address pr comments

evan-palmer · evan-palmer · commit 2ce98658f1be · 2025-04-26T18:16:03.000-07:00
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -3,93 +3,11 @@
     "*.repos": "yaml",
     "*.world": "xml",
     "*.xacro": "xml",
-    "*.srdf": "xml",
     "*.rviz": "yaml",
     "*.config": "xml",
     "*.sdf": "xml",
-    "cctype": "cpp",
-    "clocale": "cpp",
-    "cmath": "cpp",
-    "csignal": "cpp",
-    "cstdarg": "cpp",
-    "cstddef": "cpp",
-    "cstdio": "cpp",
-    "cstdlib": "cpp",
-    "cstring": "cpp",
-    "ctime": "cpp",
-    "cwchar": "cpp",
-    "cwctype": "cpp",
-    "array": "cpp",
-    "atomic": "cpp",
-    "strstream": "cpp",
-    "bit": "cpp",
-    "*.tcc": "cpp",
-    "bitset": "cpp",
-    "cfenv": "cpp",
-    "charconv": "cpp",
-    "chrono": "cpp",
-    "codecvt": "cpp",
-    "compare": "cpp",
-    "complex": "cpp",
-    "concepts": "cpp",
-    "condition_variable": "cpp",
-    "cstdint": "cpp",
-    "deque": "cpp",
-    "forward_list": "cpp",
-    "list": "cpp",
-    "map": "cpp",
-    "set": "cpp",
-    "string": "cpp",
-    "unordered_map": "cpp",
-    "unordered_set": "cpp",
-    "vector": "cpp",
-    "exception": "cpp",
-    "algorithm": "cpp",
-    "functional": "cpp",
-    "iterator": "cpp",
-    "memory": "cpp",
-    "memory_resource": "cpp",
-    "numeric": "cpp",
-    "optional": "cpp",
-    "random": "cpp",
-    "ratio": "cpp",
-    "source_location": "cpp",
-    "string_view": "cpp",
-    "system_error": "cpp",
-    "tuple": "cpp",
-    "type_traits": "cpp",
-    "utility": "cpp",
-    "format": "cpp",
-    "fstream": "cpp",
-    "future": "cpp",
-    "initializer_list": "cpp",
-    "iomanip": "cpp",
-    "iosfwd": "cpp",
-    "iostream": "cpp",
-    "istream": "cpp",
     "limits": "cpp",
-    "mutex": "cpp",
-    "new": "cpp",
-    "numbers": "cpp",
-    "ostream": "cpp",
-    "semaphore": "cpp",
-    "shared_mutex": "cpp",
-    "span": "cpp",
-    "sstream": "cpp",
-    "stdexcept": "cpp",
-    "stdfloat": "cpp",
-    "stop_token": "cpp",
-    "streambuf": "cpp",
-    "thread": "cpp",
-    "cinttypes": "cpp",
-    "typeindex": "cpp",
-    "typeinfo": "cpp",
-    "variant": "cpp",
-    "ranges": "cpp",
-    "expected": "cpp",
-    "regex": "cpp",
-    "*.txx": "cpp",
-    "iterativelinearsolvers": "cpp"
+    "format": "cpp"
   },
   "terminal.integrated.defaultProfile.linux": "bash",
   "terminal.integrated.profiles.linux": {
diff --git a/auv_control_demos/CMakeLists.txt b/auv_control_demos/CMakeLists.txt
@@ -4,9 +4,9 @@ project(auv_control_demos)
 set(THIS_PACKAGE_INCLUDE_DEPENDS rclpy ament_cmake)
 
 find_package(ament_cmake REQUIRED)
-foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
-    find_package(${Dependency} REQUIRED)
-endforeach()
+find_package(rclpy REQUIRED)
+
+ament_export_dependencies(rclpy)
 
 install(
     DIRECTORY
diff --git a/controller_common/CMakeLists.txt b/controller_common/CMakeLists.txt
@@ -21,9 +21,11 @@ target_sources(
         BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
         FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/controller_common/common.hpp
 )
-
-ament_target_dependencies(controller_common PUBLIC rclcpp geometry_msgs nav_msgs)
 target_compile_features(controller_common PUBLIC cxx_std_23)
+target_link_libraries(
+    controller_common
+    PUBLIC rclcpp::rclcpp ${geometry_msgs_TARGETS} ${nav_msgs_TARGETS}
+)
 
 install(
     TARGETS controller_common
diff --git a/ik_solvers/CMakeLists.txt b/ik_solvers/CMakeLists.txt
@@ -8,11 +8,11 @@ endif()
 include(GNUInstallDirs)
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
+    rclcpp
     rclcpp_lifecycle
+    pluginlib
     Eigen3
-    eigen3_cmake_module
     pinocchio
-    pluginlib
     trajectory_msgs
     tf2_eigen
 )
@@ -39,7 +39,17 @@ target_sources(
         BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
         FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/solver.hpp
 )
-ament_target_dependencies(solver_base PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# ament_target_dependencies(solver_base PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(
+    solver_base
+    PUBLIC
+        rclcpp::rclcpp
+        rclcpp_lifecycle::rclcpp_lifecycle
+        Eigen3::Eigen
+        pinocchio::pinocchio
+        pluginlib::pluginlib
+        ${trajectory_msgs_TARGETS}
+)
 target_compile_features(solver_base PUBLIC cxx_std_23)
 
