From 64d801eedf57e9fa918db2f365d8421eab098f8c Mon Sep 17 00:00:00 2001 From: Murilo Marinho Date: Thu, 24 Sep 2026 18:03:40 +0100 Subject: [PATCH] Remove 'using namespace rclcpp' usings; qualify rclcpp types in public headers ForceSensorClient/ForceSensorServer public headers no longer leak 'using namespace rclcpp;'. Node/Subscription/Publisher are qualified with rclcpp:: in the headers, companion sources and the sinusoidal example. 'using namespace DQ_robotics;' is kept (per project policy). This PR was created by an AI agent (OpenHands) on behalf of the repository owner. --- include/sas_force_sensor/sas_force_sensor_client.hpp | 7 +++---- include/sas_force_sensor/sas_force_sensor_server.hpp | 7 +++---- src/examples/sinusoidal_force_sensor.cpp | 8 ++++---- src/sas_force_sensor_client.cpp | 2 +- src/sas_force_sensor_server.cpp | 2 +- 5 files changed, 12 insertions(+), 14 deletions(-) diff --git a/include/sas_force_sensor/sas_force_sensor_client.hpp b/include/sas_force_sensor/sas_force_sensor_client.hpp index b579f88..9bdc363 100644 --- a/include/sas_force_sensor/sas_force_sensor_client.hpp +++ b/include/sas_force_sensor/sas_force_sensor_client.hpp @@ -31,7 +31,6 @@ #include #include -using namespace rclcpp; using namespace DQ_robotics; namespace sas @@ -47,12 +46,12 @@ namespace sas class ForceSensorClient: private sas::Object { private: - std::shared_ptr node_; + std::shared_ptr node_; std::atomic_bool enabled_; const std::string topic_prefix_; - Subscription::SharedPtr subscriber_wrench_; + rclcpp::Subscription::SharedPtr subscriber_wrench_; DQ force_; DQ torque_; @@ -68,7 +67,7 @@ class ForceSensorClient: private sas::Object * @param topic_prefix Prefix used to compose the ROS topic name (defaults to "GET_FROM_NODE", * in which case the node name is used). */ - ForceSensorClient(const std::shared_ptr& node, const std::string& topic_prefix="GET_FROM_NODE"); + ForceSensorClient(const std::shared_ptr& node, const std::string& topic_prefix="GET_FROM_NODE"); /** * @brief Check whether the client has received at least one force/torque reading. diff --git a/include/sas_force_sensor/sas_force_sensor_server.hpp b/include/sas_force_sensor/sas_force_sensor_server.hpp index d8c3520..4b8082d 100644 --- a/include/sas_force_sensor/sas_force_sensor_server.hpp +++ b/include/sas_force_sensor/sas_force_sensor_server.hpp @@ -29,7 +29,6 @@ #include #include -using namespace rclcpp; using namespace DQ_robotics; namespace sas @@ -46,11 +45,11 @@ namespace sas class ForceSensorServer: private sas::Object { private: - std::shared_ptr node_; + std::shared_ptr node_; const std::string topic_prefix_; - Publisher::SharedPtr publisher_wrench_; + rclcpp::Publisher::SharedPtr publisher_wrench_; public: ForceSensorServer() = delete; ForceSensorServer(const ForceSensorServer&) = delete; @@ -62,7 +61,7 @@ class ForceSensorServer: private sas::Object * @param topic_prefix Prefix used to compose the ROS topic name (defaults to "GET_FROM_NODE", * in which case the node name is used). */ - ForceSensorServer(const std::shared_ptr& node, const std::string& topic_prefix="GET_FROM_NODE"); + ForceSensorServer(const std::shared_ptr& node, const std::string& topic_prefix="GET_FROM_NODE"); /** * @brief Publish the current force/torque reading. diff --git a/src/examples/sinusoidal_force_sensor.cpp b/src/examples/sinusoidal_force_sensor.cpp index f7a2996..39d098e 100644 --- a/src/examples/sinusoidal_force_sensor.cpp +++ b/src/examples/sinusoidal_force_sensor.cpp @@ -37,14 +37,14 @@ class SinusoidalForceSensorNode : public rclcpp::Node { public: SinusoidalForceSensorNode() - : Node("sinusoidal_force_sensor") + : rclcpp::Node("sinusoidal_force_sensor") { } void attach_server() { server_ = std::make_shared( - std::shared_ptr(shared_from_this()), "sinusoidal_force_sensor"); + std::shared_ptr(shared_from_this()), "sinusoidal_force_sensor"); timer_ = this->create_wall_timer( std::chrono::milliseconds(static_cast(1000.0 / tick_rate_hz)), std::bind(&SinusoidalForceSensorNode::on_timer, this)); @@ -61,8 +61,8 @@ class SinusoidalForceSensorNode : public rclcpp::Node force_reading_ = value; torque_reading_ = value; - DQ force(Vector3d(value, 0.0, 0.0)); - DQ torque(Vector3d(0.0, value, 0.0)); + DQ force(Eigen::Vector3d(value, 0.0, 0.0)); + DQ torque(Eigen::Vector3d(0.0, value, 0.0)); server_->send_force_torque(force, torque); } diff --git a/src/sas_force_sensor_client.cpp b/src/sas_force_sensor_client.cpp index 4dfd5ef..99a146f 100644 --- a/src/sas_force_sensor_client.cpp +++ b/src/sas_force_sensor_client.cpp @@ -44,7 +44,7 @@ void ForceSensorClient::_callback_wrench(const geometry_msgs::msg::WrenchStamped } } -ForceSensorClient::ForceSensorClient(const std::shared_ptr& node, const std::string& topic_prefix): +ForceSensorClient::ForceSensorClient(const std::shared_ptr& node, const std::string& topic_prefix): sas::Object("sas::ForceSensorClient"), node_(node), enabled_(false), diff --git a/src/sas_force_sensor_server.cpp b/src/sas_force_sensor_server.cpp index 6ecec2e..c819229 100644 --- a/src/sas_force_sensor_server.cpp +++ b/src/sas_force_sensor_server.cpp @@ -28,7 +28,7 @@ namespace sas { -ForceSensorServer::ForceSensorServer(const std::shared_ptr& node, const std::string& topic_prefix): +ForceSensorServer::ForceSensorServer(const std::shared_ptr& node, const std::string& topic_prefix): sas::Object("sas::ForceSensorServer"), node_(node), topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix)