ros-controls · bmagyar · Jul 21, 2024 · Jul 19, 2024 · Jul 19, 2024 · Jul 19, 2024
diff --git a/controller_interface/include/controller_interface/controller_interface.hpp b/controller_interface/include/controller_interface/controller_interface.hpp
@@ -16,7 +16,6 @@
 #define CONTROLLER_INTERFACE__CONTROLLER_INTERFACE_HPP_
 
 #include <memory>
-#include <string>
 #include <vector>
 
 #include "controller_interface/controller_interface_base.hpp"

diff --git a/controller_interface/include/controller_interface/controller_interface_base.hpp b/controller_interface/include/controller_interface/controller_interface_base.hpp
@@ -25,7 +25,6 @@
 #include "hardware_interface/loaned_command_interface.hpp"
 #include "hardware_interface/loaned_state_interface.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 

diff --git a/controller_interface/include/semantic_components/range_sensor.hpp b/controller_interface/include/semantic_components/range_sensor.hpp
@@ -15,7 +15,6 @@
 #ifndef SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 #define SEMANTIC_COMPONENTS__RANGE_SENSOR_HPP_
 
-#include <limits>
 #include <string>
 #include <vector>
 

diff --git a/controller_interface/src/controller_interface.cpp b/controller_interface/src/controller_interface.cpp
@@ -14,14 +14,8 @@
 
 #include "controller_interface/controller_interface.hpp"
 
-#include <memory>
-#include <string>
-#include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
-
 namespace controller_interface
 {
 ControllerInterface::ControllerInterface() : ControllerInterfaceBase() {}

diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -19,7 +19,6 @@
 #include <utility>
 #include <vector>
 
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 
 namespace controller_interface

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -15,14 +15,13 @@
 #ifndef TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 #define TEST_CHAINABLE_CONTROLLER_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "controller_interface/chainable_controller_interface.hpp"
 #include "hardware_interface/handle.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_chainable_controller";
 constexpr double INTERFACE_VALUE = 1989.0;

diff --git a/controller_interface/test/test_controller_interface.hpp b/controller_interface/test/test_controller_interface.hpp
@@ -16,7 +16,6 @@
 #define TEST_CONTROLLER_INTERFACE_HPP_
 
 #include "controller_interface/controller_interface.hpp"
-#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
 constexpr char TEST_CONTROLLER_NAME[] = "testable_controller_interface";
 

diff --git a/controller_interface/test/test_controller_with_options.cpp b/controller_interface/test/test_controller_with_options.cpp
@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 #include <string>
 #include "ament_index_cpp/get_package_prefix.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 class FriendControllerWithOptions : public controller_with_options::ControllerWithOptions
 {

diff --git a/controller_interface/test/test_controller_with_options.hpp b/controller_interface/test/test_controller_with_options.hpp
@@ -16,11 +16,9 @@
 #define TEST_CONTROLLER_WITH_OPTIONS_HPP_
 
 #include <map>
-#include <memory>
 #include <string>
 
 #include "controller_interface/controller_interface.hpp"
-#include "hardware_interface/types/lifecycle_state_names.hpp"
 
 namespace controller_with_options
 {

diff --git a/controller_interface/test/test_force_torque_sensor.hpp b/controller_interface/test/test_force_torque_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_FORCE_TORQUE_SENSOR_HPP_
 #define TEST_FORCE_TORQUE_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/force_torque_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_imu_sensor.hpp b/controller_interface/test/test_imu_sensor.hpp
@@ -19,12 +19,12 @@
 #ifndef TEST_IMU_SENSOR_HPP_
 #define TEST_IMU_SENSOR_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 #include <vector>
 
-#include "gmock/gmock.h"
-
 #include "semantic_components/imu_sensor.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_interface/test/test_semantic_component_interface.hpp b/controller_interface/test/test_semantic_component_interface.hpp
@@ -19,11 +19,12 @@
 #ifndef TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 #define TEST_SEMANTIC_COMPONENT_INTERFACE_HPP_
 
+#include <gmock/gmock.h>
+
 #include <memory>
 #include <string>
 
 #include "geometry_msgs/msg/wrench.hpp"
-#include "gmock/gmock.h"
 #include "semantic_components/semantic_component_interface.hpp"
 
 // implementing and friending so we can access member variables

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -18,7 +18,6 @@
 #include <map>
 #include <memory>
 #include <string>
-#include <tuple>
 #include <unordered_map>
 #include <utility>
 #include <vector>
@@ -42,17 +41,12 @@
 #include "controller_manager_msgs/srv/unload_controller.hpp"
 
