Applied code-review suggestions and fixed includes

ros-controls · Mar 11, 2023 · fcb9cca · fcb9cca
1 parent 5715e8f
commit fcb9cca
Show file tree

Hide file tree

Showing 7 changed files with 24 additions and 23 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -64,19 +64,29 @@ set(CONTROL_FILTERS_INCLUDE_DEPENDS
   tf2_ros
 )
 
+foreach(Dependency IN ITEMS ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+generate_parameter_library(
+  gravity_compensation_filter_parameters
+  src/control_filters/gravity_compensation_filter_parameters.yaml
+)
+
 add_library(gravity_compensation SHARED
   src/control_filters/gravity_compensation.cpp
 )
+target_compile_features(gravity_compensation PUBLIC cxx_std_17)
 target_include_directories(gravity_compensation PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-generate_parameter_library(
-  gravity_compensation_filter_parameters
-  src/control_filters/gravity_compensation_filter_parameters.yaml
+    $<INSTALL_INTERFACE:include/control_toolbox>
 )
-target_link_libraries(gravity_compensation gravity_compensation_filter_parameters)
-ament_target_dependencies(gravity_compensation ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+
+target_link_libraries(gravity_compensation PUBLIC gravity_compensation_filter_parameters)
+ament_target_dependencies(gravity_compensation PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+
+# Install pluginlib xml
+pluginlib_export_plugin_description_file(filters control_filters.xml)
 
 ##########
 # Testing
@@ -124,18 +134,9 @@ install(TARGETS gravity_compensation gravity_compensation_filter_parameters
   RUNTIME DESTINATION bin
 )
 
-# Install pluginlib xml
-pluginlib_export_plugin_description_file(filters control_filters.xml)
-
 ament_export_targets(export_control_toolbox HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS} ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 ament_export_include_directories(
   include
 )
-ament_export_libraries(
-  control_toolbox
-  gravity_compensation
-  gravity_compensation_filter_parameters
-)
-
 ament_package()
diff --git a/README.md b/README.md
@@ -45,7 +45,7 @@ To run it initially over the whole repo you can use:
 
 If you get error that something is missing on your computer, do the following for:
 
-  - `clang-format-10`
+  - `clang-format-14`
      ```
-     sudo apt install clang-format-10
+     sudo apt install clang-format-14
      ```
diff --git a/include/control_filters/gravity_compensation.hpp b/include/control_filters/gravity_compensation.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/src/control_filters/gravity_compensation.cpp b/src/control_filters/gravity_compensation.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/test/control_filters/test_gravity_compensation.cpp b/test/control_filters/test_gravity_compensation.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/test/control_filters/test_gravity_compensation.hpp b/test/control_filters/test_gravity_compensation.hpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.

diff --git a/test/control_filters/test_load_gravity_compensation.cpp b/test/control_filters/test_load_gravity_compensation.cpp
@@ -1,4 +1,4 @@
-// Copyright (c) 2021, Stogl Robotics Consulting UG (haftungsbeschränkt)
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.