Clean up package

laidvi · Aug 20, 2020 · 2968752 · 2968752
1 parent 3ea244f
commit 2968752
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Showing 6 changed files with 45 additions and 52 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,32 +1,39 @@
-cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR)
+cmake_minimum_required(VERSION 2.8.6)
+cmake_policy(SET CMP0048 NEW)
 project(roboticsgroup_upatras_gazebo_plugins)
 
-# Set CMP0054
 cmake_policy(SET CMP0054 NEW)
 
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  gazebo_ros
-  control_toolbox
+find_package(catkin REQUIRED
+  COMPONENTS
+    control_toolbox
+    gazebo_ros
+    roscpp
 )
 
-# Depend on system install of Gazebo
 find_package(gazebo REQUIRED)
-# Gazebo cxx flags should have all the required C++ flags
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
-find_package(Boost REQUIRED)
 
 catkin_package(
-  DEPENDS
-    roscpp
-    gazebo_ros
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    roboticsgroup_upatras_gazebo_mimic_joint_plugin
+    roboticsgroup_upatras_gazebo_disable_link_plugin
+  CATKIN_DEPENDS
     control_toolbox
+    gazebo_ros
+    roscpp
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
 )
 
 link_directories(${GAZEBO_LIBRARY_DIRS})
-include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include)
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 add_library(roboticsgroup_upatras_gazebo_mimic_joint_plugin src/mimic_joint_plugin.cpp)
 target_link_libraries(roboticsgroup_upatras_gazebo_mimic_joint_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})

diff --git a/include/roboticsgroup_upatras_gazebo_plugins/disable_link_plugin.h b/include/roboticsgroup_upatras_gazebo_plugins/disable_link_plugin.h
@@ -26,31 +26,23 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 // ROS includes
 #include <ros/ros.h>
 
-// Boost includes
-#include <boost/bind.hpp>
-
 // Gazebo includes
 #include <gazebo/common/Plugin.hh>
-#include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
 
 namespace gazebo {
 
     class DisableLinkPlugin : public ModelPlugin {
-    public:
+      public:
         DisableLinkPlugin();
-        ~DisableLinkPlugin();
+        virtual ~DisableLinkPlugin() override;
 
-        void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
-        void UpdateChild();
+        virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override;
 
-    private:
+      private:
         // Parameters
         std::string link_name_;
 
-        bool kill_sim;
-
         // Pointers to the joints
         physics::LinkPtr link_;
 

diff --git a/include/roboticsgroup_upatras_gazebo_plugins/mimic_joint_plugin.h b/include/roboticsgroup_upatras_gazebo_plugins/mimic_joint_plugin.h
@@ -29,26 +29,22 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
 // ros_control
 #include <control_toolbox/pid.h>
 
-// Boost includes
-#include <boost/bind.hpp>
-
 // Gazebo includes
 #include <gazebo/common/Plugin.hh>
-#include <gazebo/gazebo.hh>
 #include <gazebo/physics/physics.hh>
-#include <gazebo/common/common.hh>
 
 namespace gazebo {
 
     class MimicJointPlugin : public ModelPlugin {
-    public:
+      public:
         MimicJointPlugin();
-        ~MimicJointPlugin();
+        virtual ~MimicJointPlugin() override;
+
+        virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) override;
 
-        void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+      private:
         void UpdateChild();
 
-    private:
         // Parameters
         std::string joint_name_, mimic_joint_name_, robot_namespace_;
         double multiplier_, offset_, sensitiveness_, max_effort_;
@@ -67,7 +63,7 @@ namespace gazebo {
         physics::WorldPtr world_;
 
         // Pointer to the update event connection
-        event::ConnectionPtr updateConnection;
+        event::ConnectionPtr update_connection_;
     };
 
 }

diff --git a/package.xml b/package.xml
@@ -33,17 +33,17 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
   <url type="bugtracker">https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins/issues</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>control_toolbox</build_depend>
   <build_depend>gazebo_ros</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>control_toolbox</build_depend>
+  <build_export_depend>control_toolbox</build_export_depend>
   <build_export_depend>gazebo_ros</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>control_toolbox</build_export_depend>
+  <exec_depend>control_toolbox</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>roscpp</exec_depend>
-  <exec_depend>control_toolbox</exec_depend>
 
   <export>
-    <gazebo_ros plugin_path="${prefix}/lib" gazebo_media_path="${prefix}" />
+    <gazebo_ros plugin_path="${prefix}/lib" />
   </export>
 </package>
diff --git a/src/disable_link_plugin.cpp b/src/disable_link_plugin.cpp
@@ -26,14 +26,11 @@ namespace gazebo {
 
     DisableLinkPlugin::DisableLinkPlugin()
     {
-        kill_sim = false;
-
         link_.reset();
     }
 
     DisableLinkPlugin::~DisableLinkPlugin()
     {
-        kill_sim = true;
     }
 
     void DisableLinkPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
@@ -54,11 +51,12 @@ namespace gazebo {
         if (link_) {
             link_->SetEnabled(false);
             // Output some confirmation
-            ROS_INFO_STREAM("DisableLinkPlugin loaded! Link: \"" << link_name_);
+            ROS_INFO_STREAM("DisableLinkPlugin loaded! Link: " << link_name_);
         }
         else
-            ROS_ERROR_STREAM("Link" << link_name_ << " not found! DisableLinkPlugin could not be loaded.");
+            ROS_ERROR_STREAM("Link " << link_name_ << " not found! DisableLinkPlugin could not be loaded.");
     }
 
     GZ_REGISTER_MODEL_PLUGIN(DisableLinkPlugin);
-}
+
+}  // namespace gazebo
diff --git a/src/mimic_joint_plugin.cpp b/src/mimic_joint_plugin.cpp
@@ -38,7 +38,7 @@ namespace gazebo {
 
     MimicJointPlugin::~MimicJointPlugin()
     {
-        this->updateConnection.reset();
+        update_connection_.reset();
     }
 
     void MimicJointPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf)
@@ -59,7 +59,6 @@ namespace gazebo {
         }
 
         // Check for robot namespace
-        robot_namespace_ = "";
         if (_sdf->HasElement("robotNamespace")) {
             robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>();
         }
@@ -140,7 +139,7 @@ namespace gazebo {
 
         // Listen to the update event. This event is broadcast every
         // simulation iteration.
-        this->updateConnection = event::Events::ConnectWorldUpdateBegin(
+        update_connection_ = event::Events::ConnectWorldUpdateBegin(
             boost::bind(&MimicJointPlugin::UpdateChild, this));
 
         // Output some confirmation
@@ -191,4 +190,5 @@ namespace gazebo {
     }
 
     GZ_REGISTER_MODEL_PLUGIN(MimicJointPlugin);
-}
+
+}  // namespace gazebo