -#include -#include + #include #include #include +#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 index 9b03924882..77f1277b35 100644 --- 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 #include +#include +#include + #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 index c6a8168736..6e29b574a2 100644 --- 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 #include -#include #include #include #include #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 index 6b03249df8..4c51a6d57a 100644 --- 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 #include -#include #include // 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 index 8888cd700a..86cb512bf9 100644 --- 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 + #include #include #include @@ -25,21 +27,18 @@ #include #include -#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 index 4d38df7c30..11412ebbab 100644 --- 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 - 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 index 9904f791b6..0bf470240c 100644 --- 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 #include #include -#include #include class BicycleSteeringControllerTest diff --git a/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp b/bicycle_steering_controller/test/test_bicycle_steering_controller.hpp index 0c894087be..8b2bd6a28f 100644 --- 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 + #include -#include #include #include -#include #include #include #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 index bc3a182753..0bc03f4886 100644 --- 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 #include #include -#include #include 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 index 56d4970945..3c3ab63acc 100644 --- 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 index 8c09e5042e..3a63de35a9 100644 --- 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 -#include #include #include #include @@ -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 index 562bbea52f..b07e8a630c 100644 --- 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 - #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 index c3748d493c..e7d0f274a5 100644 --- 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 index 256a4ce465..6f55327ab4 100644 --- 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 - -#include #include #include #include #include #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 index 6ae9db4670..11f8013ee7 100644 --- 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 + #include #include #include -#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/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp index 754d1de9ba..bd477ed68a 100644 --- a/force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp +++ b/force_torque_sensor_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 -#include -#include #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 index b9e634ff55..36d5693bee 100644 --- 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 #include -#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 index fe5b0ab3ba..fe7fb0c174 100644 --- 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 + #include #include -#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 index 91e3aae480..12f2a28b22 100644 --- 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 -#include -#include #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 index d60245f328..4858e5ab64 100644 --- 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/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp index fd7c0d480e..50476c62e3 100644 --- a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp +++ b/forward_command_controller/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 -#include -#include #include "forward_command_controller/forward_controllers_base.hpp" #include "forward_command_controller/visibility_control.h" diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp index 0305a37e4e..78fe8c9191 100644 --- a/forward_command_controller/src/forward_command_controller.cpp +++ b/forward_command_controller/src/forward_command_controller.cpp @@ -14,14 +14,11 @@ #include "forward_command_controller/forward_command_controller.hpp" -#include #include #include -#include #include #include "rclcpp/logging.hpp" -#include "rclcpp/qos.hpp" namespace forward_command_controller { diff --git a/forward_command_controller/src/forward_controllers_base.cpp b/forward_command_controller/src/forward_controllers_base.cpp