Renamed ros_controllers namespace to individual controller namespace (ros-navigation#23)

Author: jordan-palacios

joint_state_controller/include/joint_state_controller/joint_state_controller.hpp

@@ -27,7 +27,7 @@
 
 #include "sensor_msgs/msg/joint_state.hpp"
 
-namespace ros_controllers
+namespace joint_state_controller
 {
 
 class JointStateController : public controller_interface::ControllerInterface
@@ -51,6 +51,6 @@ class JointStateController : public controller_interface::ControllerInterface
   sensor_msgs::msg::JointState joint_state_msg_;
 };
 
-}  // namespace ros_controllers
+}  // namespace joint_state_controller
 
 #endif  // JOINT_STATE_CONTROLLER__JOINT_STATE_CONTROLLER_HPP_

joint_state_controller/src/joint_state_controller.cpp

@@ -21,7 +21,7 @@
 
 #include "rcutils/logging_macros.h"
 
-namespace ros_controllers
+namespace joint_state_controller
 {
 
 JointStateController::JointStateController()
@@ -83,9 +83,9 @@ JointStateController::update()
   return hardware_interface::HW_RET_OK;
 }
 
-}  // namespace ros_controllers
+}  // namespace joint_state_controller
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  ros_controllers::JointStateController, controller_interface::ControllerInterface)
+  joint_state_controller::JointStateController, controller_interface::ControllerInterface)

joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp

@@ -35,7 +35,7 @@
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
-namespace ros_controllers
+namespace joint_trajectory_controller
 {
 
 class JointTrajectoryController : public controller_interface::ControllerInterface
@@ -109,6 +109,6 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   void halt();
 };
 
-}  // namespace ros_controllers
+}  // namespace joint_trajectory_controller
 
 #endif  // JOINT_TRAJECTORY_CONTROLLER__JOINT_TRAJECTORY_CONTROLLER_HPP_

joint_trajectory_controller/include/joint_trajectory_controller/trajectory.hpp

@@ -24,7 +24,7 @@
 
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 
-namespace ros_controllers
+namespace joint_trajectory_controller
 {
 
 using TrajectoryPointIter =
@@ -82,6 +82,6 @@ class Trajectory
   rclcpp::Time trajectory_start_time_;
 };
 
-}  // namespace ros_controllers
+}  // namespace joint_trajectory_controller
 
 #endif  // JOINT_TRAJECTORY_CONTROLLER__TRAJECTORY_HPP_

joint_trajectory_controller/src/joint_trajectory_controller.cpp

@@ -34,7 +34,7 @@
 #include "trajectory_msgs/msg/joint_trajectory.hpp"
 #include "trajectory_msgs/msg/joint_trajectory_point.hpp"
 
-namespace ros_controllers
+namespace joint_trajectory_controller
 {
 
 using namespace std::chrono_literals;
@@ -325,9 +325,9 @@ JointTrajectoryController::halt()
   set_op_mode(hardware_interface::OperationMode::ACTIVE);
 }
 
-}  // namespace ros_controllers
+}  // namespace joint_trajectory_controller
 
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  ros_controllers::JointTrajectoryController, controller_interface::ControllerInterface)
+  joint_trajectory_controller::JointTrajectoryController, controller_interface::ControllerInterface)

joint_trajectory_controller/src/trajectory.cpp

@@ -21,7 +21,7 @@
 
 #include "rclcpp/clock.hpp"
 
-namespace ros_controllers
+namespace joint_trajectory_controller
 {
 
 // TODO(karsten1987): Fix to rclcpp time when API stable.
@@ -99,4 +99,4 @@ Trajectory::is_empty() const
   return !trajectory_msg_;
 }
 
