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Remove using namespace rclcpp from public headers; qualify rclcpp types #6

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Merged
mmmarinho merged 1 commit into from
Sep 24, 2026
Merged

Remove using namespace rclcpp from public headers; qualify rclcpp types #6

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7 changes: 3 additions & 4 deletions include/sas_force_sensor/sas_force_sensor_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,6 @@
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -47,12 +46,12 @@ namespace sas
class ForceSensorClient: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

std::atomic_bool enabled_;
const std::string topic_prefix_;

Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr subscriber_wrench_;
rclcpp::Subscription<geometry_msgs::msg::WrenchStamped>::SharedPtr subscriber_wrench_;
DQ force_;
DQ torque_;

Expand All @@ -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>& node, const std::string& topic_prefix="GET_FROM_NODE");
ForceSensorClient(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix="GET_FROM_NODE");

/**
* @brief Check whether the client has received at least one force/torque reading.
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7 changes: 3 additions & 4 deletions include/sas_force_sensor/sas_force_sensor_server.hpp
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Expand Up @@ -29,7 +29,6 @@
#include <geometry_msgs/msg/wrench_stamped.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -46,11 +45,11 @@ namespace sas
class ForceSensorServer: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

const std::string topic_prefix_;

Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr publisher_wrench_;
rclcpp::Publisher<geometry_msgs::msg::WrenchStamped>::SharedPtr publisher_wrench_;
public:
ForceSensorServer() = delete;
ForceSensorServer(const ForceSensorServer&) = delete;
Expand All @@ -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>& node, const std::string& topic_prefix="GET_FROM_NODE");
ForceSensorServer(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix="GET_FROM_NODE");

/**
* @brief Publish the current force/torque reading.
Expand Down
8 changes: 4 additions & 4 deletions src/examples/sinusoidal_force_sensor.cpp
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Expand Up @@ -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<sas::ForceSensorServer>(
std::shared_ptr<Node>(shared_from_this()), "sinusoidal_force_sensor");
std::shared_ptr<rclcpp::Node>(shared_from_this()), "sinusoidal_force_sensor");
timer_ = this->create_wall_timer(
std::chrono::milliseconds(static_cast<int>(1000.0 / tick_rate_hz)),
std::bind(&SinusoidalForceSensorNode::on_timer, this));
Expand All @@ -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);
}
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2 changes: 1 addition & 1 deletion src/sas_force_sensor_client.cpp
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Expand Up @@ -44,7 +44,7 @@ void ForceSensorClient::_callback_wrench(const geometry_msgs::msg::WrenchStamped
}
}

ForceSensorClient::ForceSensorClient(const std::shared_ptr<Node>& node, const std::string& topic_prefix):
ForceSensorClient::ForceSensorClient(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix):
sas::Object("sas::ForceSensorClient"),
node_(node),
enabled_(false),
Expand Down
2 changes: 1 addition & 1 deletion src/sas_force_sensor_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
namespace sas
{

ForceSensorServer::ForceSensorServer(const std::shared_ptr<Node>& node, const std::string& topic_prefix):
ForceSensorServer::ForceSensorServer(const std::shared_ptr<rclcpp::Node>& node, const std::string& topic_prefix):
sas::Object("sas::ForceSensorServer"),
node_(node),
topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix)
Expand Down
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