From ff572f9d4e3d65ccb2e9191f9321c2b29de8798c Mon Sep 17 00:00:00 2001
From: Florent Chretien <flopubs@gmail.com>
Date: Tue, 24 Jan 2023 15:00:03 +0100
Subject: [PATCH 1/4] add range_sensor.hpp

---
 .../semantic_components/range_sensor.hpp      | 63 +++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100644 controller_interface/include/semantic_components/range_sensor.hpp

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
new file mode 100644
index 0000000000..bbb47649a7
--- /dev/null
+++ b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -0,0 +1,63 @@
+// Copyright 2023
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+#define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
+
+#include <limits>
+#include <string>
+#include <vector>
+
+#include "semantic_components/semantic_component_interface.hpp"
+#include "sensor_msgs/msg/range.hpp"
+
+namespace semantic_components
+{
+class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
+{
+public:
+  explicit RangeSensor(const std::string & name) : SemanticComponentInterface(name, 1)
+  {
+    interface_names_.emplace_back(name_ + "/" + "range");
+  }
+
+  virtual ~RangeSensor() = default;
+
+  /**
+   * Return Range reported by a sensor
+   *
+   * \return value of the range in meters
+   */
+  float get_range()
+  {
+    return state_interfaces_[0].get().get_value();;
+  }
+
+  /// Return Range message with range in meters
+  /**
+   * Constructs and return a Range message from the current values.
+   * \return Range message from values;
+   */
+  bool get_values_as_message(sensor_msgs::msg::Range & message)
+  {
+    // update the message values
+    message.range = get_range();
+
+    return true;
+  }
+};
+
+}  // namespace semantic_components
+
+#endif  // SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_

From efb3305a465facb32988380ed5b715b8e95cf5f7 Mon Sep 17 00:00:00 2001
From: Florent Chretien <flopubs@gmail.com>
Date: Thu, 27 Jul 2023 13:06:09 +0200
Subject: [PATCH 2/4] delete useless semicolon

---
 .../include/semantic_components/range_sensor.hpp                | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
index bbb47649a7..d16b9c2dc9 100644
--- a/controller_interface/include/semantic_components/range_sensor.hpp
+++ b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -41,7 +41,7 @@ class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
    */
   float get_range()
   {
-    return state_interfaces_[0].get().get_value();;
+    return state_interfaces_[0].get().get_value();
   }
 
   /// Return Range message with range in meters

From f0aca93a650c1568c07cdb15eb1e19659f06ceb9 Mon Sep 17 00:00:00 2001
From: Florent <flopubs@gmail.com>
Date: Tue, 1 Aug 2023 19:25:41 +0600
Subject: [PATCH 3/4] run pre-commit

---
 .../include/semantic_components/range_sensor.hpp             | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
index d16b9c2dc9..a51f220902 100644
--- a/controller_interface/include/semantic_components/range_sensor.hpp
+++ b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -39,10 +39,7 @@ class RangeSensor : public SemanticComponentInterface<sensor_msgs::msg::Range>
    *
    * \return value of the range in meters
    */
-  float get_range()
-  {
-    return state_interfaces_[0].get().get_value();
-  }
+  float get_range() { return state_interfaces_[0].get().get_value(); }
 
   /// Return Range message with range in meters
   /**

From 5173a5fd125b7dc96fde3f16619373027703393c Mon Sep 17 00:00:00 2001
From: Florent <flopubs@gmail.com>
Date: Fri, 4 Aug 2023 14:39:33 +0600
Subject: [PATCH 4/4] complete the copyright line

---
 .../include/semantic_components/range_sensor.hpp                | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
index a51f220902..baa9022c75 100644
--- a/controller_interface/include/semantic_components/range_sensor.hpp
+++ b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -1,4 +1,4 @@
-// Copyright 2023
+// Copyright 2023 flochre
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.