change namespace for service tools

kroshu · Jan 27, 2023 · 859cf2b · 859cf2b
1 parent 26b87ab
commit 859cf2b
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Showing 4 changed files with 24 additions and 24 deletions.
diff --git a/kuka_rox_hardware_interface/src/robot_manager_node.cpp b/kuka_rox_hardware_interface/src/robot_manager_node.cpp
@@ -50,7 +50,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
   hw_request->name = "iisy_hardware";
   hw_request->target_state.label = "inactive";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000
     );
   if (!hw_response || !hw_response->ok) {
@@ -73,7 +73,7 @@ RobotManagerNode::on_cleanup(const rclcpp_lifecycle::State &)
   hw_request->name = "iisy_hardware";
   hw_request->target_state.label = "inactive";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000
     );
   if (!hw_response || !hw_response->ok) {
@@ -120,7 +120,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   hw_request->name = "iisy_hardware";
   hw_request->target_state.label = "active";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000
     );
   if (!hw_response || !hw_response->ok) {
@@ -137,7 +137,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   controller_request->strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT;
   controller_request->activate_controllers = std::vector<std::string>{"joint_state_broadcaster"};
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000
     );
   if (!controller_response || !controller_response->ok) {
@@ -162,7 +162,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   controller_request->strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT;
   controller_request->activate_controllers = controller_names_;
   controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000
     );
   if (!controller_response || !controller_response->ok) {
@@ -185,7 +185,7 @@ RobotManagerNode::on_deactivate(const rclcpp_lifecycle::State &)
   hw_request->name = "iisy_hardware";
   hw_request->target_state.label = "inactive";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000
     );
   if (!hw_response || !hw_response->ok) {
@@ -204,7 +204,7 @@ RobotManagerNode::on_deactivate(const rclcpp_lifecycle::State &)
     controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
   controller_request->deactivate_controllers = controller_names_;
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000
     );
   if (!controller_response || !controller_response->ok) {

diff --git a/kuka_sunrise_driver/src/kuka_sunrise/configuration_manager.cpp b/kuka_sunrise_driver/src/kuka_sunrise/configuration_manager.cpp
@@ -207,7 +207,7 @@ bool ConfigurationManager::onControllerNameChangeRequest(
 {
   auto request = std::make_shared<controller_manager_msgs::srv::ListControllers::Request>();
   auto response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::ListControllers::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::ListControllers::Response>(
     get_controllers_client_, request, 0, 1000);
 
   if (!response) {
@@ -264,7 +264,7 @@ bool ConfigurationManager::setReceiveMultiplier(int receive_multiplier) const
   // Set receive multiplier of hardware interface through controller manager service
   auto request = std::make_shared<kuka_driver_interfaces::srv::SetInt::Request>();
   request->data = receive_multiplier;
-  auto response = kuka_sunrise::sendRequest<kuka_driver_interfaces::srv::SetInt::Response>(
+  auto response = kroshu_ros2_core::sendRequest<kuka_driver_interfaces::srv::SetInt::Response>(
     receive_multiplier_client_, request, 0, 1000);
 
   if (!response || !response->success) {

diff --git a/kuka_sunrise_driver/src/kuka_sunrise/robot_manager.cpp b/kuka_sunrise_driver/src/kuka_sunrise/robot_manager.cpp
@@ -115,11 +115,11 @@ bool RobotManager::setJointImpedanceControlMode(
   }
   for (double js : joint_stiffness) {
     printf("js = %lf\n", js);
-    msg_size += serializeNext(js, serialized);
+    msg_size += kroshu_ros2_core::serializeNext(js, serialized);
   }
   for (double jd : joint_damping) {
     printf("jd = %lf\n", jd);
-    msg_size += serializeNext(jd, serialized);
+    msg_size += kroshu_ros2_core::serializeNext(jd, serialized);
   }
   return sendCommandAndWait(SET_CONTROL_MODE, serialized);
 }
@@ -139,9 +139,9 @@ bool RobotManager::setFRIConfig(int remote_port, int send_period_ms, int receive
     serialized.emplace_back(byte);
     msg_size++;
   }
-  msg_size += serializeNext(remote_port, serialized);
-  msg_size += serializeNext(send_period_ms, serialized);
-  msg_size += serializeNext(receive_multiplier, serialized);
+  msg_size += kroshu_ros2_core::serializeNext(remote_port, serialized);
+  msg_size += kroshu_ros2_core::serializeNext(send_period_ms, serialized);
+  msg_size += kroshu_ros2_core::serializeNext(receive_multiplier, serialized);
   return sendCommandAndWait(SET_FRI_CONFIG, serialized);
 }
 