index e4ea46fcc5..331d3f9eea 100644 --- a/forward_command_controller/src/forward_controllers_base.cpp +++ b/forward_command_controller/src/forward_controllers_base.cpp @@ -14,10 +14,8 @@ #include "forward_command_controller/forward_controllers_base.hpp" -#include #include #include -#include #include #include "controller_interface/helpers.hpp" diff --git a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp index b125ab12d0..2cc24794b8 100644 --- a/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp +++ b/gripper_controllers/include/gripper_controllers/hardware_interface_adapter.hpp @@ -22,7 +22,6 @@ #include #include #include -#include #include "control_toolbox/pid.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" diff --git a/gripper_controllers/test/test_gripper_controllers.cpp b/gripper_controllers/test/test_gripper_controllers.cpp index 6963dfec93..966089cfa7 100644 --- a/gripper_controllers/test/test_gripper_controllers.cpp +++ b/gripper_controllers/test/test_gripper_controllers.cpp @@ -12,7 +12,6 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include #include #include #include @@ -23,9 +22,6 @@ #include "test_gripper_controllers.hpp" #include "hardware_interface/loaned_command_interface.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" -#include "lifecycle_msgs/msg/state.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" using hardware_interface::LoanedCommandInterface; using hardware_interface::LoanedStateInterface; diff --git a/gripper_controllers/test/test_gripper_controllers.hpp b/gripper_controllers/test/test_gripper_controllers.hpp index 4983c8102d..cb92bc9dcd 100644 --- a/gripper_controllers/test/test_gripper_controllers.hpp +++ b/gripper_controllers/test/test_gripper_controllers.hpp @@ -15,12 +15,12 @@ #ifndef TEST_GRIPPER_CONTROLLERS_HPP_ #define TEST_GRIPPER_CONTROLLERS_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "gripper_controllers/gripper_action_controller.hpp" #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" diff --git a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp index cd2a44d32b..1ba0b032ac 100644 --- a/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp +++ b/imu_sensor_broadcaster/include/imu_sensor_broadcaster/imu_sensor_broadcaster.hpp @@ -20,14 +20,11 @@ #define IMU_SENSOR_BROADCASTER__IMU_SENSOR_BROADCASTER_HPP_ #include -#include -#include #include "controller_interface/controller_interface.hpp" #include "imu_sensor_broadcaster/visibility_control.h" // auto-generated by generate_parameter_library #include "imu_sensor_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/imu_sensor.hpp" diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp index 0886748293..287d83b6cd 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.cpp @@ -23,12 +23,7 @@ #include #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 "imu_sensor_broadcaster/imu_sensor_broadcaster.hpp" -#include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "sensor_msgs/msg/imu.hpp" using hardware_interface::LoanedStateInterface; diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp index 01423724b8..0f3286c302 100644 --- a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp +++ b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp @@ -19,11 +19,11 @@ #ifndef TEST_IMU_SENSOR_BROADCASTER_HPP_ #define TEST_IMU_SENSOR_BROADCASTER_HPP_ +#include + #include #include -#include "gmock/gmock.h" - #include "imu_sensor_broadcaster/imu_sensor_broadcaster.hpp" // subclassing and friending so we can access member variables diff --git a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp index f1c532dce9..b3fa69f94c 100644 --- a/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/include/joint_state_broadcaster/joint_state_broadcaster.hpp @@ -25,8 +25,6 @@ #include "joint_state_broadcaster/visibility_control.h" // auto-generated by generate_parameter_library #include "joint_state_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/lifecycle_publisher.