1.0.8 Update README.md, remove some unused dependencies, annotation code, and good programming return 0 in main().

Author: YH.Wang

demo/CMakeLists.txt

@@ -15,8 +15,6 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-add_definitions(-DROS2_BUILD)
-
 # find dependencies
 find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
@@ -43,8 +41,8 @@ include_directories(include
 
 add_executable(demo_send_script 
   src/demo_send_script.cpp
- 
 )
+
 ament_target_dependencies(demo_send_script
   rclcpp
   std_msgs
@@ -58,9 +56,9 @@ install(TARGETS
 )
 
 add_executable(demo_ask_sta
-  src/demo_ask_sta.cpp
- 
+  src/demo_ask_sta.cpp 
 )
+
 ament_target_dependencies(demo_ask_sta
   rclcpp
   std_msgs
@@ -74,9 +72,9 @@ demo_ask_sta
 )
 
 add_executable(demo_connect_tm
-  src/demo_connect_tm.cpp
- 
+  src/demo_connect_tm.cpp 
 )
+
 ament_target_dependencies(demo_connect_tm
   rclcpp
   std_msgs
@@ -85,14 +83,14 @@ ament_target_dependencies(demo_connect_tm
 )
 
 install(TARGETS
-demo_connect_tm
+  demo_connect_tm
   DESTINATION lib/${PROJECT_NAME}
 )
 
 add_executable(demo_set_event
-  src/demo_set_event.cpp
- 
+  src/demo_set_event.cpp 
 )
+
 ament_target_dependencies(demo_set_event
   rclcpp
   std_msgs
@@ -101,13 +99,14 @@ ament_target_dependencies(demo_set_event
 )
 
 install(TARGETS
-demo_set_event
+  demo_set_event
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_set_io
-  src/demo_set_io.cpp
- 
+  src/demo_set_io.cpp 
 )
+
 ament_target_dependencies(demo_set_io
   rclcpp
   std_msgs
@@ -116,13 +115,14 @@ ament_target_dependencies(demo_set_io
 )
 
 install(TARGETS
-demo_set_io
+  demo_set_io
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_set_positions # robot does'nt move
-  src/demo_set_positions.cpp
- 
+  src/demo_set_positions.cpp 
 )
+
 ament_target_dependencies(demo_set_positions
   rclcpp
   std_msgs
@@ -131,13 +131,14 @@ ament_target_dependencies(demo_set_positions
 )
 
 install(TARGETS
-demo_set_positions
+  demo_set_positions
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_write_item
-  src/demo_write_item.cpp
- 
+  src/demo_write_item.cpp 
 )
+
 ament_target_dependencies(demo_write_item
   rclcpp
   std_msgs
@@ -146,13 +147,14 @@ ament_target_dependencies(demo_write_item
 )
 
 install(TARGETS
-demo_write_item
+  demo_write_item
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_ask_item
-  src/demo_ask_item.cpp
- 
+  src/demo_ask_item.cpp 
 )
+
 ament_target_dependencies(demo_ask_item
   rclcpp
   std_msgs
@@ -161,13 +163,14 @@ ament_target_dependencies(demo_ask_item
 )
 
 install(TARGETS
-demo_ask_item
+  demo_ask_item
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_get_feedback
-  get_status_demo_src/demo_get_feedback.cpp
- 
+  get_status_demo_src/demo_get_feedback.cpp 
 )
+
 ament_target_dependencies(demo_get_feedback
   rclcpp
   std_msgs
@@ -176,13 +179,14 @@ ament_target_dependencies(demo_get_feedback
 )
 
 install(TARGETS
-demo_get_feedback
+  demo_get_feedback
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_get_torque_feedback
-  get_status_demo_src/demo_get_torque_feedback.cpp
- 
+  get_status_demo_src/demo_get_torque_feedback.cpp 
 )
+
 ament_target_dependencies(demo_get_torque_feedback
   rclcpp
   std_msgs
@@ -191,13 +195,14 @@ ament_target_dependencies(demo_get_torque_feedback
 )
 
 install(TARGETS
-demo_get_torque_feedback
+  demo_get_torque_feedback
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_get_sct_response
-  get_status_demo_src/demo_get_sct_response.cpp
- 
+  get_status_demo_src/demo_get_sct_response.cpp 
 )
+
 ament_target_dependencies(demo_get_sct_response
   rclcpp
   std_msgs
@@ -206,13 +211,14 @@ ament_target_dependencies(demo_get_sct_response
 )
 