diff --git a/kuka_sunrise_driver/src/kuka_sunrise/robot_manager_node.cpp b/kuka_sunrise_driver/src/kuka_sunrise/robot_manager_node.cpp
@@ -68,7 +68,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
   hw_request->name = "iiwa_hardware";
   hw_request->target_state.label = "inactive";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000);
   if (!hw_response || !hw_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not configure hardware interface");
@@ -93,7 +93,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
   controller_request->activate_controllers =
     std::vector<std::string>{"timing_controller", "robot_state_broadcaster"};
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 3000);
   if (!controller_response || !controller_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not start controllers");
@@ -115,7 +115,7 @@ RobotManagerNode::on_configure(const rclcpp_lifecycle::State &)
   if (result == SUCCESS) {
     auto trigger_request =
       std::make_shared<std_srvs::srv::Trigger::Request>();
-    auto response = kuka_sunrise::sendRequest<std_srvs::srv::Trigger::Response>(
+    auto response = kroshu_ros2_core::sendRequest<std_srvs::srv::Trigger::Response>(
       set_parameter_client_, trigger_request, 0, 1000);
 
     if (!response || !response->success) {
@@ -151,7 +151,7 @@ RobotManagerNode::on_cleanup(const rclcpp_lifecycle::State &)
   controller_request->deactivate_controllers =
     std::vector<std::string>{"timing_controller", "robot_state_broadcaster"};
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000);
   if (!controller_response || !controller_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not stop controllers");
@@ -165,7 +165,7 @@ RobotManagerNode::on_cleanup(const rclcpp_lifecycle::State &)
   hw_request->name = "iiwa_hardware";
   hw_request->target_state.label = "unconfigured";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000);
   if (!hw_response || !hw_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not cleanup hardware interface");
@@ -233,7 +233,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   hw_request->name = "iiwa_hardware";
   hw_request->target_state.label = "active";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000);
   if (!hw_response || !hw_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not activate hardware interface");
@@ -258,7 +258,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   controller_request->strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT;
   controller_request->activate_controllers = std::vector<std::string>{"joint_state_broadcaster"};
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000);
   if (!controller_response || !controller_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not start joint state broadcaster");
@@ -274,7 +274,7 @@ RobotManagerNode::on_activate(const rclcpp_lifecycle::State &)
   controller_request->strictness = controller_manager_msgs::srv::SwitchController::Request::STRICT;
   controller_request->activate_controllers = std::vector<std::string>{controller_name_};
   controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000);
   if (!controller_response || !controller_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not activate controller");
@@ -317,7 +317,7 @@ RobotManagerNode::on_deactivate(const rclcpp_lifecycle::State &)
   hw_request->name = "iiwa_hardware";
   hw_request->target_state.label = "inactive";
   auto hw_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SetHardwareComponentState::Response>(
     change_hardware_state_client_, hw_request, 0, 2000);
   if (!hw_response || !hw_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not deactivate hardware interface");
@@ -334,7 +334,7 @@ RobotManagerNode::on_deactivate(const rclcpp_lifecycle::State &)
   controller_request->deactivate_controllers =
     std::vector<std::string>{controller_name_, "joint_state_broadcaster"};
   auto controller_response =
-    kuka_sunrise::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
+    kroshu_ros2_core::sendRequest<controller_manager_msgs::srv::SwitchController::Response>(
     change_controller_state_client_, controller_request, 0, 2000);
   if (!controller_response || !controller_response->ok) {
     RCLCPP_ERROR(get_logger(), "Could not stop controllers");