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "realtime_tools/realtime_publisher.h" #include "sensor_msgs/msg/joint_state.hpp" diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp index 3c2192d40e..7961641441 100644 --- a/joint_state_broadcaster/src/joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/src/joint_state_broadcaster.cpp @@ -14,22 +14,21 @@ #include "joint_state_broadcaster/joint_state_broadcaster.hpp" -#include +#include #include #include #include #include #include -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" +<<<<<<< HEAD #include "rclcpp/clock.hpp" #include "rclcpp/event_handler.hpp" +======= +>>>>>>> 96a8d57 (Unused header cleanup (#1199)) #include "rclcpp/qos.hpp" #include "rclcpp/time.hpp" -#include "rclcpp_lifecycle/lifecycle_node.hpp" -#include "rcpputils/split.hpp" -#include "rcutils/logging_macros.h" #include "std_msgs/msg/header.hpp" namespace rclcpp_lifecycle diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp index 04bf10089a..8851bba48c 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include @@ -23,12 +23,9 @@ #include "gmock/gmock.h" #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 "joint_state_broadcaster/joint_state_broadcaster.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/utilities.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "test_joint_state_broadcaster.hpp" using hardware_interface::HW_IF_EFFORT; diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp index fa9d29c936..3e54116d5c 100644 --- a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp +++ b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_STATE_BROADCASTER_HPP_ #define TEST_JOINT_STATE_BROADCASTER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "joint_state_broadcaster/joint_state_broadcaster.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp index fa3e8c8eb0..2f0a1f4df0 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp @@ -15,7 +15,6 @@ #ifndef JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ #define JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_ -#include #include // for std::reference_wrapper #include #include @@ -36,7 +35,6 @@ #include "rclcpp/time.hpp" #include "rclcpp/timer.hpp" #include "rclcpp_action/server.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" diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp index c4404920df..8c556703ab 100644 --- a/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp +++ b/joint_trajectory_controller/include/joint_trajectory_controller/tolerances.hpp @@ -38,9 +38,6 @@ #include "control_msgs/action/follow_joint_trajectory.hpp" #include "joint_trajectory_controller_parameters.hpp" -#include "rclcpp/node.hpp" -#include "rclcpp/time.hpp" - namespace joint_trajectory_controller { /** diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp index ae725effe7..ca18a0a2e2 100644 --- a/joint_trajectory_controller/src/joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/src/joint_trajectory_controller.cpp @@ -22,10 +22,7 @@ #include #include "angles/angles.h" -#include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" #include "controller_interface/helpers.hpp" -#include "hardware_interface/types/hardware_interface_return_values.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "joint_trajectory_controller/trajectory.hpp" #include "lifecycle_msgs/msg/state.hpp" diff --git a/joint_trajectory_controller/src/trajectory.cpp b/joint_trajectory_controller/src/trajectory.cpp index 0ed7f2ff13..54f785a070 100644 --- a/joint_trajectory_controller/src/trajectory.cpp +++ b/joint_trajectory_controller/src/trajectory.cpp @@ -20,7 +20,6 @@ #include "hardware_interface/macros.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/time.hpp" -#include "std_msgs/msg/header.hpp" namespace joint_trajectory_controller { diff --git a/joint_trajectory_controller/test/test_assets.hpp b/joint_trajectory_controller/test/test_assets.hpp new file mode 100644 index 0000000000..df6f2a37c7 --- /dev/null +++ b/joint_trajectory_controller/test/test_assets.hpp @@ -0,0 +1,276 @@ +// Copyright 2023 ros2_control Development Team +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TEST_ASSETS_HPP_ +#define TEST_ASSETS_HPP_ + +namespace test_trajectory_controllers +{ +const auto urdf_rrrbot_revolute = + R"( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +)"; + +const auto urdf_rrrbot_continuous = + R"( + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +)"; + +} // namespace test_trajectory_controllers + +#endif // TEST_ASSETS_HPP_ diff --git a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp index eb1a3691e6..fc1b5f5e34 100644 --- a/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_load_joint_trajectory_controller.cpp @@ -12,9 +12,9 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include -#include "gmock/gmock.h" +#include #include "controller_manager/controller_manager.hpp" #include "hardware_interface/resource_manager.hpp" diff --git a/joint_trajectory_controller/test/test_tolerances.cpp b/joint_trajectory_controller/test/test_tolerances.cpp index bd6304df29..106a9a761f 100644 --- a/joint_trajectory_controller/test/test_tolerances.cpp +++ b/joint_trajectory_controller/test/test_tolerances.cpp @@ -12,12 +12,11 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include + #include -#include #include -#include "gmock/gmock.h" #include "rclcpp/duration.hpp" #include "rclcpp/logger.