handle duration and tf2_geometry h to hpp

usdot-fhwa-stol · Nov 21, 2024 · 285eec4 · 285eec4
1 parent 6e1d469
commit 285eec4
Show file tree

Hide file tree

Showing 50 changed files with 788 additions and 790 deletions.
diff --git a/approaching_emergency_vehicle_plugin/src/approaching_emergency_vehicle_plugin_node.cpp b/approaching_emergency_vehicle_plugin/src/approaching_emergency_vehicle_plugin_node.cpp
diff --git a/arbitrator/include/arbitrator.hpp b/arbitrator/include/arbitrator.hpp
@@ -25,7 +25,7 @@
 #include <geometry_msgs/msg/twist_stamped.hpp>
 #include <tf2_ros/transform_listener.h>
 #include <tf2/LinearMath/Transform.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include "vehicle_state.hpp"
 #include "arbitrator_state_machine.hpp"

diff --git a/arbitrator/src/arbitrator_node.cpp b/arbitrator/src/arbitrator_node.cpp
@@ -67,7 +67,7 @@ namespace arbitrator
         auto bss = std::make_shared<arbitrator::BeamSearchStrategy>(config_.beam_width);
 
         auto png = std::make_shared<arbitrator::PluginNeighborGenerator<arbitrator::CapabilitiesInterface>>(ci);
-        arbitrator::TreePlanner tp(cf, png, bss, rclcpp::Duration(config_.target_plan_duration* 1e9));
+        arbitrator::TreePlanner tp(cf, png, bss, rclcpp::Duration::from_nanoseconds(config_.target_plan_duration* 1e9));
 
         wm_listener_ = std::make_shared<carma_wm::WMListener>(
             this->get_node_base_interface(), this->get_node_logging_interface(),
@@ -81,7 +81,7 @@ namespace arbitrator
             std::make_shared<ArbitratorStateMachine>(sm),
             ci,
             std::make_shared<TreePlanner>(tp),
-            rclcpp::Duration(config_.min_plan_duration* 1e9),
+            rclcpp::Duration::from_nanoseconds(config_.min_plan_duration* 1e9),
             1/config_.planning_frequency,
             wm_ );
 

diff --git a/arbitrator/src/tree_planner.cpp b/arbitrator/src/tree_planner.cpp
@@ -32,7 +32,7 @@ namespace arbitrator
         open_list_to_evaluate.push_back(std::make_pair(root, INF));
 
         carma_planning_msgs::msg::ManeuverPlan longest_plan = root; // Track longest plan in case target length is never reached
-        rclcpp::Duration longest_plan_duration = rclcpp::Duration(0);
+        rclcpp::Duration longest_plan_duration = rclcpp::Duration::from_nanoseconds(0);
 
 
         while (!open_list_to_evaluate.empty())

diff --git a/basic_autonomy/src/basic_autonomy.cpp b/basic_autonomy/src/basic_autonomy.cpp
@@ -1283,7 +1283,7 @@ namespace basic_autonomy
                 autoware_point.heading.real = std::cos(yaw/2);
                 autoware_point.heading.imag = std::sin(yaw/2);
 
-                autoware_point.time_from_start = rclcpp::Duration(times[i] * 1e9);
+                autoware_point.time_from_start = rclcpp::Duration::from_nanoseconds(times[i] * 1e9);
                 RCLCPP_DEBUG_STREAM(rclcpp::get_logger(BASIC_AUTONOMY_LOGGER), "Setting waypoint idx: " << i <<", with planner: << " << trajectory_points[i].planner_plugin_name << ", x: " << trajectory_points[i].x <<
                                         ", y: " << trajectory_points[i].y <<
                                         ", speed: " << lag_speeds[i]* 2.23694 << "mph");

diff --git a/carma_cooperative_perception/src/msg_conversion.cpp b/carma_cooperative_perception/src/msg_conversion.cpp
@@ -14,7 +14,7 @@
 
 #include "carma_cooperative_perception/msg_conversion.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <carma_cooperative_perception_interfaces/msg/track.hpp>
 #include <carma_cooperative_perception_interfaces/msg/track_list.hpp>
 #include <carma_perception_msgs/msg/external_object.hpp>

diff --git a/carma_cooperative_perception/src/multiple_object_tracker_component.cpp b/carma_cooperative_perception/src/multiple_object_tracker_component.cpp
@@ -14,7 +14,7 @@
 
