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

Remove 'using namespace rclcpp'/'Eigen' usings; qualify types #20

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71 changes: 35 additions & 36 deletions include/sas_robot_driver/sas_robot_driver_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,6 @@
#include <sas_msgs/msg/bool.hpp>


using namespace rclcpp;

namespace sas
{
Expand All @@ -69,30 +68,30 @@ class RobotDriverClient: private sas::Object
WATCHDOG_CONTROL
};
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

std::vector<MODE_BLACKLIST_FLAG> blacklisted_modes_;
std::atomic_bool enabled_;
std::string topic_prefix_;

Subscription<sensor_msgs::msg::JointState>::SharedPtr subscriber_joint_states_;
VectorXd joint_positions_;
VectorXd joint_velocities_;
VectorXd joint_forces_;
Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_min_;
VectorXd joint_limits_min_;
Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_max_;
VectorXd joint_limits_max_;
Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_home_state_;
VectorXi home_states_;

Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_positions_;
Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_velocities_;
Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_forces_;
Publisher<std_msgs::msg::Int32MultiArray> ::SharedPtr publisher_homing_signal_;
Publisher<std_msgs::msg::Int32MultiArray> ::SharedPtr publisher_clear_positions_signal_;
Publisher<sas_msgs::msg::WatchdogTrigger> ::SharedPtr publisher_watchdog_trigger_;
Publisher<sas_msgs::msg::Bool> ::SharedPtr publisher_shutdown_signal_;
rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr subscriber_joint_states_;
Eigen::VectorXd joint_positions_;
Eigen::VectorXd joint_velocities_;
Eigen::VectorXd joint_forces_;
rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_min_;
Eigen::VectorXd joint_limits_min_;
rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_joint_limits_max_;
Eigen::VectorXd joint_limits_max_;
rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_home_state_;
Eigen::VectorXi home_states_;

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_positions_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_velocities_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_target_joint_forces_;
rclcpp::Publisher<std_msgs::msg::Int32MultiArray> ::SharedPtr publisher_homing_signal_;
rclcpp::Publisher<std_msgs::msg::Int32MultiArray> ::SharedPtr publisher_clear_positions_signal_;
rclcpp::Publisher<sas_msgs::msg::WatchdogTrigger> ::SharedPtr publisher_watchdog_trigger_;
rclcpp::Publisher<sas_msgs::msg::Bool> ::SharedPtr publisher_shutdown_signal_;

void _callback_joint_states(const sensor_msgs::msg::JointState& msg);
void _callback_joint_limits_min(const std_msgs::msg::Float64MultiArray& msg);
Expand All @@ -109,7 +108,7 @@ class RobotDriverClient: private sas::Object
* @param topic_prefix Topic prefix used to compose topic/service names. Defaults to "GET_FROM_NODE".
* @param blacklisted_modes Optional list of modes to blacklist/disable on the client side.
*/
RobotDriverClient(const std::shared_ptr<Node> &node,
RobotDriverClient(const std::shared_ptr<rclcpp::Node> &node,
const std::string topic_prefix="GET_FROM_NODE",
const std::vector<MODE_BLACKLIST_FLAG>& blacklisted_modes = std::vector<MODE_BLACKLIST_FLAG>{});

Expand All @@ -118,35 +117,35 @@ class RobotDriverClient: private sas::Object
*
* @param target_joint_positions Vector containing desired joint positions.
*/
void send_target_joint_positions(const VectorXd& target_joint_positions);
void send_target_joint_positions(const Eigen::VectorXd& target_joint_positions);

/**
* @brief Publish target joint velocities.
*
* @param target_joint_velocities Vector containing desired joint velocities.
*/
void send_target_joint_velocities(const VectorXd& target_joint_velocities);
void send_target_joint_velocities(const Eigen::VectorXd& target_joint_velocities);

/**
* @brief Publish target joint forces/torques.
*
* @param target_joint_forces Vector containing desired joint forces/torques.
*/
void send_target_joint_forces(const VectorXd& target_joint_forces);
void send_target_joint_forces(const Eigen::VectorXd& target_joint_forces);

/**
* @brief Send a homing signal to the robot.
*
* @param homing_signal Vector of integers representing homing signals per joint.
*/
void send_homing_signal(const VectorXi& homing_signal);
void send_homing_signal(const Eigen::VectorXi& homing_signal);

/**
* @brief Send a signal to clear positions on the controller side.
*
* @param clear_positions_signal Vector of integers representing clear position commands per joint.
*/
void send_clear_positions_signal(const VectorXi& clear_positions_signal);
void send_clear_positions_signal(const Eigen::VectorXi& clear_positions_signal);