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" diff --git a/joint_trajectory_controller/test/test_trajectory.cpp b/joint_trajectory_controller/test/test_trajectory.cpp index 6e0c53ac77..b0d7ad8e18 100644 --- a/joint_trajectory_controller/test/test_trajectory.cpp +++ b/joint_trajectory_controller/test/test_trajectory.cpp @@ -12,15 +12,12 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include + #include #include #include -#include "gmock/gmock.h" - -#include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" #include "joint_trajectory_controller/trajectory.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp index 3e65016403..164f7d0e11 100644 --- a/joint_trajectory_controller/test/test_trajectory_actions.cpp +++ b/joint_trajectory_controller/test/test_trajectory_actions.cpp @@ -15,38 +15,30 @@ #ifndef _MSC_VER #include #endif -#include #include #include #include #include -#include #include #include -#include #include #include #include "control_msgs/action/detail/follow_joint_trajectory__struct.hpp" -#include "controller_interface/controller_interface.hpp" #include "gtest/gtest.h" -#include "hardware_interface/resource_manager.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/executors/multi_threaded_executor.hpp" #include "rclcpp/logging.hpp" -#include "rclcpp/node.hpp" #include "rclcpp/parameter.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" #include "rclcpp_action/client.hpp" #include "rclcpp_action/client_goal_handle.hpp" #include "rclcpp_action/create_client.hpp" -#include "rclcpp_lifecycle/lifecycle_node.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" -#include "joint_trajectory_controller/joint_trajectory_controller.hpp" #include "test_trajectory_controller_utils.hpp" using std::placeholders::_1; diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp index 1959c92f4b..3205856457 100644 --- a/joint_trajectory_controller/test/test_trajectory_controller.cpp +++ b/joint_trajectory_controller/test/test_trajectory_controller.cpp @@ -12,36 +12,24 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include +#include #include #include -#include #include -#include -#include #include -#include #include #include #include "builtin_interfaces/msg/duration.hpp" -#include "builtin_interfaces/msg/time.hpp" -#include "controller_interface/controller_interface.hpp" -#include "hardware_interface/resource_manager.hpp" #include "lifecycle_msgs/msg/state.hpp" #include "rclcpp/clock.hpp" #include "rclcpp/duration.hpp" #include "rclcpp/event_handler.hpp" #include "rclcpp/executors/multi_threaded_executor.hpp" #include "rclcpp/executors/single_threaded_executor.hpp" -#include "rclcpp/node.hpp" #include "rclcpp/parameter.hpp" -#include "rclcpp/publisher.hpp" -#include "rclcpp/qos.hpp" -#include "rclcpp/subscription.hpp" #include "rclcpp/time.hpp" -#include "rclcpp/utilities.hpp" #include "trajectory_msgs/msg/joint_trajectory.hpp" #include "trajectory_msgs/msg/joint_trajectory_point.hpp" diff --git a/pid_controller/include/pid_controller/pid_controller.hpp b/pid_controller/include/pid_controller/pid_controller.hpp index f7b8cc4491..236b067929 100644 --- a/pid_controller/include/pid_controller/pid_controller.hpp +++ b/pid_controller/include/pid_controller/pid_controller.hpp @@ -28,17 +28,11 @@ #include "controller_interface/chainable_controller_interface.hpp" #include "pid_controller/visibility_control.h" #include "pid_controller_parameters.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 "std_srvs/srv/set_bool.hpp" -#include "control_msgs/msg/joint_controller_state.hpp" - -#include "control_msgs/msg/pid_state.hpp" -#include "trajectory_msgs/msg/joint_trajectory_point.hpp" - namespace pid_controller { diff --git a/pid_controller/src/pid_controller.cpp b/pid_controller/src/pid_controller.cpp index c4b447b514..05f892450b 100644 --- a/pid_controller/src/pid_controller.cpp +++ b/pid_controller/src/pid_controller.cpp @@ -24,9 +24,13 @@ #include "angles/angles.h" #include "control_msgs/msg/single_dof_state.hpp" +<<<<<<< HEAD #include "controller_interface/helpers.hpp" #include "rclcpp/rclcpp.hpp" +======= +#include "rclcpp/version.h" +>>>>>>> 96a8d57 (Unused header cleanup (#1199)) namespace { // utility diff --git a/pid_controller/test/test_pid_controller.cpp b/pid_controller/test/test_pid_controller.cpp index a44347f5f1..e3fd6ee959 100644 --- a/pid_controller/test/test_pid_controller.cpp +++ b/pid_controller/test/test_pid_controller.cpp @@ -20,7 +20,6 @@ #include #include #include -#include #include using pid_controller::feedforward_mode_type; diff --git a/pid_controller/test/test_pid_controller.hpp b/pid_controller/test/test_pid_controller.hpp index 24d04c2bc7..8bc09ed53c 100644 --- a/pid_controller/test/test_pid_controller.hpp +++ b/pid_controller/test/test_pid_controller.hpp @@ -18,20 +18,17 @@ #ifndef TEST_PID_CONTROLLER_HPP_ #define TEST_PID_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include -#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 "pid_controller/pid_controller.hpp" -#include "rclcpp/parameter_value.hpp" #include "rclcpp/time.hpp" #include "rclcpp/utilities.hpp" #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" diff --git a/pid_controller/test/test_pid_controller_preceding.cpp b/pid_controller/test/test_pid_controller_preceding.cpp index 3e17e69286..498ca633da 100644 --- a/pid_controller/test/test_pid_controller_preceding.cpp +++ b/pid_controller/test/test_pid_controller_preceding.cpp @@ -17,10 +17,8 @@ #include "test_pid_controller.hpp" -#include #include #include -#include #include using pid_controller::feedforward_mode_type; diff --git a/position_controllers/include/position_controllers/joint_group_position_controller.hpp b/position_controllers/include/position_controllers/joint_group_position_controller.hpp index 47705b6a3d..4eaf9086e4 100644 --- a/position_controllers/include/position_controllers/joint_group_position_controller.hpp +++ b/position_controllers/include/position_controllers/joint_group_position_controller.hpp @@ -15,11 +15,8 @@ #ifndef POSITION_CONTROLLERS__JOINT_GROUP_POSITION_CONTROLLER_HPP_ #define POSITION_CONTROLLERS__JOINT_GROUP_POSITION_CONTROLLER_HPP_ -#include - #include "forward_command_controller/forward_command_controller.hpp" #include "position_controllers/visibility_control.h" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" namespace position_controllers { diff --git a/position_controllers/src/joint_group_position_controller.cpp b/position_controllers/src/joint_group_position_controller.cpp index 8335a200c4..1074ba7ef7 100644 --- a/position_controllers/src/joint_group_position_controller.cpp +++ b/position_controllers/src/joint_group_position_controller.cpp @@ -17,7 +17,6 @@ #include "controller_interface/controller_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "position_controllers/joint_group_position_controller.hpp" -#include "rclcpp/logging.hpp" #include "rclcpp/parameter.hpp" namespace position_controllers diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp index a712cc81c2..dbab87e053 100644 --- a/position_controllers/test/test_joint_group_position_controller.cpp +++ b/position_controllers/test/test_joint_group_position_controller.cpp @@ -12,19 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include - -#include #include #include #include #include #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_position_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/position_controllers/test/test_joint_group_position_controller.hpp b/position_controllers/test/test_joint_group_position_controller.hpp index 93149d8e19..ff3e212973 100644 --- a/position_controllers/test/test_joint_group_position_controller.hpp +++ b/position_controllers/test/test_joint_group_position_controller.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_GROUP_POSITION_CONTROLLER_HPP_ #define TEST_JOINT_GROUP_POSITION_CONTROLLER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "position_controllers/joint_group_position_controller.hpp" diff --git a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp index b2e5fbfac0..5a93f95982 100644 --- a/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp +++ b/range_sensor_broadcaster/include/range_sensor_broadcaster/range_sensor_broadcaster.hpp @@ -20,13 +20,10 @@ #define RANGE_SENSOR_BROADCASTER__RANGE_SENSOR_BROADCASTER_HPP_ #include -#include -#include #include "controller_interface/controller_interface.hpp" #include "range_sensor_broadcaster/visibility_control.h" #include "range_sensor_broadcaster_parameters.