-}  // namespace ros_controllers
+}  // namespace joint_trajectory_controller

joint_trajectory_controller/test/test_trajectory.cpp

@@ -39,7 +39,7 @@ TEST_F(TestTrajectory, initialize_trajectory) {
     empty_msg->header.stamp.sec = 2;
     empty_msg->header.stamp.nanosec = 2;
     rclcpp::Time empty_time = empty_msg->header.stamp;
-    auto traj = ros_controllers::Trajectory(empty_msg);
+    auto traj = joint_trajectory_controller::Trajectory(empty_msg);
     EXPECT_EQ(traj.end(), traj.sample(rclcpp::Clock().now()));
     EXPECT_EQ(empty_time, traj.time_from_start());
   }
@@ -48,7 +48,7 @@ TEST_F(TestTrajectory, initialize_trajectory) {
     empty_msg->header.stamp.sec = 0;
     empty_msg->header.stamp.nanosec = 0;
     auto now = rclcpp::Clock().now();
-    auto traj = ros_controllers::Trajectory(empty_msg);
+    auto traj = joint_trajectory_controller::Trajectory(empty_msg);
     auto traj_starttime = traj.time_from_start();
     EXPECT_EQ(traj.end(), traj.sample(rclcpp::Clock().now()));
     auto allowed_delta = 10000ll;
@@ -86,7 +86,7 @@ TEST_F(TestTrajectory, sample_trajectory) {
   full_msg->points.push_back(p2);
   full_msg->points.push_back(p3);
 
-  auto traj = ros_controllers::Trajectory(full_msg);
+  auto traj = joint_trajectory_controller::Trajectory(full_msg);
 
   auto sample_p1 = traj.sample(rclcpp::Clock().now());
   ASSERT_NE(traj.end(), sample_p1);
@@ -155,7 +155,7 @@ TEST_F(TestTrajectory, future_sample_trajectory) {
   full_msg->points.push_back(p2);
   full_msg->points.push_back(p3);
 
-  auto traj = ros_controllers::Trajectory(full_msg);
+  auto traj = joint_trajectory_controller::Trajectory(full_msg);
 
   // sample for future point
   auto sample_p0 = traj.sample(rclcpp::Clock().now());

joint_trajectory_controller/test/test_trajectory_controller.cpp

@@ -133,7 +133,7 @@ class TestTrajectoryController : public ::testing::Test
 
 TEST_F(TestTrajectoryController, wrong_initialization) {
   auto uninitialized_robot = std::make_shared<test_robot_hardware::TestRobotHardware>();
-  auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
+  auto traj_controller = std::make_shared<joint_trajectory_controller::JointTrajectoryController>(
     joint_names, op_mode);
   auto ret = traj_controller->init(uninitialized_robot, controller_name);
   if (ret != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
@@ -147,7 +147,7 @@ TEST_F(TestTrajectoryController, wrong_initialization) {
 TEST_F(TestTrajectoryController, correct_initialization) {
   auto initialized_robot = std::make_shared<test_robot_hardware::TestRobotHardware>();
   initialized_robot->init();
-  auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
+  auto traj_controller = std::make_shared<joint_trajectory_controller::JointTrajectoryController>(
     joint_names, op_mode);
   auto ret = traj_controller->init(initialized_robot, controller_name);
   if (ret != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
@@ -162,7 +162,7 @@ TEST_F(TestTrajectoryController, correct_initialization) {
 }
 
 TEST_F(TestTrajectoryController, configuration) {
-  auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
+  auto traj_controller = std::make_shared<joint_trajectory_controller::JointTrajectoryController>(
     joint_names, op_mode);
   auto ret = traj_controller->init(test_robot, controller_name);
   if (ret != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
@@ -309,7 +309,7 @@ TEST_F(TestTrajectoryController, configuration) {
 // }
 
 TEST_F(TestTrajectoryController, cleanup) {
-  auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>(
+  auto traj_controller = std::make_shared<joint_trajectory_controller::JointTrajectoryController>(
     joint_names, op_mode);
   auto ret = traj_controller->init(test_robot, controller_name);
   if (ret != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
@@ -361,7 +361,7 @@ TEST_F(TestTrajectoryController, cleanup) {
 }
 
 TEST_F(TestTrajectoryController, correct_initialization_using_parameters) {
-  auto traj_controller = std::make_shared<ros_controllers::JointTrajectoryController>();
+  auto traj_controller = std::make_shared<joint_trajectory_controller::JointTrajectoryController>();
   auto ret = traj_controller->init(test_robot, controller_name);
   if (ret != controller_interface::CONTROLLER_INTERFACE_RET_SUCCESS) {
     FAIL();