/**
* @brief Trigger the watchdog from the client.
Expand All @@ -167,37 +166,37 @@ class RobotDriverClient: private sas::Object
/**
* @brief Get the last received joint positions.
*
* @return VectorXd Joint positions vector.
* @return Eigen::VectorXd Joint positions vector.
*/
VectorXd get_joint_positions() const;
Eigen::VectorXd get_joint_positions() const;

/**
* @brief Get the last received joint velocities.
*
* @return VectorXd Joint velocities vector.
* @return Eigen::VectorXd Joint velocities vector.
*/
VectorXd get_joint_velocities() const;
Eigen::VectorXd get_joint_velocities() const;

/**
* @brief Get the last received joint forces.
*
* @return VectorXd Joint forces vector.
* @return Eigen::VectorXd Joint forces vector.
*/
VectorXd get_joint_forces() const;
Eigen::VectorXd get_joint_forces() const;

/**
* @brief Retrieve the joint limits as a tuple (min, max).
*
* @return std::tuple<VectorXd, VectorXd> Pair of vectors (min_limits, max_limits).
* @return std::tuple<Eigen::VectorXd, Eigen::VectorXd> Pair of vectors (min_limits, max_limits).
*/
std::tuple<VectorXd, VectorXd> get_joint_limits() const;
std::tuple<Eigen::VectorXd, Eigen::VectorXd> get_joint_limits() const;

/**
* @brief Get the last received home states vector.
*
* @return VectorXi Home states per joint.
* @return Eigen::VectorXi Home states per joint.
*/
VectorXi get_home_states() const;
Eigen::VectorXi get_home_states() const;

/**
* @brief Check whether the client is enabled for a given functionality.
Expand Down
7 changes: 3 additions & 4 deletions include/sas_robot_driver/sas_robot_driver_ros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@
#include <sas_core/sas_robot_driver.hpp>
#include <sas_robot_driver/sas_robot_driver_server.hpp>

using namespace rclcpp;

namespace sas
{
Expand Down Expand Up @@ -82,7 +81,7 @@ struct RobotDriverROSConfiguration
class RobotDriverROS
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

RobotDriverROSConfiguration configuration_;
std::atomic_bool* kill_this_node_; //Deprecated
Expand All @@ -107,13 +106,13 @@ class RobotDriverROS
* @param configuration Configuration parameters for ROS integration and control loop.
* @param shutdown_signaler Shared pointer used to signal shutdown between components.
*/
RobotDriverROS(std::shared_ptr<Node>& node,
RobotDriverROS(std::shared_ptr<rclcpp::Node>& node,
const std::shared_ptr<RobotDriver>& robot_driver,
const RobotDriverROSConfiguration& configuration,
const std::shared_ptr<ShutdownSignaler>& shutdown_signaler_);

[[deprecated("Use RobotDriver(const std::shared_ptr<ShutdownSignaler>& shutdown_signaler_) instead.")]]
RobotDriverROS(std::shared_ptr<Node>& node,
RobotDriverROS(std::shared_ptr<rclcpp::Node>& node,
const std::shared_ptr<RobotDriver>& robot_driver,
const RobotDriverROSConfiguration& configuration,
std::atomic_bool* kill_this_node);
Expand Down
67 changes: 33 additions & 34 deletions include/sas_robot_driver/sas_robot_driver_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@
#include <sas_msgs/msg/watchdog_trigger.hpp>
#include <sas_msgs/msg/bool.hpp>

using namespace rclcpp;

namespace sas
{
Expand All @@ -58,30 +57,30 @@ namespace sas
class RobotDriverServer: private sas::Object
{
private:
std::shared_ptr<Node> node_;
std::shared_ptr<rclcpp::Node> node_;

std::string node_prefix_;
RobotDriver::Functionality currently_active_functionality_;

Publisher<sensor_msgs::msg::JointState>::SharedPtr publisher_joint_states_;
Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_joint_limits_min_;
Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_joint_limits_max_;
Publisher<std_msgs::msg::Int32MultiArray>::SharedPtr publisher_home_state_;
rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr publisher_joint_states_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_joint_limits_min_;
rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr publisher_joint_limits_max_;
rclcpp::Publisher<std_msgs::msg::Int32MultiArray>::SharedPtr publisher_home_state_;