 install(TARGETS
-demo_get_sct_response
+  demo_get_sct_response
   DESTINATION lib/${PROJECT_NAME}
 )
+
 add_executable(demo_get_sta_response
-  get_status_demo_src/demo_get_sta_response.cpp
- 
+  get_status_demo_src/demo_get_sta_response.cpp 
 )
+
 ament_target_dependencies(demo_get_sta_response
   rclcpp
   std_msgs
@@ -221,14 +227,14 @@ ament_target_dependencies(demo_get_sta_response
 )
 
 install(TARGETS
-demo_get_sta_response
+  demo_get_sta_response
   DESTINATION lib/${PROJECT_NAME}
 )
 
 add_executable(demo_get_svr_response
-  get_status_demo_src/demo_get_svr_response.cpp
- 
+  get_status_demo_src/demo_get_svr_response.cpp 
 )
+
 ament_target_dependencies(demo_get_svr_response
   rclcpp
   std_msgs
@@ -237,13 +243,13 @@ ament_target_dependencies(demo_get_svr_response
 )
 
 install(TARGETS
-demo_get_svr_response
+  demo_get_svr_response
   DESTINATION lib/${PROJECT_NAME}
 )
 add_executable(demo_leave_listen_node
-  src/demo_leave_listen_node.cpp
- 
+  src/demo_leave_listen_node.cpp 
 )
+
 ament_target_dependencies(demo_leave_listen_node
   rclcpp
   std_msgs
@@ -252,10 +258,8 @@ ament_target_dependencies(demo_leave_listen_node
 )
 
 install(TARGETS
-demo_leave_listen_node
+  demo_leave_listen_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
-
-
 ament_package()

demo/package.xml

@@ -7,12 +7,10 @@
 
 using namespace std::chrono_literals;
 
-
 int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_ask_item");
   rclcpp::Client<tm_msgs::srv::AskItem>::SharedPtr client =
     node->create_client<tm_msgs::srv::AskItem>("ask_item");
@@ -41,12 +39,10 @@ int main(int argc, char **argv)
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }
   return true;
-  
 
   rclcpp::shutdown();
   return 0;

demo/src/demo_ask_item.cpp

@@ -4,15 +4,14 @@
 #include <chrono>
 #include <cstdlib>
 #include <memory>
-#include "iostream"
+#include <iostream>
 
 using namespace std::chrono_literals;
 
 int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_ask_sta");
   rclcpp::Client<tm_msgs::srv::AskSta>::SharedPtr client =
     node->create_client<tm_msgs::srv::AskSta>("ask_sta");
@@ -43,7 +42,6 @@ int main(int argc, char **argv)
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");	
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }

demo/src/demo_ask_sta.cpp

@@ -11,7 +11,6 @@ int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_connect_tm");
   rclcpp::Client<tm_msgs::srv::ConnectTM>::SharedPtr client =
     node->create_client<tm_msgs::srv::ConnectTM>("connect_tmsvr");
@@ -35,13 +34,11 @@ int main(int argc, char **argv)
   if (rclcpp::spin_until_future_complete(node, result) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
-
     if(result.get()->ok){
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"OK");
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }

demo/src/demo_connect_tm.cpp

@@ -30,7 +30,6 @@ bool send_cmd(std::string cmd, std::shared_ptr<rclcpp::Node> node, rclcpp::Clien
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }
@@ -41,7 +40,6 @@ int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_leave_listen_node");
   rclcpp::Client<tm_msgs::srv::SendScript>::SharedPtr client =
     node->create_client<tm_msgs::srv::SendScript>("send_script");

demo/src/demo_leave_listen_node.cpp

@@ -30,7 +30,6 @@ bool send_cmd(std::string cmd, std::shared_ptr<rclcpp::Node> node, rclcpp::Clien
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }
@@ -41,7 +40,6 @@ int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_send_script");
   rclcpp::Client<tm_msgs::srv::SendScript>::SharedPtr client =
     node->create_client<tm_msgs::srv::SendScript>("send_script");

demo/src/demo_send_script.cpp

@@ -11,7 +11,6 @@ int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_set_event");
   rclcpp::Client<tm_msgs::srv::SetEvent>::SharedPtr client =
     node->create_client<tm_msgs::srv::SetEvent>("set_event");
@@ -39,7 +38,6 @@ int main(int argc, char **argv)
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }

demo/src/demo_set_event.cpp

@@ -11,7 +11,6 @@ int main(int argc, char **argv)
 {
   rclcpp::init(argc, argv);
 
-
   std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("demo_set_io");
   rclcpp::Client<tm_msgs::srv::SetIO>::SharedPtr client =
     node->create_client<tm_msgs::srv::SetIO>("set_io");
@@ -40,7 +39,6 @@ int main(int argc, char **argv)
     } else{
       RCLCPP_INFO_STREAM(rclcpp::get_logger("rclcpp"),"not OK");
     }
-
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("rclcpp"), "Failed to call service");
   }