 # plugin library
@@ -53,11 +63,20 @@ target_sources(
         FILES
             ${CMAKE_CURRENT_SOURCE_DIR}/include/ik_solvers/task_priority_solver.hpp
 )
-ament_target_dependencies(ik_solvers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# ament_target_dependencies(ik_solvers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 target_compile_features(ik_solvers PUBLIC cxx_std_23)
 target_link_libraries(
     ik_solvers
-    PUBLIC solver_base task_priority_solver_parameters
+    PUBLIC
+        solver_base
+        task_priority_solver_parameters
+        tf2_eigen::tf2_eigen
+        rclcpp::rclcpp
+        rclcpp_lifecycle::rclcpp_lifecycle
+        Eigen3::Eigen
+        pinocchio::pinocchio
+        pluginlib::pluginlib
+        ${trajectory_msgs_TARGETS}
 )
 
 # the first argument is the name of the package, NOT the target name
@@ -72,7 +91,6 @@ install(
     FILE_SET HEADERS
 )
 
-ament_export_libraries(ik_solvers)
 ament_export_targets(export_ik_solvers)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 
diff --git a/thruster_allocation_matrix_controller/CMakeLists.txt b/thruster_allocation_matrix_controller/CMakeLists.txt
@@ -13,15 +13,13 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     controller_interface
     hardware_interface
     realtime_tools
-    eigen3_cmake_module
     Eigen3
     geometry_msgs
     auv_control_msgs
     control_msgs
     hydrodynamics
     controller_common
 )
-
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
     find_package(${Dependency} REQUIRED)
 endforeach()
@@ -45,12 +43,24 @@ target_sources(
         FILES
             ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_allocation_matrix_controller/thruster_allocation_matrix_controller.hpp
 )
+target_compile_features(thruster_allocation_matrix_controller PUBLIC cxx_std_23)
 target_link_libraries(
     thruster_allocation_matrix_controller
-    PRIVATE thruster_allocation_matrix_controller_parameters
+    PUBLIC
+        thruster_allocation_matrix_controller_parameters
+        controller_interface::controller_interface
+        hardware_interface::hardware_interface
+        hardware_interface::mock_components
+        rclcpp::rclcpp
+        hydrodynamics::hydrodynamics
+        rclcpp_lifecycle::rclcpp_lifecycle
+        realtime_tools::realtime_tools
+        realtime_tools::thread_priority
+        controller_common::controller_common
+        ${control_msgs_TARGETS}
+        ${std_msgs_TARGETS}
+        ${auv_control_msgs_TARGETS}
 )
-ament_target_dependencies(thruster_allocation_matrix_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-target_compile_features(thruster_allocation_matrix_controller PUBLIC cxx_std_23)
 
 pluginlib_export_plugin_description_file(controller_interface thruster_allocation_matrix_controller.xml)
 
diff --git a/thruster_controllers/CMakeLists.txt b/thruster_controllers/CMakeLists.txt
@@ -16,7 +16,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     std_msgs
     control_msgs
 )
-
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
     find_package(${Dependency} REQUIRED)
 endforeach()
@@ -50,15 +49,20 @@ target_sources(
             ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/rotation_rate_controller.hpp
             ${CMAKE_CURRENT_SOURCE_DIR}/include/thruster_controllers/gz_passthrough_controller.hpp
 )
-ament_target_dependencies(thruster_controllers PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 target_compile_features(thruster_controllers PUBLIC cxx_std_23)
 target_link_libraries(
     thruster_controllers
     PUBLIC
-        ${rclcpp_LIBRARIES}
         polynomial_thrust_curve_controller_parameters
         rotation_rate_controller_parameters
         gz_passthrough_controller_parameters
+        controller_interface::controller_interface
+        hardware_interface::hardware_interface
+        rclcpp::rclcpp
+        rclcpp_lifecycle::rclcpp_lifecycle
+        realtime_tools::realtime_tools
+        ${std_msgs_TARGETS}
+        ${control_msgs_TARGETS}
 )
 
 pluginlib_export_plugin_description_file(controller_interface thruster_controllers.xml)
diff --git a/thruster_controllers/include/thruster_controllers/gz_passthrough_controller.hpp b/thruster_controllers/include/thruster_controllers/gz_passthrough_controller.hpp
@@ -40,7 +40,6 @@
 namespace thruster_controllers
 {
 
