add more packages that are building fine

usdot-fhwa-stol · Nov 26, 2024 · 7cc26ab · 7cc26ab
1 parent 428f251
commit 7cc26ab
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Showing 8 changed files with 119 additions and 104 deletions.
diff --git a/mock_controller_driver/CMakeLists.txt b/mock_controller_driver/CMakeLists.txt
@@ -13,14 +13,20 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(mock_controller_driver)
 
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)
 carma_package()
 
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 ## Find dependencies using ament auto
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()

diff --git a/template_package/CMakeLists.txt b/template_package/CMakeLists.txt
@@ -13,14 +13,20 @@
 # License for the specific language governing permissions and limitations under
 # the License.
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(<SUB><package_name>)
 
 # Declare carma package and check ROS version
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)
 carma_package()
 
+# Use C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 ## Find dependencies using ament auto
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
@@ -39,8 +45,8 @@ ament_auto_add_library(${node_lib} SHARED
         src/<SUB><package_name>_node.cpp
 )
 
-ament_auto_add_executable(${node_exec} 
-        src/main.cpp 
+ament_auto_add_executable(${node_exec}
+        src/main.cpp
 )
 
 # Register component
@@ -53,7 +59,7 @@ target_link_libraries(${node_exec}
 )
 
 # Testing
-if(BUILD_TESTING)  
+if(BUILD_TESTING)
 
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable

diff --git a/template_package/package.xml b/template_package/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<!--  
+<!--
  Copyright (C) <SUB><year> LEIDOS.
  Licensed under the Apache License, Version 2.0 (the "License"); you may not
  use this file except in compliance with the License. You may obtain a copy of
@@ -15,13 +15,13 @@
 
 <package format="3">
   <name><SUB><package_name></name>
-  <version>1.0.0</version>
+  <version>5.0.0</version>
   <description>The <SUB><package_name> package</description>
 
   <maintainer email="[email protected]">carma</maintainer>
 
   <license>Apache 2.0</license>
-  
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>carma_cmake_common</build_depend>
   <build_depend>ament_auto_cmake</build_depend>

diff --git a/template_package/src/template_control_plugin_node.cpp b/template_package/src/template_control_plugin_node.cpp
@@ -15,12 +15,11 @@
  */
 #include "<SUB><package_name>/<SUB><package_name>_node.hpp"
 
-namespace <SUB><package_name>
+namespace<SUB><package_name>
 {
   namespace std_ph = std::placeholders;
 
-  Node::Node(const rclcpp::NodeOptions &options)
-      : carma_guidance_plugins::ControlPlugin(options)
+  Node::Node(const rclcpp::NodeOptions & options) : carma_guidance_plugins::ControlPlugin(options)
   {
     // Create initial config
     config_ = Config();
@@ -29,9 +28,11 @@ namespace <SUB><package_name>
     config_.example_param = declare_parameter<std::string>("example_param", config_.example_param);
   }
 
-  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters)
+  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(
+    const std::vector<rclcpp::Parameter> & parameters)
   {
-    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this method
+    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this
+    // method
     auto error = update_params<std::string>({{"example_param", config_.example_param}}, parameters);
 
     rcl_interfaces::msg::SetParametersResult result;
@@ -53,8 +54,8 @@ namespace <SUB><package_name>
     add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
     // Setup subscribers
-    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
-                                                              std::bind(&Node::example_callback, this, std_ph::_1));
+    example_sub_ = create_subscription<std_msgs::msg::String>(
+      "example_input_topic", 10, std::bind(&Node::example_callback, this, std_ph::_1));
 
     // Setup publishers
     example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
@@ -63,27 +64,26 @@ namespace <SUB><package_name>
     example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
     // Setup service servers
-    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
-                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
+    example_service_ = create_service<std_srvs::srv::Empty>(
+      "example_provided_service",
+      std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
     // Setup timers
-    // NOTE: You will not be able to actually publish until in the ACTIVE state 
+    // NOTE: You will not be able to actually publish until in the ACTIVE state
     // so it may often make more sense for timers to be created in handle_on_activate
     example_timer_ = create_timer(
-        get_clock(),
-        std::chrono::milliseconds(1000),
-        std::bind(&Node::example_timer_callback, this));
+      get_clock(), std::chrono::milliseconds(1000), std::bind(&Node::example_timer_callback, this));
 
     // Return success if everthing initialized successfully
     return CallbackReturn::SUCCESS;
   }
 
