Identation, alphabetizing, usage description comment, empty destructor removal.

Author: livanov93

ign_ros2_control/CMakeLists.txt

@@ -20,10 +20,10 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(controller_manager REQUIRED)
 find_package(hardware_interface REQUIRED)
+find_package(generate_parameter_library REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
-find_package(generate_parameter_library REQUIRED)
 
 generate_parameter_library(ign_ros2_control_parameters
   src/ign_ros2_control_parameters.yaml
@@ -48,9 +48,9 @@ elseif("$ENV{IGNITION_VERSION}" STREQUAL "fortress")
   find_package(ignition-plugin1 REQUIRED COMPONENTS register)
   set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
   add_library(mimic-joint-system SHARED src/MimicJointSystem.cc)
-    target_link_libraries(mimic-joint-system
-            PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
-            PRIVATE ignition-gazebo6::ignition-gazebo6)
+  target_link_libraries(mimic-joint-system
+    PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
+    PRIVATE ignition-gazebo6::ignition-gazebo6)
   install(TARGETS mimic-joint-system
           DESTINATION lib)
 
@@ -64,9 +64,8 @@ else()
   set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
   add_library(mimic-joint-system SHARED src/MimicJointSystem.cc)
   target_link_libraries(mimic-joint-system
-          ignition-gazebo${IGN_GAZEBO_VER}::core
-          ignition-plugin${IGN_PLUGIN_VER}::register
-          )
+    ignition-gazebo${IGN_GAZEBO_VER}::core
+    ignition-plugin${IGN_PLUGIN_VER}::register)
   install(TARGETS mimic-joint-system
           DESTINATION lib)
 endif()

ign_ros2_control/include/ign_ros2_control/MimicJointSystem.hh

@@ -32,6 +32,7 @@
 
 #include <ignition/gazebo/System.hh>
 
+// This is an example to go in your urdf (is that correct?)
 //! <plugin filename="mimic-joint-system" name="ign_ros2_control::MimicJointSystem">
 //!     <joint_name>joint_name</joint_name>
 //!     <mimic_joint_name>mimic_joint_name</mimic_joint_name>
@@ -59,18 +60,16 @@ namespace ign_ros2_control
     // This class is a system.
     public ignition::gazebo::System,
     public ignition::gazebo::ISystemConfigure,
-          // This class also implements the ISystemPreUpdate, ISystemUpdate,
+    // This class also implements the ISystemPreUpdate, ISystemUpdate,
     // and ISystemPostUpdate interfaces.
     public ignition::gazebo::ISystemPreUpdate,
     public ignition::gazebo::ISystemUpdate,
     public ignition::gazebo::ISystemPostUpdate
   {
     public: MimicJointSystem();
 
-    public: ~MimicJointSystem() override=default;
-
-      // Documentation inherited
-  public:  void Configure(const ignition::gazebo::Entity &_entity,
+    // Documentation inherited
+    public:  void Configure(const ignition::gazebo::Entity &_entity,
                           const std::shared_ptr<const sdf::Element> &_sdf,
                           ignition::gazebo::EntityComponentManager &_ecm,
                           ignition::gazebo::EventManager &_eventMgr) override;

ign_ros2_control/include/ign_ros2_control/ign_system.hpp

@@ -22,12 +22,12 @@
 #include <vector>
 
 #include "ign_ros2_control/ign_system_interface.hpp"
-#include "rclcpp_lifecycle/state.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
-
 #include "ign_ros2_control_parameters.hpp"
 
 #include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp_lifecycle/state.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+
 
 namespace ign_ros2_control
 {