From 0aaa1fe39177ec71516b455b0fcce98556199a1c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 24 Aug 2024 09:56:30 +0000
Subject: [PATCH 1/3] Sort dependencies

---
 gz_ros2_control_demos/package.xml | 30 ++++++++++++++++--------------
 1 file changed, 16 insertions(+), 14 deletions(-)

diff --git a/gz_ros2_control_demos/package.xml b/gz_ros2_control_demos/package.xml
index e7aa5187..89bc1c5b 100644
--- a/gz_ros2_control_demos/package.xml
+++ b/gz_ros2_control_demos/package.xml
@@ -23,31 +23,33 @@
   <build_depend>std_msgs</build_depend>
 
   <exec_depend>ament_index_python</exec_depend>
-  <exec_depend>control_msgs</exec_depend>
-  <exec_depend>effort_controllers</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>hardware_interface</exec_depend>
-  <exec_depend>gz_ros2_control</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
-  <exec_depend>imu_sensor_broadcaster</exec_depend>
-  <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>launch</exec_depend>
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>ros_gz_bridge</exec_depend>
   <exec_depend condition="$GZ_VERSION == ''">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'harmonic'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'garden'">ros_gz_sim</exec_depend>
   <exec_depend condition="$GZ_VERSION == 'fortress'">ros_ign_gazebo</exec_depend>
-  <exec_depend>ros2controlcli</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
   <exec_depend>std_msgs</exec_depend>
-  <exec_depend>velocity_controllers</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <!-- ros2_control -->
+  <exec_depend>ackermann_steering_controller</exec_depend>
+  <exec_depend>control_msgs</exec_depend>
   <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>gz_ros2_control</exec_depend>
+  <exec_depend>hardware_interface</exec_depend>
+  <exec_depend>imu_sensor_broadcaster</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>joint_trajectory_controller</exec_depend>
+  <exec_depend>ros2controlcli</exec_depend>
   <exec_depend>tricycle_controller</exec_depend>
-  <exec_depend>ackermann_steering_controller</exec_depend>
-  <exec_depend>xacro</exec_depend>
+  <exec_depend>velocity_controllers</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

From 569d554693c032773b999757929b40f25d94ba40 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 24 Aug 2024 10:06:38 +0000
Subject: [PATCH 2/3] ERROR->INFO

---
 gz_ros2_control_demos/examples/example_position.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/gz_ros2_control_demos/examples/example_position.cpp b/gz_ros2_control_demos/examples/example_position.cpp
index 1b294db9..b0a6820f 100644
--- a/gz_ros2_control_demos/examples/example_position.cpp
+++ b/gz_ros2_control_demos/examples/example_position.cpp
@@ -154,7 +154,7 @@ int main(int argc, char * argv[])
     node.reset();
     return 1;
   }
-  RCLCPP_ERROR(node->get_logger(), "send goal call ok :)");
+  RCLCPP_INFO(node->get_logger(), "send goal call ok :)");
 
   rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::SharedPtr
     goal_handle = goal_handle_future.get();
@@ -164,7 +164,7 @@ int main(int argc, char * argv[])
     node.reset();
     return 1;
   }
-  RCLCPP_ERROR(node->get_logger(), "Goal was accepted by server");
+  RCLCPP_INFO(node->get_logger(), "Goal was accepted by server");
 
   // Wait for the server to be done with the goal
   auto result_future = action_client->async_get_result(goal_handle);

From 2460b8d352b5a937153499912e842dd56aa5123c Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Sat, 24 Aug 2024 10:11:39 +0000
Subject: [PATCH 3/3] Fix segfault of example_gripper

---
 gz_ros2_control_demos/examples/example_gripper.cpp | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/gz_ros2_control_demos/examples/example_gripper.cpp b/gz_ros2_control_demos/examples/example_gripper.cpp
index 449cf6ab..c534fcb5 100644
--- a/gz_ros2_control_demos/examples/example_gripper.cpp
+++ b/gz_ros2_control_demos/examples/example_gripper.cpp
@@ -23,13 +23,11 @@
 
 #include "std_msgs/msg/float64_multi_array.hpp"
 
-std::shared_ptr<rclcpp::Node> node;
-
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
-  node = std::make_shared<rclcpp::Node>("gripper_test_node");
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("gripper_test_node");
 
   auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
     "/gripper_controller/commands", 10);