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Refactoring of sm_cl_keyboard_test_1 #666

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Merged
brettpac merged 2 commits into from
Nov 21, 2025
Merged

Refactoring of sm_cl_keyboard_test_1 #666

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fad8b1f
Cleanup of compilation warnings related to cl_nav2
brettpac Nov 21, 2025
df42188
Refactoring of sm_cl_keyboard_test_1
brettpac Nov 21, 2025
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541 changes: 0 additions & 541 deletions RELEASING.md
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5 changes: 2 additions & 3 deletions smacc2/include/smacc2/client_behaviors/cb_call_service.hpp
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Expand Up @@ -86,14 +86,13 @@ class CbServiceCall : public smacc2::SmaccAsyncClientBehavior

std::shared_future<std::shared_ptr<typename ServiceType::Response>> resultFuture_;

typename std::shared_ptr<typename ServiceType::Response> result_;
std::chrono::milliseconds pollRate_;

protected:
//rclcpp::NodeHandle nh_;
std::shared_ptr<rclcpp::Client<ServiceType>> client_;
std::string serviceName_;
std::shared_ptr<typename ServiceType::Request> request_;
typename std::shared_ptr<typename ServiceType::Response> result_;
std::chrono::milliseconds pollRate_;

virtual void onServiceResponse(std::shared_ptr<typename ServiceType::Response> /*result*/)
{
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3 changes: 1 addition & 2 deletions smacc2/package.xml
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Expand Up @@ -8,8 +8,7 @@

<author email="pablo@ibrobotics.com">Pablo Inigo Blasco</author>
<author email="brett@robosoft.ai">Brett Aldrich</author>
<maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
<maintainer email="denis@stoglrobotics.de">Denis Stogl</maintainer>
<maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>
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2 changes: 0 additions & 2 deletions ..._client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_position_control_free_space.cpp
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Expand Up @@ -50,8 +50,6 @@ void CbPositionControlFreeSpace::onEntry()
geometry_msgs::msg::Pose currentPose = pose->toPoseMsg();

rclcpp::Rate loop_rate(10);
double countAngle = 0;
auto prevyaw = tf2::getYaw(currentPose.orientation);

// PID controller gains (proportional, integral, and derivative)
double kp_linear = 0.5;
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1 change: 0 additions & 1 deletion smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_spiral_motion.cpp
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Expand Up @@ -99,7 +99,6 @@ void CbSpiralMotion::onEntry()
cmd_vel.linear.x = maxLinearVelocity;
}

float signVal = (cmd_vel.angular.z >= 0.0f) ? 1.0f : -1.0f;
// cmd_vel.angular.z -= signVal * angularAcceleration * dt;

float ellapsedTimeFactor = current_time.seconds() / spiralMotionDuration.seconds();
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4 changes: 2 additions & 2 deletions ...t_library/cl_nav2z/src/cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator.cpp
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Expand Up @@ -478,7 +478,7 @@ void CpWaypointNavigatorBase::loadWayPointsFromFile(std::string filepath)

if (wp_node != NULL)
{
for (int64_t i = 0; i < wp_node->size(); ++i)
for (std::size_t i = 0; i < wp_node->size(); ++i)
{
// Parse waypoint entries on YAML
geometry_msgs::msg::Pose wp;
Expand Down Expand Up @@ -551,7 +551,7 @@ void CpWaypointNavigatorBase::loadWayPointsFromFile2(std::string filepath)

if (wp_node != NULL)
{
for (int64_t i = 0; i < wp_node->size(); ++i)
for (std::size_t i = 0; i < wp_node->size(); ++i)
{
// Parse waypoint entries on YAML
geometry_msgs::msg::Pose wp;
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4 changes: 2 additions & 2 deletions smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/launch/sm_cl_keyboard_unit_test_1.py
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Expand Up @@ -27,9 +27,9 @@ def generate_launch_description():
Node(
package="cl_keyboard",
executable="keyboard_server_node.py",
name="cl_keyboard",
name="keyboard_server_node",
output="screen",
prefix="xterm -hold -e",
prefix="konsole --hold -p tabtitle='Keyboard Server' -e",
arguments=["--ros-args", "--log-level", "INFO"],
),
]
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4 changes: 2 additions & 2 deletions smacc2_sm_reference_library/sm_cl_keyboard_unit_test_1/package.xml
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Expand Up @@ -4,7 +4,7 @@
<name>sm_cl_keyboard_unit_test_1</name>
<version>3.0.1</version>
<description>The sm_cl_keyboard_unit_test_1 package</description>
<maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
<maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>
Expand All @@ -13,7 +13,7 @@
<depend>cl_keyboard</depend>
<depend>smacc2</depend>

<exec_depend>xterm</exec_depend>
<exec_depend>konsole</exec_depend>

<export>
<build_type>ament_cmake</build_type>
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4 changes: 1 addition & 3 deletions smacc2_sm_reference_library/sm_cl_ros2_timer_unit_test_1/package.xml
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Expand Up @@ -4,16 +4,14 @@
<name>sm_cl_ros2_timer_unit_test_1</name>
<version>3.0.1</version>
<description>The sm_cl_ros2_timer_unit_test_1 package</description>
<maintainer email="pablo@ibrobotics.com">Pablo Inigo Blasco</maintainer>
<maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>cl_ros2_timer</depend>
<depend>smacc2</depend>

<exec_depend>xterm</exec_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
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5 changes: 2 additions & 3 deletions smacc2_sm_reference_library/sm_panda_cl_moveit2z_cb_inventory/package.xml
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Expand Up @@ -4,9 +4,8 @@
<name>sm_panda_cl_moveit2z_cb_inventory</name>
<version>3.0.1</version>
<description>The sm_panda_cl_moveit2z_cb_inventory package</description>
<maintainer email="smacc2@smacc2.cool">SMACC2 is cool</maintainer>
<maintainer email="brett@robosoft.ai">Brett Aldrich</maintainer>
<license>Apache-2.0</license>
<license>MyLicense</license>

<buildtool_depend>ament_cmake</buildtool_depend>

Expand All @@ -31,8 +30,8 @@
<depend>rclcpp</depend>
<depend>yaml-cpp</depend>


<exec_depend>joint_trajectory_controller</exec_depend>
<exec_depend>konsole</exec_depend>

<export>
<build_type>ament_cmake</build_type>
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