Fix typos in steering_controllers_lib (#1464)

Author: christophfroehlich

ackermann_steering_controller/src/ackermann_steering_controller.cpp

@@ -50,7 +50,7 @@ controller_interface::CallbackReturn AckermannSteeringController::configure_odom
 
   set_interface_numbers(NR_STATE_ITFS, NR_CMD_ITFS, NR_REF_ITFS);
 
-  RCLCPP_INFO(get_node()->get_logger(), "ackermann odom configure successful");
+  RCLCPP_INFO(get_node()->get_logger(), "Ackermann odom configure successful");
   return controller_interface::CallbackReturn::SUCCESS;
 }
 

ackermann_steering_controller/test/test_ackermann_steering_controller.hpp

@@ -32,7 +32,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

bicycle_steering_controller/test/test_bicycle_steering_controller.hpp

@@ -32,7 +32,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 

steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp

@@ -73,7 +73,7 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   using ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped;
   using ControllerStateMsgOdom = nav_msgs::msg::Odometry;
   using ControllerStateMsgTf = tf2_msgs::msg::TFMessage;
-  using AckermanControllerState = control_msgs::msg::SteeringControllerStatus;
+  using AckermannControllerState = control_msgs::msg::SteeringControllerStatus;
 
 protected:
   controller_interface::CallbackReturn set_interface_numbers(
@@ -105,10 +105,10 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
   /// Odometry:
   steering_odometry::SteeringOdometry odometry_;
 
-  AckermanControllerState published_state_;
+  AckermannControllerState published_state_;
 
-  using ControllerStatePublisher = realtime_tools::RealtimePublisher<AckermanControllerState>;
-  rclcpp::Publisher<AckermanControllerState>::SharedPtr controller_s_publisher_;
+  using ControllerStatePublisher = realtime_tools::RealtimePublisher<AckermannControllerState>;
+  rclcpp::Publisher<AckermannControllerState>::SharedPtr controller_s_publisher_;
   std::unique_ptr<ControllerStatePublisher> controller_state_publisher_;
 
   // name constants for state interfaces

steering_controllers_library/src/steering_controllers_library.cpp

@@ -179,7 +179,7 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   try
   {
     // State publisher
-    controller_s_publisher_ = get_node()->create_publisher<AckermanControllerState>(
+    controller_s_publisher_ = get_node()->create_publisher<AckermannControllerState>(
       "~/controller_state", rclcpp::SystemDefaultsQoS());
     controller_state_publisher_ =
       std::make_unique<ControllerStatePublisher>(controller_s_publisher_);

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -32,11 +32,11 @@
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 
-// NOTE: Testing steering_controllers_library for ackermann vehicle configuration only
+// NOTE: Testing steering_controllers_library for Ackermann vehicle configuration only
 
 // name constants for state interfaces
 static constexpr size_t STATE_TRACTION_RIGHT_WHEEL = 0;

tricycle_steering_controller/test/test_tricycle_steering_controller.hpp

@@ -32,7 +32,7 @@
 #include "tricycle_steering_controller/tricycle_steering_controller.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermanControllerState;
+  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
 using ControllerReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;