Additional fixes for documentation in demos. (#538)

* Additional fixes for documentation in demos.

With these fixes, I think we should get a green Rdoc build.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Author: clalancette

composition/Doxyfile

@@ -0,0 +1,21 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "composition"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "Examples for composing multiple nodes in a single process."
+
+INPUT                  = ./include
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = docs_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+GENERATE_XML           = YES
+EXCLUDE_SYMBOLS        = detail details
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             += COMPOSITION_PUBLIC

image_tools/Doxyfile

@@ -0,0 +1,21 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "image_tools"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "Tools to capture and play back images to and from DDS subscriptions and publications."
+
+INPUT                  = ./include
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = docs_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+GENERATE_XML           = YES
+EXCLUDE_SYMBOLS        = detail details
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             += IMAGE_TOOLS_PUBLIC

intra_process_demo/include/image_pipeline/camera_node.hpp

@@ -27,12 +27,19 @@
 
 #include "common.hpp"
 
-// Node which captures images from a camera using OpenCV and publishes them.
-// Images are annotated with this process's id as well as the message's ptr.
-class CameraNode : public rclcpp::Node
+/// Node which captures images from a camera using OpenCV and publishes them.
+/// Images are annotated with this process's id as well as the message's ptr.
+class CameraNode final : public rclcpp::Node
 {
 public:
-  CameraNode(
+  /// \brief Construct a new CameraNode object for capturing video
+  /// \param output The output topic name to use
+  /// \param node_name The node name to use
+  /// \param watermark Whether to add a watermark to the image before publishing
+  /// \param device Which camera device to use
+  /// \param width What video width to capture at
+  /// \param height What video height to capture at
+  explicit CameraNode(
     const std::string & output, const std::string & node_name = "camera_node",
     bool watermark = true, int device = 0, int width = 320, int height = 240)
   : Node(node_name, rclcpp::NodeOptions().use_intra_process_comms(true)),
@@ -57,7 +64,7 @@ class CameraNode : public rclcpp::Node
     thread_ = std::thread(std::bind(&CameraNode::loop, this));
   }
 
-  virtual ~CameraNode()
+  ~CameraNode()
   {
     // Make sure to join the thread on shutdown.
     canceled_.store(true);
@@ -66,6 +73,7 @@ class CameraNode : public rclcpp::Node
     }
   }
 
+  /// \brief Capture and publish data until the program is closed
   void loop()
   {
     // While running...

intra_process_demo/include/image_pipeline/image_view_node.hpp

@@ -24,10 +24,14 @@
 
 #include "common.hpp"
 
-// Node which receives sensor_msgs/Image messages and renders them using OpenCV.
-class ImageViewNode : public rclcpp::Node
+/// Node which receives sensor_msgs/Image messages and renders them using OpenCV.
+class ImageViewNode final : public rclcpp::Node
 {
 public:
+  /// \brief Construct a new ImageViewNode for visualizing image data
+  /// \param input The topic name to subscribe to
+  /// \param node_name The node name to use
+  /// \param watermark Whether to add a watermark to the image before displaying
   explicit ImageViewNode(
     const std::string & input, const std::string & node_name = "image_view_node",
     bool watermark = true)

intra_process_demo/include/image_pipeline/watermark_node.hpp

@@ -26,11 +26,16 @@
 
 #include "common.hpp"
 
-// Node that receives an image, adds some text as a watermark, and publishes it again.
-class WatermarkNode : public rclcpp::Node
+/// Node that receives an image, adds some text as a watermark, and publishes it again.
+class WatermarkNode final : public rclcpp::Node
 {
 public:
-  WatermarkNode(
+  /// \brief Construct a WatermarkNode that accepts an image, adds a watermark, and republishes it
+  /// \param input The name of the topic to subscribe to
+  /// \param output The topic to publish watermarked images to
+  /// \param text The text to add to the image
+  /// \param node_name The node name to use
+  explicit WatermarkNode(
     const std::string & input, const std::string & output, const std::string & text,
     const std::string & node_name = "watermark_node")
   : Node(node_name, rclcpp::NodeOptions().use_intra_process_comms(true))

logging_demo/Doxyfile

@@ -0,0 +1,21 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "logging_demo"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "Examples for using and configuring loggers."
+
+INPUT                  = ./include
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = docs_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+GENERATE_XML           = YES
+EXCLUDE_SYMBOLS        = detail details
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             += LOGGING_DEMO_PUBLIC

pendulum_control/include/pendulum_control/pendulum_controller.hpp

@@ -15,17 +15,20 @@
 #ifndef PENDULUM_CONTROL__PENDULUM_CONTROLLER_HPP_
 #define PENDULUM_CONTROL__PENDULUM_CONTROLLER_HPP_
 
