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Remove 'using namespace rclcpp' usings; qualify rclcpp types in public headers #10

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Merged
mmmarinho merged 1 commit into from
Sep 25, 2026
Merged

Remove 'using namespace rclcpp' usings; qualify rclcpp types in public headers #10

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9 changes: 4 additions & 5 deletions include/sas_common/sas_object_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -52,13 +51,13 @@ namespace sas
class ObjectClient: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

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

Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
DQ pose_;

void _callback_pose(const geometry_msgs::msg::PoseStamped& msg);
Expand All @@ -72,7 +71,7 @@ class ObjectClient: private sas::Object
* @param node Shared pointer to the rclcpp::Node used for ROS communications.
* @param topic_prefix Topic prefix used for publisher/subscriber names. Defaults to "GET_FROM_NODE".
*/
ObjectClient(const std::shared_ptr<Node> &node,
ObjectClient(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix="GET_FROM_NODE");

/**
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9 changes: 4 additions & 5 deletions include/sas_common/sas_object_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,6 @@
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;
using namespace DQ_robotics;

namespace sas
Expand All @@ -52,13 +51,13 @@ namespace sas
class ObjectServer: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

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

Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr subscriber_pose_;
rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr publisher_pose_;
DQ target_pose_;

void _callback_target_pose(const geometry_msgs::msg::PoseStamped& msg);
Expand All @@ -72,7 +71,7 @@ class ObjectServer: private sas::Object
* @param node Shared pointer to the rclcpp::Node used for ROS communications.
* @param topic_prefix Topic prefix used for publisher/subscriber names. Defaults to "GET_FROM_NODE".
*/
ObjectServer(const std::shared_ptr<Node> &node,
ObjectServer(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix="GET_FROM_NODE");

/**
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10 changes: 4 additions & 6 deletions include/sas_common/sas_simulator_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,6 @@
#include <std_srvs/srv/trigger.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;

namespace sas
{

Expand All @@ -47,13 +45,13 @@ namespace sas
class SimulatorClient: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

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

std::shared_ptr<Client<std_srvs::srv::Trigger>> service_client_start_simulation_;
std::shared_ptr<Client<std_srvs::srv::Trigger>> service_client_stop_simulation_;
std::shared_ptr<rclcpp::Client<std_srvs::srv::Trigger>> service_client_start_simulation_;
std::shared_ptr<rclcpp::Client<std_srvs::srv::Trigger>> service_client_stop_simulation_;

public:
SimulatorClient() = delete;
Expand All @@ -65,7 +63,7 @@ class SimulatorClient: private sas::Object
* @param node Shared pointer to the rclcpp::Node used for ROS communications.
* @param topic_prefix Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".
*/
SimulatorClient(const std::shared_ptr<Node> &node,
SimulatorClient(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix="GET_FROM_NODE");

/**
Expand Down
10 changes: 4 additions & 6 deletions include/sas_common/sas_simulator_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,6 @@
#include <std_srvs/srv/trigger.hpp>
#include <sas_core/sas_object.hpp>

using namespace rclcpp;

namespace sas
{

Expand All @@ -49,13 +47,13 @@ namespace sas
class SimulatorServer: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

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

std::shared_ptr<Service<std_srvs::srv::Trigger>> service_server_start_simulation_;
std::shared_ptr<Service<std_srvs::srv::Trigger>> service_server_stop_simulation_;
std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger>> service_server_start_simulation_;
std::shared_ptr<rclcpp::Service<std_srvs::srv::Trigger>> service_server_stop_simulation_;

std::function<void()> start_simulation_callback_;
void start_simulation_callback_ros_(
Expand All @@ -77,7 +75,7 @@ class SimulatorServer: private sas::Object
* @param node Shared pointer to the rclcpp::Node used for ROS communications.
* @param topic_prefix Topic/service prefix used to build service names. Defaults to "GET_FROM_NODE".
*/
SimulatorServer(const std::shared_ptr<Node> &node,
SimulatorServer(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix="GET_FROM_NODE");

/**
Expand Down
2 changes: 1 addition & 1 deletion src/sas_object_client.cpp
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Expand Up @@ -40,7 +40,7 @@ void ObjectClient::_callback_pose(const geometry_msgs::msg::PoseStamped& msg)
}


ObjectClient::ObjectClient(const std::shared_ptr<Node> &node,
ObjectClient::ObjectClient(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix):
sas::Object("sas::ObjectClient"),
node_(node),
Expand Down
2 changes: 1 addition & 1 deletion src/sas_object_server.cpp
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Expand Up @@ -40,7 +40,7 @@ void ObjectServer::_callback_target_pose(const geometry_msgs::msg::PoseStamped&
}


ObjectServer::ObjectServer(const std::shared_ptr<Node> &node,
ObjectServer::ObjectServer(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix):
sas::Object("sas::ObjectServer"),
node_(node),
Expand Down
2 changes: 1 addition & 1 deletion src/sas_simulator_client.cpp
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Expand Up @@ -33,7 +33,7 @@
namespace sas
{

SimulatorClient::SimulatorClient(const std::shared_ptr<Node> &node,
SimulatorClient::SimulatorClient(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix):
sas::Object("sas::SimulatorClient"),
node_(node),
Expand Down
2 changes: 1 addition & 1 deletion src/sas_simulator_server.cpp
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Expand Up @@ -35,7 +35,7 @@ using namespace std::placeholders;
namespace sas
{

SimulatorServer::SimulatorServer(const std::shared_ptr<Node> &node,
SimulatorServer::SimulatorServer(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix):
sas::Object("sas::SimulatorServer"),
node_(node),
Expand Down
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