 #include "diagnostic_updater/diagnostic_updater.hpp"
-#include "hardware_interface/handle.hpp"
 #include "hardware_interface/resource_manager.hpp"
 
 #include "pluginlib/class_loader.hpp"
 
 #include "rclcpp/executor.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/node_interfaces/node_logging_interface.hpp"
-#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
-#include "rclcpp/parameter.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
 namespace controller_manager

diff --git a/controller_manager/include/controller_manager/controller_spec.hpp b/controller_manager/include/controller_manager/controller_spec.hpp
@@ -19,11 +19,10 @@
 #ifndef CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_
 #define CONTROLLER_MANAGER__CONTROLLER_SPEC_HPP_
 
-#include <map>
 #include <memory>
 #include <string>
 #include <vector>
-#include "controller_interface/controller_interface.hpp"
+#include "controller_interface/controller_interface_base.hpp"
 #include "hardware_interface/controller_info.hpp"
 
 namespace controller_manager

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -14,7 +14,6 @@
 
 #include "controller_manager/controller_manager.hpp"
 
-#include <list>
 #include <memory>
 #include <string>
 #include <utility>
@@ -24,7 +23,6 @@
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/version.h"
 #include "rclcpp_lifecycle/state.hpp"
 

diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -12,14 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <algorithm>
 #include <chrono>
 #include <memory>
 #include <string>
 #include <thread>
 
 #include "controller_manager/controller_manager.hpp"
-#include "rclcpp/rclcpp.hpp"
 #include "realtime_tools/thread_priority.hpp"
 
 using namespace std::chrono_literals;

diff --git a/controller_manager/test/controller_manager_test_common.hpp b/controller_manager/test/controller_manager_test_common.hpp
@@ -22,22 +22,18 @@
 #include <memory>
 #include <string>
 #include <thread>
-#include <utility>
 #include <vector>
 
 #include "controller_interface/controller_interface.hpp"
 
 #include "controller_manager/controller_manager.hpp"
-#include "controller_manager_msgs/srv/list_hardware_interfaces.hpp"
 #include "controller_manager_msgs/srv/switch_controller.hpp"
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/utilities.hpp"
 
 #include "std_msgs/msg/string.hpp"
 
 #include "ros2_control_test_assets/descriptions.hpp"
-#include "test_controller_failed_init/test_controller_failed_init.hpp"
 
 namespace
 {

diff --git a/controller_manager/test/test_controller/test_controller.cpp b/controller_manager/test/test_controller/test_controller.cpp
@@ -15,7 +15,6 @@
 #include "test_controller.hpp"
 
 #include <limits>
-#include <memory>
 #include <string>
 
 #include "lifecycle_msgs/msg/state.hpp"

diff --git a/controller_manager/test/test_controller/test_controller.hpp b/controller_manager/test/test_controller/test_controller.hpp
@@ -15,7 +15,6 @@
 #ifndef TEST_CONTROLLER__TEST_CONTROLLER_HPP_
 #define TEST_CONTROLLER__TEST_CONTROLLER_HPP_
 
-#include <memory>
 #include <string>
 #include <vector>
 

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.cpp
@@ -14,11 +14,6 @@
 
 #include "test_controller_failed_init.hpp"
 
-#include <memory>
-#include <string>
-
-#include "lifecycle_msgs/msg/transition.hpp"
-
 namespace test_controller_failed_init
 {
 TestControllerFailedInit::TestControllerFailedInit() : controller_interface::ControllerInterface()

diff --git a/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp b/controller_manager/test/test_controller_failed_init/test_controller_failed_init.hpp
@@ -15,10 +15,7 @@
 #ifndef TEST_CONTROLLER_FAILED_INIT__TEST_CONTROLLER_FAILED_INIT_HPP_
 #define TEST_CONTROLLER_FAILED_INIT__TEST_CONTROLLER_FAILED_INIT_HPP_
 
-#include <memory>
-#include <string>
-
-#include "controller_manager/controller_manager.hpp"
+#include "controller_interface/controller_interface.hpp"
 #include "controller_manager/visibility_control.h"
 
 namespace test_controller_failed_init

diff --git a/controller_manager/test/test_controller_manager.cpp b/controller_manager/test/test_controller_manager.cpp
@@ -15,11 +15,9 @@
 #include <gmock/gmock.h>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
-#include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_test_common.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_controller/test_controller.hpp"

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -22,7 +22,6 @@
 #include "controller_manager_test_common.hpp"
 