   // Parameter names not shown to prevent unused compile warning. The user may add them back
-  void Node::example_service_callback(const std::shared_ptr<rmw_request_id_t>,
-                                      const std::shared_ptr<std_srvs::srv::Empty::Request>,
-                                      std::shared_ptr<std_srvs::srv::Empty::Response>)
+  void Node::example_service_callback(
+    const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>,
+    std::shared_ptr<std_srvs::srv::Empty::Response>)
   {
-    RCLCPP_INFO(  get_logger(), "Example service callback");
+    RCLCPP_INFO(get_logger(), "Example service callback");
   }
 
   void Node::example_timer_callback()
@@ -96,7 +96,7 @@ namespace <SUB><package_name>
 
   void Node::example_callback(std_msgs::msg::String::UniquePtr msg)
   {
-    RCLCPP_INFO_STREAM(  get_logger(), "example_sub_ callback called with value: " << msg->data);
+    RCLCPP_INFO_STREAM(get_logger(), "example_sub_ callback called with value: " << msg->data);
   }
 
   autoware_msgs::msg::ControlCommandStamped Node::generate_command()
@@ -106,15 +106,14 @@ namespace <SUB><package_name>
     return msg;
   }
 
-  bool Node::get_availability() {
-    return true; // TODO for user implement actual check on availability if applicable to plugin
+  bool Node::get_availability()
+  {
+    return true;  // TODO for user implement actual check on availability if applicable to plugin
   }
 
-  std::string Node::get_version_id() {
-    return "TODO for user specify plugin version id here";
-  }
+  std::string Node::get_version_id() { return "TODO for user specify plugin version id here"; }
 
-} // <SUB><package_name>
+}  // namespace >
 
 #include "rclcpp_components/register_node_macro.hpp"
 

diff --git a/template_package/src/template_package_node.cpp b/template_package/src/template_package_node.cpp
@@ -15,12 +15,11 @@
  */
 #include "<SUB><package_name>/<SUB><package_name>_node.hpp"
 
-namespace <SUB><package_name>
+namespace<SUB><package_name>
 {
   namespace std_ph = std::placeholders;
 
-  Node::Node(const rclcpp::NodeOptions &options)
-      : carma_ros2_utils::CarmaLifecycleNode(options)
+  Node::Node(const rclcpp::NodeOptions & options) : carma_ros2_utils::CarmaLifecycleNode(options)
   {
     // Create initial config
     config_ = Config();
@@ -29,9 +28,11 @@ namespace <SUB><package_name>
     config_.example_param = declare_parameter<std::string>("example_param", config_.example_param);
   }
 
-  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters)
+  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(
+    const std::vector<rclcpp::Parameter> & parameters)
   {
-    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this method
+    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this
+    // method
     auto error = update_params<std::string>({{"example_param", config_.example_param}}, parameters);
 
     rcl_interfaces::msg::SetParametersResult result;
@@ -53,8 +54,8 @@ namespace <SUB><package_name>
     add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
     // Setup subscribers
-    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
-                                                              std::bind(&Node::example_callback, this, std_ph::_1));
+    example_sub_ = create_subscription<std_msgs::msg::String>(
+      "example_input_topic", 10, std::bind(&Node::example_callback, this, std_ph::_1));
 
     // Setup publishers
     example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
@@ -63,27 +64,26 @@ namespace <SUB><package_name>
     example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
     // Setup service servers
-    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
-                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
+    example_service_ = create_service<std_srvs::srv::Empty>(
+      "example_provided_service",
+      std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
     // Setup timers
-    // NOTE: You will not be able to actually publish until in the ACTIVE state 
+    // NOTE: You will not be able to actually publish until in the ACTIVE state
     // so it may often make more sense for timers to be created in handle_on_activate
     example_timer_ = create_timer(
-        get_clock(),
-        std::chrono::milliseconds(1000),
-        std::bind(&Node::example_timer_callback, this));
+      get_clock(), std::chrono::milliseconds(1000), std::bind(&Node::example_timer_callback, this));
 
     // Return success if everything initialized successfully
     return CallbackReturn::SUCCESS;
   }
 
   // Parameter names not shown to prevent unused compile warning. The user may add them back
-  void Node::example_service_callback(const std::shared_ptr<rmw_request_id_t>,
-                                      const std::shared_ptr<std_srvs::srv::Empty::Request>,
-                                      std::shared_ptr<std_srvs::srv::Empty::Response>)
+  void Node::example_service_callback(
+    const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>,
+    std::shared_ptr<std_srvs::srv::Empty::Response>)
   {
-    RCLCPP_INFO(  get_logger(), "Example service callback");
+    RCLCPP_INFO(get_logger(), "Example service callback");
   }
 
   void Node::example_timer_callback()
@@ -96,10 +96,10 @@ namespace <SUB><package_name>
 
   void Node::example_callback(std_msgs::msg::String::UniquePtr msg)
   {
-    RCLCPP_INFO_STREAM(  get_logger(), "example_sub_ callback called with value: " << msg->data);
+    RCLCPP_INFO_STREAM(get_logger(), "example_sub_ callback called with value: " << msg->data);
   }
 
-} // <SUB><package_name>
+}  // namespace >
 
 #include "rclcpp_components/register_node_macro.hpp"
 

diff --git a/template_package/src/template_strategic_plugin_node.cpp b/template_package/src/template_strategic_plugin_node.cpp
@@ -15,12 +15,11 @@
  */
 #include "<SUB><package_name>/<SUB><package_name>_node.hpp"
 
