fix typo (#10)

ABI breaking change fixes a typo from original internal package rename for open sourcing
PicknikTwistControler -> PicknikTwistController

Author: abake48

picknik_twist_controller/include/picknik_twist_controller/picknik_twist_controller.hpp

@@ -38,11 +38,11 @@ namespace picknik_twist_controller
 using CmdType = geometry_msgs::msg::TwistStamped;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
-class PicknikTwistControler : public controller_interface::ControllerInterface
+class PicknikTwistController : public controller_interface::ControllerInterface
 {
 public:
   PICKNIK_TWIST_CONTROLLER_PUBLIC
-  PicknikTwistControler();
+  PicknikTwistController();
 
   PICKNIK_TWIST_CONTROLLER_PUBLIC
   controller_interface::InterfaceConfiguration command_interface_configuration() const override;

picknik_twist_controller/src/picknik_twist_controller.cpp

@@ -34,15 +34,15 @@ namespace picknik_twist_controller
 {
 using hardware_interface::LoanedCommandInterface;
 
-PicknikTwistControler::PicknikTwistControler()
+PicknikTwistController::PicknikTwistController()
 : controller_interface::ControllerInterface(),
   rt_command_ptr_(nullptr),
   twist_command_subscriber_(nullptr)
 {
 }
 
 controller_interface::InterfaceConfiguration
-PicknikTwistControler::command_interface_configuration() const
+PicknikTwistController::command_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration command_interfaces_config;
   command_interfaces_config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
@@ -55,14 +55,14 @@ PicknikTwistControler::command_interface_configuration() const
   return command_interfaces_config;
 }
 
-controller_interface::InterfaceConfiguration PicknikTwistControler::state_interface_configuration()
+controller_interface::InterfaceConfiguration PicknikTwistController::state_interface_configuration()
   const
 {
   return controller_interface::InterfaceConfiguration{
     controller_interface::interface_configuration_type::NONE};
 }
 
-CallbackReturn PicknikTwistControler::on_init()
+CallbackReturn PicknikTwistController::on_init()
 {
   try
   {
@@ -79,7 +79,7 @@ CallbackReturn PicknikTwistControler::on_init()
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn PicknikTwistControler::on_configure(
+CallbackReturn PicknikTwistController::on_configure(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   joint_name_ = get_node()->get_parameter("joint").as_string();
@@ -110,23 +110,23 @@ CallbackReturn PicknikTwistControler::on_configure(
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn PicknikTwistControler::on_activate(
+CallbackReturn PicknikTwistController::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // reset command buffer if a command came through callback when controller was inactive
   rt_command_ptr_ = realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>>(nullptr);
   return CallbackReturn::SUCCESS;
 }
 
-CallbackReturn PicknikTwistControler::on_deactivate(
+CallbackReturn PicknikTwistController::on_deactivate(
   const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // reset command buffer
   rt_command_ptr_ = realtime_tools::RealtimeBuffer<std::shared_ptr<CmdType>>(nullptr);
   return CallbackReturn::SUCCESS;
 }
 
-controller_interface::return_type PicknikTwistControler::update(
+controller_interface::return_type PicknikTwistController::update(
   const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   auto twist_commands = rt_command_ptr_.readFromRT();
@@ -159,4 +159,4 @@ controller_interface::return_type PicknikTwistControler::update(
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  picknik_twist_controller::PicknikTwistControler, controller_interface::ControllerInterface)
+  picknik_twist_controller::PicknikTwistController, controller_interface::ControllerInterface)