From 254ae0705e8854ec44a8e4e47777a5ddc3338310 Mon Sep 17 00:00:00 2001 From: Paul Gesel Date: Mon, 8 Apr 2024 16:56:24 -0600 Subject: [PATCH] fix format and add control_msgs to repos file Signed-off-by: Paul Gesel --- parallel_gripper_controller/doc/userdoc.rst | 6 +++--- .../parallel_gripper_action_controller.hpp | 8 ++++---- .../parallel_gripper_action_controller_impl.hpp | 13 +++++++------ .../src/parallel_gripper_action_controller.cpp | 4 ++-- .../test/test_parallel_gripper_controller.hpp | 2 +- ros2_controllers-not-released.rolling.repos | 4 ---- ros2_controllers.rolling.repos | 4 ++-- 7 files changed, 19 insertions(+), 22 deletions(-) diff --git a/parallel_gripper_controller/doc/userdoc.rst b/parallel_gripper_controller/doc/userdoc.rst index be32591c75..5c04eb5f90 100644 --- a/parallel_gripper_controller/doc/userdoc.rst +++ b/parallel_gripper_controller/doc/userdoc.rst @@ -7,10 +7,10 @@ Parallel Gripper Action Controller Controller for executing a ``ParallelGripperCommand`` action for simple parallel grippers. This controller supports grippers that offer position only control as well as grippers that allow configuring the velocity and effort. -By default, the controller will only claim the `{joint}/position` interface for control. -The velocity and effort interfaces can be optionally claimed by setting the `max_velocity_interface` and `max_effort_interface` parameter, respectively. +By default, the controller will only claim the ``{joint}/position`` interface for control. +The velocity and effort interfaces can be optionally claimed by setting the ``max_velocity_interface`` and ``max_effort_interface`` parameter, respectively. By default, the controller will try to claim position and velocity state interfaces. -The claimed state interfaces can be configured by setting the `state_interfaces` parameter. +The claimed state interfaces can be configured by setting the ``state_interfaces`` parameter. Parameters ^^^^^^^^^^^ diff --git a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp index f8f4df2492..d303990b89 100644 --- a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp +++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller.hpp @@ -14,8 +14,8 @@ /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian -#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ -#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ +#ifndef PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_ +#define PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_ // C++ standard #include @@ -33,10 +33,10 @@ #include "rclcpp_action/create_server.hpp" // ros_controls -#include "parallel_gripper_controller/visibility_control.hpp" #include "controller_interface/controller_interface.hpp" #include "hardware_interface/loaned_command_interface.hpp" #include "hardware_interface/loaned_state_interface.hpp" +#include "parallel_gripper_controller/visibility_control.hpp" #include "realtime_tools/realtime_buffer.h" #include "realtime_tools/realtime_server_goal_handle.h" @@ -171,4 +171,4 @@ class GripperActionController : public controller_interface::ControllerInterface #include "parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp" -#endif // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_HPP_ +#endif // PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_HPP_ diff --git a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp index d247206125..61ca76b445 100644 --- a/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp +++ b/parallel_gripper_controller/include/parallel_gripper_controller/parallel_gripper_action_controller_impl.hpp @@ -14,14 +14,15 @@ /// \author Sachin Chitta, Adolfo Rodriguez Tsouroukdissian, Stu Glaser -#ifndef PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ -#define PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#ifndef PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#define PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ -#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" - -#include #include #include +#include + +#include +#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" namespace parallel_gripper_action_controller { @@ -395,4 +396,4 @@ GripperActionController::GripperActionController() } // namespace parallel_gripper_action_controller -#endif // PARALLEL_GRIPPER_CONTROLLER__GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ +#endif // PARALLEL_GRIPPER_CONTROLLER__PARALLEL_GRIPPER_ACTION_CONTROLLER_IMPL_HPP_ diff --git a/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp b/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp index 910686493d..3a6d028ddf 100644 --- a/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp +++ b/parallel_gripper_controller/src/parallel_gripper_action_controller.cpp @@ -15,11 +15,11 @@ /// \author Sachin Chitta // Project -#include #include +#include #include "pluginlib/class_list_macros.hpp" PLUGINLIB_EXPORT_CLASS( - parallel_gripper_action_controller::GripperActionController, + parallel_gripper_action_controller::GripperActionController, controller_interface::ControllerInterface) diff --git a/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp b/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp index d46d8722eb..8bc6ab954c 100644 --- a/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp +++ b/parallel_gripper_controller/test/test_parallel_gripper_controller.hpp @@ -21,9 +21,9 @@ #include "gmock/gmock.h" -#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" #include "hardware_interface/handle.hpp" #include "hardware_interface/types/hardware_interface_type_values.hpp" +#include "parallel_gripper_controller/parallel_gripper_action_controller.hpp" namespace { diff --git a/ros2_controllers-not-released.rolling.repos b/ros2_controllers-not-released.rolling.repos index 30366b5406..66352f4960 100644 --- a/ros2_controllers-not-released.rolling.repos +++ b/ros2_controllers-not-released.rolling.repos @@ -3,7 +3,3 @@ repositories: type: git url: https://github.com/picknikrobotics/generate_parameter_library.git version: main - control_msgs: - type: git - url: https://github.com/pac48/control_msgs.git - version: pr-add-gripper-velocity-target-main diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos index 8c20eccc96..c98c68034f 100644 --- a/ros2_controllers.rolling.repos +++ b/ros2_controllers.rolling.repos @@ -9,8 +9,8 @@ repositories: version: master control_msgs: type: git - url: https://github.com/ros-controls/control_msgs.git - version: master + url: https://github.com/pac48/control_msgs.git + version: pr-add-gripper-velocity-target-main control_toolbox: type: git url: https://github.com/ros-controls/control_toolbox.git