-namespace <SUB><package_name>
+namespace<SUB><package_name>
 {
   namespace std_ph = std::placeholders;
 
-  Node::Node(const rclcpp::NodeOptions &options)
-      : carma_guidance_plugins::StrategicPlugin(options)
+  Node::Node(const rclcpp::NodeOptions & options) : carma_guidance_plugins::StrategicPlugin(options)
   {
     // Create initial config
     config_ = Config();
@@ -29,9 +28,11 @@ namespace <SUB><package_name>
     config_.example_param = declare_parameter<std::string>("example_param", config_.example_param);
   }
 
-  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters)
+  rcl_interfaces::msg::SetParametersResult Node::parameter_update_callback(
+    const std::vector<rclcpp::Parameter> & parameters)
   {
-    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this method
+    // TODO for the USER: Ensure all parameters can be updated dynamically by adding them to this
+    // method
     auto error = update_params<std::string>({{"example_param", config_.example_param}}, parameters);
 
     rcl_interfaces::msg::SetParametersResult result;
@@ -53,8 +54,8 @@ namespace <SUB><package_name>
     add_on_set_parameters_callback(std::bind(&Node::parameter_update_callback, this, std_ph::_1));
 
     // Setup subscribers
-    example_sub_ = create_subscription<std_msgs::msg::String>("example_input_topic", 10,
-                                                              std::bind(&Node::example_callback, this, std_ph::_1));
+    example_sub_ = create_subscription<std_msgs::msg::String>(
+      "example_input_topic", 10, std::bind(&Node::example_callback, this, std_ph::_1));
 
     // Setup publishers
     example_pub_ = create_publisher<std_msgs::msg::String>("example_output_topic", 10);
@@ -63,27 +64,26 @@ namespace <SUB><package_name>
     example_client_ = create_client<std_srvs::srv::Empty>("example_used_service");
 
     // Setup service servers
-    example_service_ = create_service<std_srvs::srv::Empty>("example_provided_service",
-                                                            std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
+    example_service_ = create_service<std_srvs::srv::Empty>(
+      "example_provided_service",
+      std::bind(&Node::example_service_callback, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
     // Setup timers
-    // NOTE: You will not be able to actually publish until in the ACTIVE state 
+    // NOTE: You will not be able to actually publish until in the ACTIVE state
     // so it may often make more sense for timers to be created in handle_on_activate
     example_timer_ = create_timer(
-        get_clock(),
-        std::chrono::milliseconds(1000),
-        std::bind(&Node::example_timer_callback, this));
+      get_clock(), std::chrono::milliseconds(1000), std::bind(&Node::example_timer_callback, this));
 
     // Return success if everything initialized successfully
     return CallbackReturn::SUCCESS;
   }
 
   // Parameter names not shown to prevent unused compile warning. The user may add them back
-  void Node::example_service_callback(const std::shared_ptr<rmw_request_id_t>,
-                                      const std::shared_ptr<std_srvs::srv::Empty::Request>,
-                                      std::shared_ptr<std_srvs::srv::Empty::Response>)
+  void Node::example_service_callback(
+    const std::shared_ptr<rmw_request_id_t>, const std::shared_ptr<std_srvs::srv::Empty::Request>,
+    std::shared_ptr<std_srvs::srv::Empty::Response>)
   {
-    RCLCPP_INFO(  get_logger(), "Example service callback");
+    RCLCPP_INFO(get_logger(), "Example service callback");
   }
 
   void Node::example_timer_callback()
@@ -96,26 +96,25 @@ namespace <SUB><package_name>
 
   void Node::example_callback(std_msgs::msg::String::UniquePtr msg)
   {
-    RCLCPP_INFO_STREAM(  get_logger(), "example_sub_ callback called with value: " << msg->data);
+    RCLCPP_INFO_STREAM(get_logger(), "example_sub_ callback called with value: " << msg->data);
   }
 
   void Node::plan_maneuvers_callback(
-    std::shared_ptr<rmw_request_id_t>, 
-    carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req, 
+    std::shared_ptr<rmw_request_id_t>,
+    carma_planning_msgs::srv::PlanManeuvers::Request::SharedPtr req,
     carma_planning_msgs::srv::PlanManeuvers::Response::SharedPtr resp)
   {
     // TODO for user: Implement maneuver planning logic here to populate resp based on req.
   }
 
-  bool Node::get_availability() {
-    return true; // TODO for user implement actual check on availability if applicable to plugin
+  bool Node::get_availability()
+  {
+    return true;  // TODO for user implement actual check on availability if applicable to plugin
   }
 
-  std::string Node::get_version_id() {
-    return "TODO for user specify plugin version id here";
-  }
+  std::string Node::get_version_id() { return "TODO for user specify plugin version id here"; }
 
-} // <SUB><package_name>
+}  // namespace >
 
 #include "rclcpp_components/register_node_macro.hpp"