Compiling version

.vscode/settings.json

@@ -1,5 +1,6 @@
 {
     "files.associations": {
-        "chrono": "cpp"
+        "chrono": "cpp",
+        "system_error": "cpp"
     }
 }

bitbots_ros_control/include/bitbots_ros_control/dynamixel_servo_hardware_interface.hpp

@@ -1,13 +1,13 @@
 #ifndef BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_DYNAMIXEL_SERVO_HARDWARE_INTERFACE_H_
 #define BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_DYNAMIXEL_SERVO_HARDWARE_INTERFACE_H_
 
-#include <bitbots_ros_control/utils.h>
 #include <dynamixel_driver.h>
 
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_msgs/msg/joint_torque.hpp>
 #include <bitbots_ros_control/hardware_interface.hpp>
 #include <bitbots_ros_control/servo_bus_interface.hpp>
+#include <bitbots_ros_control/utils.hpp>
 #include <bitset>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <diagnostic_msgs/msg/diagnostic_status.hpp>

bitbots_ros_control/include/bitbots_ros_control/hardware_interface.hpp

@@ -4,6 +4,8 @@
 
 #ifndef BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_HARDWARE_INTERFACE_H_
 #define BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_HARDWARE_INTERFACE_H_
+#include <rclcpp/rclcpp.hpp>
+
 namespace bitbots_ros_control {
 
 class HardwareInterface {

bitbots_ros_control/include/bitbots_ros_control/utils.hpp

@@ -8,12 +8,12 @@ namespace bitbots_ros_control {
 
 enum ControlMode { POSITION_CONTROL, VELOCITY_CONTROL, EFFORT_CONTROL, CURRENT_BASED_POSITION_CONTROL };
 
-bool stringToControlMode(rclcpp::Node::SharedPtr nh, std::string control_modestr, ControlMode &control_mode);
-void speakError(rclcpp::Publisher<humanoid_league_msgs::msg::Audio>::SharedPtr speak_pub, std::string text);
+bool stringToControlMode(rclcpp::Node::SharedPtr nh, const std::string& control_modestr, ControlMode& control_mode);
+void speakError(rclcpp::Publisher<humanoid_league_msgs::msg::Audio>::SharedPtr speak_pub, const std::string& text);
 
 uint16_t dxlMakeword(uint64_t a, uint64_t b);
 uint32_t dxlMakedword(uint64_t a, uint64_t b);
-float dxlMakeFloat(uint8_t *data);
+float dxlMakeFloat(uint8_t* data);
 
 std::string gyroRangeToString(uint8_t range);
 std::string accelRangeToString(uint8_t range);

bitbots_ros_control/src/node.cpp

@@ -89,7 +89,7 @@ int main(int argc, char *argv[]) {
         status.level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
         status.message = "Bus runs not at specified frequency";
       }
-      array = std::vector<diagnostic_msgs::msg::DiagnosticStatus>();
+      std::vector array = std::vector<diagnostic_msgs::msg::DiagnosticStatus>();
       array.push_back(status);
       array_msg.status = array;
       diagnostic_pub->publish(array_msg);