 #include "carma_cooperative_perception/multiple_object_tracker_component.hpp"
 
-#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <units.h>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>

diff --git a/carma_wm_ctrl/src/GeofenceScheduler.cpp b/carma_wm_ctrl/src/GeofenceScheduler.cpp
@@ -25,7 +25,7 @@ GeofenceScheduler::GeofenceScheduler(std::shared_ptr<TimerFactory> timerFactory)
 {
   // Create repeating loop to clear geofence timers which are no longer needed
   deletion_timer_ =
-      timerFactory_->buildTimer(nextId(), rclcpp::Duration(1), std::bind(&GeofenceScheduler::clearTimers, this));
+      timerFactory_->buildTimer(nextId(), rclcpp::Duration::from_nanoseconds(1), std::bind(&GeofenceScheduler::clearTimers, this));
   clock_type_ = timerFactory_->now().get_clock_type();
 }
 
@@ -68,7 +68,7 @@ void GeofenceScheduler::clearTimers()
 }
 
 void GeofenceScheduler::addGeofence(std::shared_ptr<Geofence> gf_ptr)
-{ 
+{
   std::lock_guard<std::mutex> guard(mutex_);
 
   RCLCPP_INFO_STREAM(rclcpp::get_logger("carma_wm_ctrl"), "Attempting to add Geofence with Id: " << gf_ptr->id_);
@@ -82,7 +82,7 @@ void GeofenceScheduler::addGeofence(std::shared_ptr<Geofence> gf_ptr)
 
     if (!interval_info.first && startTime == rclcpp::Time(0, 0, clock_type_))
     {
-      RCLCPP_WARN_STREAM(rclcpp::get_logger("carma_wm_ctrl"), 
+      RCLCPP_WARN_STREAM(rclcpp::get_logger("carma_wm_ctrl"),
           "Failed to add geofence as its schedule did not contain an active or upcoming control period. GF Id: "
           << gf_ptr->id_);
       return;
@@ -95,7 +95,7 @@ void GeofenceScheduler::addGeofence(std::shared_ptr<Geofence> gf_ptr)
 
     int32_t timer_id = nextId();
 
-    rclcpp::Duration control_duration = rclcpp::Duration(std::max((startTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
+    rclcpp::Duration control_duration = rclcpp::Duration::from_nanoseconds(std::max((startTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
 
     // Build timer to trigger when this geofence becomes active
     TimerPtr timer = timerFactory_->buildTimer(
@@ -119,7 +119,7 @@ void GeofenceScheduler::startGeofenceCallback(std::shared_ptr<Geofence> gf_ptr,
   // Build timer to trigger when this geofence becomes inactive
   int32_t ending_timer_id = nextId();
 
-  rclcpp::Duration control_duration = rclcpp::Duration(std::max((endTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
+  rclcpp::Duration control_duration = rclcpp::Duration::from_nanoseconds(std::max((endTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
 
   TimerPtr timer = timerFactory_->buildTimer(
       ending_timer_id, control_duration,
@@ -157,7 +157,7 @@ void GeofenceScheduler::endGeofenceCallback(std::shared_ptr<Geofence> gf_ptr, co
   // Build timer to trigger when this geofence becomes active
   int32_t start_timer_id = nextId();
 
-  rclcpp::Duration control_duration = rclcpp::Duration(std::max((startTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
+  rclcpp::Duration control_duration = rclcpp::Duration::from_nanoseconds(std::max((startTime - timerFactory_->now()).seconds() * 1e9, 0.0)); //guard for negative value
 
   TimerPtr timer = timerFactory_->buildTimer(
       start_timer_id, control_duration,
@@ -177,4 +177,4 @@ void GeofenceScheduler::onGeofenceInactive(std::function<void(std::shared_ptr<Ge
   std::lock_guard<std::mutex> guard(mutex_);
   inactive_callback_ = inactive_callback;
 }
-}  // namespace carma_wm_ctrl
+}  // namespace carma_wm_ctrl