From 8ad6eb0005510f20dbc752fc2d9912335c8c87ec Mon Sep 17 00:00:00 2001
From: Patrick Roncagliolo <ronca.pat@gmail.com>
Date: Wed, 8 Jan 2025 16:56:08 +0100
Subject: [PATCH] Expose header for `GzServer`
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Signed-off-by: Patrick Roncagliolo <ronca.pat@gmail.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
---
 ros_gz_sim/include/ros_gz_sim/gzserver.hpp | 44 +++++++++++++
 ros_gz_sim/src/gzserver.cpp                | 77 ++++++++++------------
 2 files changed, 77 insertions(+), 44 deletions(-)
 create mode 100644 ros_gz_sim/include/ros_gz_sim/gzserver.hpp

diff --git a/ros_gz_sim/include/ros_gz_sim/gzserver.hpp b/ros_gz_sim/include/ros_gz_sim/gzserver.hpp
new file mode 100644
index 00000000..b7f87c76
--- /dev/null
+++ b/ros_gz_sim/include/ros_gz_sim/gzserver.hpp
@@ -0,0 +1,44 @@
+// Copyright 2025 Open Source Robotics Foundation
+//
+// 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 the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROS_GZ_SIM__GZSERVER_HPP_
+#define ROS_GZ_SIM__GZSERVER_HPP_
+
+#include <thread>
+#include <rclcpp/node.hpp>
+
+// ROS node that executes a gz-sim Server given a world SDF file or string.
+namespace ros_gz_sim
+{
+class GzServer : public rclcpp::Node
+{
+public:
+  // Class constructor.
+  explicit GzServer(const rclcpp::NodeOptions & options);
+
+public:
+  // Class destructor.
+  ~GzServer();
+
+public:
+  /// \brief Run the gz sim server.
+  void OnStart();
+
+private:
+  /// \brief We don't want to block the ROS thread.
+  std::thread thread_;
+};
+}  // namespace ros_gz_sim
+
+#endif  // ROS_GZ_SIM__GZSERVER_HPP_
diff --git a/ros_gz_sim/src/gzserver.cpp b/ros_gz_sim/src/gzserver.cpp
index aa4361f5..08d5057e 100644
--- a/ros_gz_sim/src/gzserver.cpp
+++ b/ros_gz_sim/src/gzserver.cpp
@@ -13,7 +13,6 @@
 // limitations under the License.
 
 #include <functional>
-#include <thread>
 #include <gz/common/Console.hh>
 #include <gz/sim/Server.hh>
 #include <gz/sim/SystemLoader.hh>
@@ -21,60 +20,50 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
-// ROS node that executes a gz-sim Server given a world SDF file or string.
+#include <ros_gz_sim/gzserver.hpp>
+
 namespace ros_gz_sim
 {
-class GzServer : public rclcpp::Node
+
+GzServer::GzServer(const rclcpp::NodeOptions & options)
+: Node("gzserver", options)
 {
-public:
-  // Class constructor.
-  explicit GzServer(const rclcpp::NodeOptions & options)
-  : Node("gzserver", options)
-  {
-    thread_ = std::thread(std::bind(&GzServer::OnStart, this));
-  }
+  thread_ = std::thread(std::bind(&GzServer::OnStart, this));
+}
 
-public:
-  // Class destructor.
-  ~GzServer()
-  {
-    // Make sure to join the thread on shutdown.
-    if (thread_.joinable()) {
-      thread_.join();
-    }
+GzServer::~GzServer()
+{
+  // Make sure to join the thread on shutdown.
+  if (thread_.joinable()) {
+    thread_.join();
   }
+}
 
-public:
-  /// \brief Run the gz sim server.
-  void OnStart()
-  {
-    auto world_sdf_file = this->declare_parameter("world_sdf_file", "");
-    auto world_sdf_string = this->declare_parameter("world_sdf_string", "");
-
-    gz::common::Console::SetVerbosity(4);
-    gz::sim::ServerConfig server_config;
+void GzServer::OnStart()
+{
+  auto world_sdf_file = this->declare_parameter("world_sdf_file", "");
+  auto world_sdf_string = this->declare_parameter("world_sdf_string", "");
 
-    if (!world_sdf_file.empty()) {
-      server_config.SetSdfFile(world_sdf_file);
-    } else if (!world_sdf_string.empty()) {
-      server_config.SetSdfString(world_sdf_string);
-    } else {
-      RCLCPP_ERROR(
-        this->get_logger(),
-        "Must specify either 'world_sdf_file' or 'world_sdf_string'");
-      rclcpp::shutdown();
-      return;
-    }
+  gz::common::Console::SetVerbosity(4);
+  gz::sim::ServerConfig server_config;
 
-    gz::sim::Server server(server_config);
-    server.Run(true /*blocking*/, 0, false /*paused*/);
+  if (!world_sdf_file.empty()) {
+    server_config.SetSdfFile(world_sdf_file);
+  } else if (!world_sdf_string.empty()) {
+    server_config.SetSdfString(world_sdf_string);
+  } else {
+    RCLCPP_ERROR(
+      this->get_logger(),
+      "Must specify either 'world_sdf_file' or 'world_sdf_string'");
     rclcpp::shutdown();
+    return;
   }
 
-private:
-  /// \brief We don't want to block the ROS thread.
-  std::thread thread_;
-};
+  gz::sim::Server server(server_config);
+  server.Run(true /*blocking*/, 0, false /*paused*/);
+  rclcpp::shutdown();
+}
+
 }  // namespace ros_gz_sim
 
 RCLCPP_COMPONENTS_REGISTER_NODE(ros_gz_sim::GzServer)