Subscription<sas_msgs::msg::Bool>::SharedPtr subscriber_shutdown_signal_;
rclcpp::Subscription<sas_msgs::msg::Bool>::SharedPtr subscriber_shutdown_signal_;
bool shutdown_signal_;
Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_positions_;
VectorXd target_joint_positions_;
Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_velocities_;
VectorXd target_joint_velocities_;
Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_forces_;
VectorXd target_joint_forces_;
Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_homing_signal_;
VectorXi homing_signal_;
Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_clear_positions_signal_;
VectorXi clear_positions_signal_;
Subscription<sas_msgs::msg::WatchdogTrigger>::SharedPtr subscriber_watchdog_trigger_;
rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_positions_;
Eigen::VectorXd target_joint_positions_;
rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_velocities_;
Eigen::VectorXd target_joint_velocities_;
rclcpp::Subscription<std_msgs::msg::Float64MultiArray>::SharedPtr subscriber_target_joint_forces_;
Eigen::VectorXd target_joint_forces_;
rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_homing_signal_;
Eigen::VectorXi homing_signal_;
rclcpp::Subscription<std_msgs::msg::Int32MultiArray>::SharedPtr subscriber_clear_positions_signal_;
Eigen::VectorXi clear_positions_signal_;
rclcpp::Subscription<sas_msgs::msg::WatchdogTrigger>::SharedPtr subscriber_watchdog_trigger_;
bool watchdog_trigger_status_;
bool watchdog_enabled_;
double watchdog_period_in_seconds_;
Expand All @@ -106,52 +105,52 @@ class RobotDriverServer: private sas::Object
* @param node Shared pointer to the rclcpp::Node used for communication.
* @param node_prefix Prefix used to compose ROS topic names (defaults to "GET_FROM_NODE").
*/
RobotDriverServer(const std::shared_ptr<Node> &node, const std::string& node_prefix="GET_FROM_NODE");
RobotDriverServer(const std::shared_ptr<rclcpp::Node> &node, const std::string& node_prefix="GET_FROM_NODE");

/**
* @brief Get the most recent target joint positions received from clients.
*
* @return VectorXd Target joint positions vector.
* @return Eigen::VectorXd Target joint positions vector.
* @throws std::runtime_error if the server is not enabled for PositionControl
* or the requested vector is uninitialized.
*/
VectorXd get_target_joint_positions() const;
Eigen::VectorXd get_target_joint_positions() const;

/**
* @brief Get the most recent target joint velocities received from clients.
*
* @return VectorXd Target joint velocities vector.
* @return Eigen::VectorXd Target joint velocities vector.
* @throws std::runtime_error if the server is not enabled for VelocityControl
* or the requested vector is uninitialized.
*/
VectorXd get_target_joint_velocities() const;
Eigen::VectorXd get_target_joint_velocities() const;

/**
* @brief Get the most recent target joint forces received from clients.
*
* @return VectorXd Target joint forces vector.
* @return Eigen::VectorXd Target joint forces vector.
* @throws std::runtime_error if the server is not enabled for ForceControl
* or the requested vector is uninitialized.
*/
VectorXd get_target_joint_forces() const;
Eigen::VectorXd get_target_joint_forces() const;

/**
* @brief Get the last received homing signal vector.
*
* @return VectorXi Homing signal per joint.
* @return Eigen::VectorXi Homing signal per joint.
* @throws std::runtime_error if the server is not enabled for Homing
* or the homing vector is uninitialized.
*/
VectorXi get_homing_signal() const;
Eigen::VectorXi get_homing_signal() const;

/**
* @brief Get the last received clear positions signal vector.
*
* @return VectorXi Clear positions signal per joint.
* @return Eigen::VectorXi Clear positions signal per joint.
* @throws std::runtime_error if the server is not enabled for ClearPositions
* or the clear positions vector is uninitialized.
*/
VectorXi get_clear_positions_signal();
Eigen::VectorXi get_clear_positions_signal();

/**
* @brief Get the currently active functionality of the robot driver.
Expand All @@ -176,23 +175,23 @@ class RobotDriverServer: private sas::Object
* @param joint_velocities Vector of joint velocities.
* @param joint_forces Vector of joint forces.
*/
void send_joint_states(const VectorXd& joint_positions,
const VectorXd& joint_velocities,
const VectorXd& joint_forces);
void send_joint_states(const Eigen::VectorXd& joint_positions,
const Eigen::VectorXd& joint_velocities,
const Eigen::VectorXd& joint_forces);

/**
* @brief Publish joint limits (min and max) to clients.
*
* @param joint_limits Tuple containing (min_limits, max_limits).
*/
void send_joint_limits(const std::tuple<VectorXd, VectorXd>& joint_limits);
void send_joint_limits(const std::tuple<Eigen::VectorXd, Eigen::VectorXd>& joint_limits);

/**
* @brief Publish the home state vector to clients.
*
* @param home_state Vector representing home states per joint.
*/
void send_home_state(const VectorXi& home_state);
void send_home_state(const Eigen::VectorXi& home_state);

/**
* @brief Get the time point received from the client for watchdog synchronization.
Expand Down
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