code review fixes.

Author: dmbuck32

README.md

@@ -258,7 +258,7 @@ client:
 
 #### Bridge Parameters
 
-##### ROS1
+##### ROS 1
 
 ```yaml
 bridge:
@@ -285,7 +285,7 @@ bridge:
           latched:           # [false] whether to latch ROS message
 ```
 
-##### ROS2
+##### ROS 2
 
 ```yaml
 bridge:

mqtt_client/CMakeLists.txt

@@ -15,10 +15,10 @@ if(${ROS_VERSION} EQUAL 2)
 
   find_package(ament_cmake REQUIRED)
 
+  find_package(fmt REQUIRED)
   find_package(mqtt_client_interfaces REQUIRED)
   find_package(rclcpp REQUIRED)
   find_package(std_msgs REQUIRED)
-  find_package(fmt REQUIRED)
 
   # Paho MQTT C++ apt package doesn't include CMake config
   # find_package(PahoMqttCpp REQUIRED)
@@ -37,10 +37,10 @@ if(${ROS_VERSION} EQUAL 2)
   )
 
   ament_target_dependencies(${PROJECT_NAME}
+    fmt
     mqtt_client_interfaces
     rclcpp
     std_msgs
-    fmt
   )
 
   install(TARGETS

mqtt_client/include/mqtt_client/MqttClient.ros2.hpp

@@ -31,11 +31,11 @@ SOFTWARE.
 #include <map>
 #include <memory>
 #include <string>
+
 #define FMT_HEADER_ONLY
 #include <fmt/format.h>
-
-#include <mqtt/async_client.h>
 #include <mqtt_client_interfaces/srv/is_connected.hpp>
+#include <mqtt/async_client.h>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/serialization.hpp>
 #include <std_msgs/msg/float64.hpp>

mqtt_client/src/MqttClient.ros2.cpp

@@ -210,8 +210,8 @@ void MqttClient::loadParameters() {
   }
 
   param_desc.description = "The list of topics to bridge from MQTT to ROS";
-  auto mqtt2ros_topic_names = declare_parameter<std::vector<std::string>>("bridge.mqtt2ros.topics", std::vector<std::string>(), param_desc);
-  for (auto topic_name : mqtt2ros_topic_names)
+  const auto mqtt2ros_topic_names = declare_parameter<std::vector<std::string>>("bridge.mqtt2ros.topics", std::vector<std::string>(), param_desc);
+  for (const auto topic_name : mqtt2ros_topic_names)
   {
     param_desc.description = "MQTT topic on which messages are received from the broker";
     declare_parameter(fmt::format("bridge.mqtt2ros.{}.mqtt_topic", topic_name), rclcpp::ParameterType::PARAMETER_STRING, param_desc);
@@ -278,6 +278,7 @@ void MqttClient::loadParameters() {
 
   // ros2mqtt
   for (const auto& topic_name : ros2mqtt_topic_names) {
+
     rclcpp::Parameter ros_topic_param, mqtt_topic_param;
     if (get_parameter(fmt::format("bridge.ros2mqtt.{}.ros_topic", topic_name), ros_topic_param) &&
         get_parameter(fmt::format("bridge.ros2mqtt.{}.mqtt_topic", topic_name), mqtt_topic_param)) {