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "rclcpp_lifecycle/state.hpp" #include "realtime_tools/realtime_publisher.h" #include "semantic_components/range_sensor.hpp" diff --git a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp index 29be21193e..e148ae6aa8 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp @@ -15,21 +15,16 @@ #ifndef STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_ #define STEERING_CONTROLLERS_LIBRARY__STEERING_CONTROLLERS_LIBRARY_HPP_ -#include #include #include -#include #include -#include #include #include "controller_interface/chainable_controller_interface.hpp" #include "hardware_interface/handle.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 "std_srvs/srv/set_bool.hpp" #include "steering_controllers_library/steering_odometry.hpp" #include "steering_controllers_library/visibility_control.h" #include "steering_controllers_library_parameters.hpp" @@ -37,7 +32,6 @@ // TODO(anyone): Replace with controller specific messages #include "ackermann_msgs/msg/ackermann_drive_stamped.hpp" #include "control_msgs/msg/steering_controller_status.hpp" -#include "geometry_msgs/msg/twist.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp index 12f4bd2f7b..f6590bcb61 100644 --- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp +++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp @@ -22,8 +22,7 @@ #include #include -#include "realtime_tools/realtime_buffer.h" -#include "realtime_tools/realtime_publisher.h" +#include #include "rcpputils/rolling_mean_accumulator.hpp" diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp index 358cc7ae08..b22cd6ab48 100644 --- a/steering_controllers_library/src/steering_controllers_library.cpp +++ b/steering_controllers_library/src/steering_controllers_library.cpp @@ -16,15 +16,11 @@ #include #include -#include #include #include #include -#include "controller_interface/helpers.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "lifecycle_msgs/msg/state.hpp" -#include "tf2/transform_datatypes.h" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" namespace diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp index 6c339833dd..813fe6f773 100644 --- a/steering_controllers_library/src/steering_odometry.cpp +++ b/steering_controllers_library/src/steering_odometry.cpp @@ -20,7 +20,6 @@ #include "steering_controllers_library/steering_odometry.hpp" #include -#include #include namespace steering_odometry diff --git a/steering_controllers_library/test/test_steering_controllers_library.cpp b/steering_controllers_library/test/test_steering_controllers_library.cpp index 98ab97fdc3..fca7d00946 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.cpp +++ b/steering_controllers_library/test/test_steering_controllers_library.cpp @@ -17,11 +17,8 @@ #include #include #include -#include #include -#include "hardware_interface/types/hardware_interface_type_values.hpp" - class SteeringControllersLibraryTest : public SteeringControllersLibraryFixture { diff --git a/steering_controllers_library/test/test_steering_controllers_library.hpp b/steering_controllers_library/test/test_steering_controllers_library.hpp index edc4575176..e0571a3da8 100644 --- a/steering_controllers_library/test/test_steering_controllers_library.hpp +++ b/steering_controllers_library/test/test_steering_controllers_library.hpp @@ -15,21 +15,17 @@ #ifndef TEST_STEERING_CONTROLLERS_LIBRARY_HPP_ #define TEST_STEERING_CONTROLLERS_LIBRARY_HPP_ +#include + #include -#include #include #include -#include #include #include -#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" #include "steering_controllers_library/steering_controllers_library.hpp" diff --git a/steering_controllers_library/test/test_steering_odometry.cpp b/steering_controllers_library/test/test_steering_odometry.cpp index d93e29eca5..e3c8db6c15 100644 --- a/steering_controllers_library/test/test_steering_odometry.cpp +++ b/steering_controllers_library/test/test_steering_odometry.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "gmock/gmock.h" +#include #include "steering_controllers_library/steering_odometry.hpp" diff --git a/tricycle_controller/include/tricycle_controller/odometry.hpp b/tricycle_controller/include/tricycle_controller/odometry.hpp index 62eb51d6cc..397afcf632 100644 --- a/tricycle_controller/include/tricycle_controller/odometry.hpp +++ b/tricycle_controller/include/tricycle_controller/odometry.hpp @@ -21,7 +21,13 @@ #include +<<<<<<< HEAD #include "rclcpp/time.hpp" +======= +#include +// \note The versions conditioning is added here to support the source-compatibility with Humble +#if RCPPUTILS_VERSION_MAJOR >= 2 && RCPPUTILS_VERSION_MINOR >= 6 +>>>>>>> 96a8d57 (Unused header cleanup (#1199)) #include "rcpputils/rolling_mean_accumulator.hpp" namespace tricycle_controller diff --git a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp index 24aaf89de9..5299e48bb5 100644 --- a/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp +++ b/tricycle_controller/include/tricycle_controller/tricycle_controller.hpp @@ -31,12 +31,9 @@ #include "controller_interface/controller_interface.hpp" #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 "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 "std_srvs/srv/empty.hpp" #include "tf2_msgs/msg/tf_message.hpp" diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp index 8a9778e905..d7a2619a8d 100644 --- a/tricycle_controller/test/test_tricycle_controller.cpp +++ b/tricycle_controller/test/test_tricycle_controller.cpp @@ -18,7 +18,6 @@ #include -#include #include #include #include @@ -29,7 +28,6 @@ #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" #include "tricycle_controller/tricycle_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp index 328f5e4d6a..6d0b49ec6f 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.cpp @@ -14,10 +14,8 @@ #include "test_tricycle_steering_controller.hpp" -#include #include #include -#include #include class TricycleSteeringControllerTest diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp index 278994a4f3..865d37c924 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller.hpp @@ -15,21 +15,17 @@ #ifndef TEST_TRICYCLE_STEERING_CONTROLLER_HPP_ #define TEST_TRICYCLE_STEERING_CONTROLLER_HPP_ +#include + #include -#include #include #include -#include #include #include -#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" #include "tricycle_steering_controller/tricycle_steering_controller.hpp" diff --git a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp index 6f2913aeb8..2170659ee7 100644 --- a/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp +++ b/tricycle_steering_controller/test/test_tricycle_steering_controller_preceeding.cpp @@ -14,10 +14,8 @@ #include "test_tricycle_steering_controller.hpp" -#include #include #include -#include #include class TricycleSteeringControllerTest diff --git a/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp b/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp index b5c36f433a..e443ba76cc 100644 --- a/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp +++ b/velocity_controllers/include/velocity_controllers/joint_group_velocity_controller.hpp @@ -15,10 +15,7 @@ #ifndef VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ #define VELOCITY_CONTROLLERS__JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ -#include - #include "forward_command_controller/forward_command_controller.hpp" -#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp" #include "velocity_controllers/visibility_control.h" namespace velocity_controllers diff --git a/velocity_controllers/src/joint_group_velocity_controller.cpp b/velocity_controllers/src/joint_group_velocity_controller.cpp index eb55e052dc..97f6713d72 100644 --- a/velocity_controllers/src/joint_group_velocity_controller.cpp +++ b/velocity_controllers/src/joint_group_velocity_controller.cpp @@ -16,7 +16,6 @@ #include "controller_interface/controller_interface.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" -#include "rclcpp/logging.hpp" #include "rclcpp/parameter.hpp" #include "velocity_controllers/joint_group_velocity_controller.hpp" diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp index 43c1545461..12c8239347 100644 --- a/velocity_controllers/test/test_joint_group_velocity_controller.cpp +++ b/velocity_controllers/test/test_joint_group_velocity_controller.cpp @@ -12,19 +12,14 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include - -#include #include #include #include #include #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_velocity_controller.hpp" using CallbackReturn = controller_interface::CallbackReturn; diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.hpp b/velocity_controllers/test/test_joint_group_velocity_controller.hpp index e94f7f082d..1cdbf9ceec 100644 --- a/velocity_controllers/test/test_joint_group_velocity_controller.hpp +++ b/velocity_controllers/test/test_joint_group_velocity_controller.hpp @@ -15,12 +15,12 @@ #ifndef TEST_JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ #define TEST_JOINT_GROUP_VELOCITY_CONTROLLER_HPP_ +#include + #include #include #include -#include "gmock/gmock.h" - #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" #include "velocity_controllers/joint_group_velocity_controller.hpp"