 #include "controller_interface/controller_interface.hpp"
-#include "controller_manager/controller_manager.hpp"
 #include "controller_manager_msgs/srv/list_controller_types.hpp"
 #include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_msgs/srv/list_hardware_interfaces.hpp"

diff --git a/controller_manager/test/test_controller_manager_with_namespace.cpp b/controller_manager/test/test_controller_manager_with_namespace.cpp
@@ -15,13 +15,10 @@
 #include <gtest/gtest.h>
 #include <memory>
 #include <string>
-#include <utility>
 #include <vector>
 
 #include "controller_manager/controller_manager.hpp"
-#include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_test_common.hpp"
-#include "lifecycle_msgs/msg/state.hpp"
 #include "test_controller/test_controller.hpp"
 
 using ::testing::_;

diff --git a/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.cpp b/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.cpp
@@ -14,11 +14,6 @@
 
 #include "test_controller_with_interfaces.hpp"
 
-#include <memory>
-#include <string>
-
-#include "lifecycle_msgs/msg/transition.hpp"
-
 namespace test_controller_with_interfaces
 {
 TestControllerWithInterfaces::TestControllerWithInterfaces()

diff --git a/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.hpp b/controller_manager/test/test_controller_with_interfaces/test_controller_with_interfaces.hpp
@@ -15,11 +15,8 @@
 #ifndef TEST_CONTROLLER_WITH_INTERFACES__TEST_CONTROLLER_WITH_INTERFACES_HPP_
 #define TEST_CONTROLLER_WITH_INTERFACES__TEST_CONTROLLER_WITH_INTERFACES_HPP_
 
-#include <memory>
-#include <string>
-
-#include "controller_interface/visibility_control.h"
-#include "controller_manager/controller_manager.hpp"
+#include "controller_interface/controller_interface.hpp"
+#include "controller_manager/visibility_control.h"
 
 namespace test_controller_with_interfaces
 {

diff --git a/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp b/controller_manager/test/test_controllers_chaining_with_controller_manager.cpp
@@ -19,12 +19,9 @@
 #include <utility>
 #include <vector>
 
-#include "controller_interface/controller_interface.hpp"
 #include "controller_manager/controller_manager.hpp"
-#include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_test_common.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
-#include "rclcpp/parameter.hpp"
 #include "test_chainable_controller/test_chainable_controller.hpp"
 #include "test_controller/test_controller.hpp"
 

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -22,7 +22,6 @@
 
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_msgs/msg/hardware_component_state.hpp"
-#include "controller_manager_msgs/srv/list_controllers.hpp"
 #include "controller_manager_msgs/srv/set_hardware_component_state.hpp"
 #include "hardware_interface/types/lifecycle_state_names.hpp"
 #include "lifecycle_msgs/msg/state.hpp"

diff --git a/controller_manager/test/test_load_controller.cpp b/controller_manager/test/test_load_controller.cpp
@@ -19,11 +19,11 @@
 #include <tuple>
 #include <vector>
 
-#include "controller_interface/controller_interface.hpp"
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
 #include "lifecycle_msgs/msg/state.hpp"
 #include "test_controller/test_controller.hpp"
+#include "test_controller_failed_init/test_controller_failed_init.hpp"
 
 using test_controller::TEST_CONTROLLER_CLASS_NAME;
 using ::testing::_;

diff --git a/controller_manager/test/test_release_interfaces.cpp b/controller_manager/test/test_release_interfaces.cpp
@@ -14,11 +14,9 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
-#include <memory>
 #include <string>
 #include <vector>
 
-#include "controller_interface/controller_interface.hpp"
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
 #include "lifecycle_msgs/msg/state.hpp"

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -19,7 +19,6 @@
 #include <string>
 #include <vector>
 
-#include "controller_interface/controller_interface.hpp"
 #include "controller_manager/controller_manager.hpp"
 #include "controller_manager_test_common.hpp"
 #include "lifecycle_msgs/msg/state.hpp"

diff --git a/hardware_interface/include/hardware_interface/actuator.hpp b/hardware_interface/include/hardware_interface/actuator.hpp
@@ -19,12 +19,13 @@
 #include <string>
 #include <vector>
 
+#include "hardware_interface/actuator_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/visibility_control.h"
 #include "rclcpp/duration.hpp"
-#include "rclcpp/logging.hpp"
+#include "rclcpp/logger.hpp"
 #include "rclcpp/node_interfaces/node_clock_interface.hpp"
 #include "rclcpp/time.hpp"
 #include "rclcpp_lifecycle/state.hpp"