-/// Controller used to convert thruster forces into PWM signals using a polynomial thrust curve.
 class GazeboPassthroughController : public controller_interface::ChainableControllerInterface
 {
 public:
diff --git a/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp b/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp
@@ -40,7 +40,6 @@
 namespace thruster_controllers
 {
 
-/// Controller used to convert thruster forces into PWM signals using a polynomial thrust curve.
 class PolynomialThrustCurveController : public controller_interface::ChainableControllerInterface
 {
 public:
@@ -79,6 +78,8 @@ class PolynomialThrustCurveController : public controller_interface::ChainableCo
   polynomial_thrust_curve_controller::Params params_;
 
   std::string thruster_name_;
+
+  rclcpp::Logger logger_{rclcpp::get_logger("polynomial_thrust_curve_controller")};
 };
 
 }  // namespace thruster_controllers
diff --git a/thruster_controllers/include/thruster_controllers/rotation_rate_controller.hpp b/thruster_controllers/include/thruster_controllers/rotation_rate_controller.hpp
@@ -40,7 +40,6 @@
 namespace thruster_controllers
 {
 
-/// Controller used to convert thruster forces into PWM signals using a polynomial thrust curve.
 class RotationRateController : public controller_interface::ChainableControllerInterface
 {
 public:
@@ -79,6 +78,8 @@ class RotationRateController : public controller_interface::ChainableControllerI
   rotation_rate_controller::Params params_;
 
   std::string thruster_name_;
+
+  rclcpp::Logger logger_{rclcpp::get_logger("rotation_rate_thruster_controller")};
 };
 
 }  // namespace thruster_controllers
diff --git a/thruster_controllers/src/polynomial_thrust_curve_controller.cpp b/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
@@ -48,6 +48,7 @@ auto PolynomialThrustCurveController::on_init() -> controller_interface::Callbac
 {
   param_listener_ = std::make_shared<polynomial_thrust_curve_controller::ParamListener>(get_node());
   params_ = param_listener_->get_params();
+  logger_ = get_node()->get_logger();
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
@@ -159,9 +160,7 @@ auto PolynomialThrustCurveController::update_and_write_commands(
   }
 
   if (!command_interfaces_[0].set_value(pwm)) {
-    // NOLINTNEXTLINE
-    RCLCPP_WARN(get_node()->get_logger(), std::format("Failed to set command for thruster {}", thruster_name_).c_str());
-    return controller_interface::return_type::ERROR;
+    RCLCPP_WARN(logger_, "Failed to set command for thruster %s", thruster_name_.c_str());  // NOLINT
   }
 
   if (rt_controller_state_pub_ && rt_controller_state_pub_->trylock()) {
diff --git a/thruster_controllers/src/rotation_rate_controller.cpp b/thruster_controllers/src/rotation_rate_controller.cpp
@@ -50,6 +50,7 @@ auto RotationRateController::on_init() -> controller_interface::CallbackReturn
 {
   param_listener_ = std::make_shared<rotation_rate_controller::ParamListener>(get_node());
   params_ = param_listener_->get_params();
+  logger_ = get_node()->get_logger();
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
@@ -157,8 +158,7 @@ auto RotationRateController::update_and_write_commands(const rclcpp::Time & time
   }
 
   if (!command_interfaces_[0].set_value(ang_vel)) {
-    // NOLINTNEXTLINE
-    RCLCPP_WARN(get_node()->get_logger(), std::format("Failed to set command for thruster {}", thruster_name_).c_str());
+    RCLCPP_WARN(logger_, "Failed to set command for thruster %s", thruster_name_.c_str());  // NOLINT
     return controller_interface::return_type::ERROR;
   }
 
diff --git a/topic_sensors/CMakeLists.txt b/topic_sensors/CMakeLists.txt
@@ -16,7 +16,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     controller_common
     message_transforms
 )
-
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
     find_package(${Dependency} REQUIRED)
 endforeach()
@@ -33,9 +32,19 @@ target_sources(
         BASE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
         FILES ${CMAKE_CURRENT_SOURCE_DIR}/include/topic_sensors/odom_sensor.hpp
 )
-ament_target_dependencies(topic_sensors PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 target_compile_features(topic_sensors PUBLIC cxx_std_23)
-target_link_libraries(topic_sensors PUBLIC ${rclcpp_LIBRARIES})
+target_link_libraries(
+    topic_sensors
+    PUBLIC
+        hardware_interface::hardware_interface
+        rclcpp::rclcpp
+        realtime_tools::realtime_tools
+        controller_common::controller_common
+        message_transforms::message_transforms
+        ${std_msgs_TARGETS}
+        ${nav_msgs_TARGETS}
+)
+
 pluginlib_export_plugin_description_file(hardware_interface topic_sensors.xml)
 
 install(
diff --git a/topic_sensors/README.md b/topic_sensors/README.md
@@ -16,6 +16,6 @@ topic_sensors/odom_sensor
 