+// Needed for M_PI on Windows
+#ifdef _MSC_VER
+#ifndef _USE_MATH_DEFINES
+#define _USE_MATH_DEFINES
+#endif
+#endif
+
 #include <chrono>
 #include <cmath>
 #include <memory>
 
 #include "pendulum_msgs/msg/joint_command.hpp"
 #include "pendulum_msgs/msg/joint_state.hpp"
 
-#ifndef PI
-#define PI 3.14159265359
-#endif
-
 namespace pendulum_control
 {
 
@@ -39,7 +42,7 @@ struct PIDProperties
   /// Derivative constant.
   double d = 0;
   /// Desired state of the plant.
-  double command = PI / 2;
+  double command = M_PI / 2;
 };
 
 /// Provides a simple PID controller for the inverted pendulum.
@@ -85,8 +88,8 @@ class PendulumController
     // Calculate the message based on PID gains
     command_message_.position = msg->position + p_gain + i_gain_ + d_gain;
     // Enforce positional limits
-    if (command_message_.position > PI) {
-      command_message_.position = PI;
+    if (command_message_.position > M_PI) {
+      command_message_.position = M_PI;
     } else if (command_message_.position < 0) {
       command_message_.position = 0;
     }

quality_of_service_demo/rclcpp/include/quality_of_service_demo/common_nodes.hpp

@@ -24,19 +24,21 @@
 
 constexpr char DEFAULT_TOPIC_NAME[] = "qos_chatter";
 
-class Talker : public rclcpp::Node
+/// Node class to publish data at a specified rate, optionally pausing to test liveliness
+class Talker final : public rclcpp::Node
 {
 public:
+  /// Standard Constructor
   /**
-    * \param[in] topic_name Topic to publish to.
     * \param[in] qos_profile QoS profile for Publisher.
-    * \param[in] publisher_options Additional options for Publisher.
+    * \param[in] topic_name Topic to publish to.
     * \param[in] publish_count (Optional) Number of messages to publish before stopping.
     *   0 (default) means publish forever.
+    * \param[in] publish_period (Optional) How often to publish
     * \param[in] assert_topic_period (Optional) How often to manually assert Publisher liveliness.
     *   0 (default) means never.
     **/
-  Talker(
+  explicit Talker(
     const rclcpp::QoS & qos_profile,
     const std::string & topic_name = DEFAULT_TOPIC_NAME,
     size_t publish_count = 0,
@@ -97,18 +99,18 @@ class Talker : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr assert_topic_timer_ = nullptr;
 };
 
-class Listener : public rclcpp::Node
+/// Node class to listen to listen to incoming data from the Talker
+class Listener final : public rclcpp::Node
 {
 public:
   /// Standard Constructor.
   /**
-    * \param[in] topic_name Topic to subscribe to.
     * \param[in] qos_profile QoS profile for Subscription.
-    * \param[in] sub_options Additional options for Subscription.
+    * \param[in] topic_name Topic to subscribe to.
     * \param[in] defer_subscribe (Optional) don't create Subscription until user calls
     *   start_listening().
     */
-  Listener(
+  explicit Listener(
     const rclcpp::QoS & qos_profile,
     const std::string & topic_name = DEFAULT_TOPIC_NAME,
     bool defer_subscribe = false);

topic_statistics_demo/include/topic_statistics_demo/topic_statistics_listener.hpp

@@ -41,7 +41,7 @@ class TopicStatisticsListener : public rclcpp::Node
   /// Return string representation of a MetricsMessage.
   /**
     * \param[in] results Statistics heard form the subscribed topic.
-    * \param[out] String representation of the input statistics.
+    * \return String representation of the input statistics.
     */
   std::string MetricsMessageToString(const statistics_msgs::msg::MetricsMessage & results);