Renamed message naming

Author: wittenator

steering_controllers_library/CMakeLists.txt

@@ -21,6 +21,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   tf2
   tf2_msgs
   tf2_geometry_msgs
+  ackermann_msgs
 )
 
 find_package(ament_cmake REQUIRED)

steering_controllers_library/include/steering_controllers_library/steering_controllers_library.hpp

@@ -32,6 +32,7 @@
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
+#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"
 
 #include "steering_controllers_library/steering_controllers_library_parameters.hpp"
 #include "steering_controllers_library/steering_odometry.hpp"
@@ -71,6 +72,7 @@ class SteeringControllersLibrary : public controller_interface::ChainableControl
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   using ControllerTwistReferenceMsg = geometry_msgs::msg::TwistStamped;
+  using ControllerAckermannReferenceMsg = ackermann_msgs::msg::AckermannDriveStamped;
   using ControllerStateMsgOdom = nav_msgs::msg::Odometry;
   using ControllerStateMsgTf = tf2_msgs::msg::TFMessage;
   using SteeringControllerStateMsg = control_msgs::msg::SteeringControllerStatus;

steering_controllers_library/package.xml

@@ -40,6 +40,7 @@
   <depend>tf2</depend>
   <depend>tf2_msgs</depend>
   <depend>tf2_geometry_msgs</depend>
+  <depend>ackermann_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>

steering_controllers_library/test/test_steering_controllers_library.hpp

@@ -33,7 +33,7 @@
 
 using ControllerStateMsg =
   steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
-using ControllerReferenceMsg =
+using ControllerTwistReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerTwistReferenceMsg;
 using ControllerAckermannReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerAckermannReferenceMsg;

steering_controllers_library/test/test_steering_controllers_library_ackermann.hpp

@@ -32,7 +32,7 @@
 #include "steering_controllers_library/steering_controllers_library.hpp"
 
 using ControllerStateMsg =
-  steering_controllers_library::SteeringControllersLibrary::AckermannControllerState;
+  steering_controllers_library::SteeringControllersLibrary::SteeringControllerStateMsg;
 using ControllerAckermannReferenceMsg =
   steering_controllers_library::SteeringControllersLibrary::ControllerAckermannReferenceMsg;