 - prefix: The node prefix.
 - topic: The topic that the sensor should subscribe to.
-- transform: Whether or not the sensor should transform the message from the
-ROS [REP-105](https://ros.org/reps/rep-0105.html) convention to the maritime
-convention documented in [REP-156](https://github.com/ros-infrastructure/rep/pull/398).
+- transform_message: Whether or not the sensor should transform the message
+  from the ROS [REP-105](https://ros.org/reps/rep-0105.html) convention to the
+  maritime convention documented in [REP-156](https://github.com/ros-infrastructure/rep/pull/398).
diff --git a/topic_sensors/src/odom_sensor.cpp b/topic_sensors/src/odom_sensor.cpp
@@ -48,7 +48,7 @@ auto OdomSensor::on_configure(const rclcpp_lifecycle::State & /*previous_state*/
     RCLCPP_ERROR(logger_, "Topic name is empty. Please provide a valid topic name.");  // NOLINT
     return hardware_interface::CallbackReturn::ERROR;
   }
-  RCLCPP_INFO(logger_, std::format("Subscribing to topic: {}", topic).c_str());  // NOLINT
+  RCLCPP_INFO(logger_, "Subscribing to topic: %s", topic.c_str());  // NOLINT
 
   const bool transform_message = info_.hardware_parameters.at("transform_message") == "true";
   if (transform_message) {
@@ -59,7 +59,7 @@ auto OdomSensor::on_configure(const rclcpp_lifecycle::State & /*previous_state*/
   state_sub_ = node_->create_subscription<nav_msgs::msg::Odometry>(
     topic, rclcpp::SensorDataQoS(), [this, &transform_message](const std::shared_ptr<nav_msgs::msg::Odometry> msg) {
       if (transform_message) {
-        m2m::transforms::transform_message(*msg, "map_ned", "base_link_fsd");
+        m2m::transform_message(*msg, "map_ned", "base_link_fsd");
       }
       state_.writeFromNonRT(*msg);
     });
diff --git a/velocity_controllers/CMakeLists.txt b/velocity_controllers/CMakeLists.txt
diff --git a/whole_body_controllers/CMakeLists.txt b/whole_body_controllers/CMakeLists.txt
diff --git a/whole_body_controllers/include/whole_body_controllers/ik_controller.hpp b/whole_body_controllers/include/whole_body_controllers/ik_controller.hpp
diff --git a/whole_body_controllers/src/ik_controller.cpp b/whole_body_controllers/src/ik_controller.cpp
diff --git a/whole_body_controllers/src/ik_controller_parameters.yaml b/whole_body_controllers/src/ik_controller_parameters.yaml

Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,6 @@`
`40`	`40`	`namespace thruster_controllers`
`41`	`41`	`{`
`42`	`42`
`43`		`-/// Controller used to convert thruster forces into PWM signals using a polynomial thrust curve.`
`44`	`43`	`class GazeboPassthroughController : public controller_interface::ChainableControllerInterface`
`45`	`44`	`{`
`46`	`45`	`public:`
Original file line number	Diff line number	Diff line change
`@@ -48,6 +48,7 @@ auto PolynomialThrustCurveController::on_init() -> controller_interface::Callbac`
`48`	`48`	`{`
`49`	`49`	`param_listener_ = std::make_shared<polynomial_thrust_curve_controller::ParamListener>(get_node());`
`50`	`50`	`params_ = param_listener_->get_params();`
	`51`	`+ logger_ = get_node()->get_logger();`
`51`	`52`	`return controller_interface::CallbackReturn::SUCCESS;`
`52`	`53`	`}`
`53`	`54`
`@@ -159,9 +160,7 @@ auto PolynomialThrustCurveController::update_and_write_commands(`
`159`	`160`	`}`
`160`	`161`
`161`	`162`	`if (!command_interfaces_[0].set_value(pwm)) {`
`162`		`- // NOLINTNEXTLINE`
`163`		`- RCLCPP_WARN(get_node()->get_logger(), std::format("Failed to set command for thruster {}", thruster_name_).c_str());`
`164`		`- return controller_interface::return_type::ERROR;`
	`163`	`+ RCLCPP_WARN(logger_, "Failed to set command for thruster %s", thruster_name_.c_str()); // NOLINT`
`165`	`164`	`}`
`166`	`165`
`167`	`166`	`if (rt_controller_state_pub_ && rt_controller_state_pub_->trylock()) {`