From d43ebfef7bbd51014be111805cc6c0f1d61fb779 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Fri, 18 Aug 2023 09:30:35 +0200
Subject: [PATCH] update

---
 CMakeLists.txt            | 19 ++-----------------
 src/rmp220_middleware.cpp | 12 ++++++------
 2 files changed, 8 insertions(+), 23 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0013d74..0f16cb9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.5)
 project(rmp220_middleware)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -7,29 +7,14 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(segway_msgs REQUIRED)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 add_executable(rmp220_middleware rmp220_middleware.cpp)
-ament_target_dependencies(state_machine_node rclcpp std_msgs geometry_msgs sensor_msgs segway_msgs)
+ament_target_dependencies(rmp220_middleware rclcpp std_msgs geometry_msgs sensor_msgs segway_msgs)
 
 install(TARGETS rmp220_middleware DESTINATION lib/${PROJECT_NAME})
 
diff --git a/src/rmp220_middleware.cpp b/src/rmp220_middleware.cpp
index 5d8a42b..3d889cf 100644
--- a/src/rmp220_middleware.cpp
+++ b/src/rmp220_middleware.cpp
@@ -15,23 +15,23 @@ enum class State {
     ENABLED
 };
 
-class StateMachineNode : public rclcpp::Node {
+class rmp220_middleware : public rclcpp::Node {
 public:
-    StateMachineNode() : Node("state_machine_node") {
+    rmp220_middleware() : Node("state_machine_node") {
         state = State::DISABLED;
         timeout = 20.0;
 
         cmd_vel_pub = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel_out", 10);
         cmd_vel_sub = create_subscription<geometry_msgs::msg::Twist>(
             "/cmd_vel_mux", 10,
-            std::bind(&StateMachineNode::cmd_vel_callback, this, std::placeholders::_1)
+            std::bind(&rmp220_middleware::cmd_vel_callback, this, std::placeholders::_1)
         );
         joy_sub = create_subscription<sensor_msgs::msg::Joy>(
             "/joy", 10,
-            std::bind(&StateMachineNode::joy_callback, this, std::placeholders::_1)
+            std::bind(&rmp220_middleware::joy_callback, this, std::placeholders::_1)
         );
 
-        timer = create_wall_timer(10ms, std::bind(&StateMachineNode::timer_callback, this));
+        timer = create_wall_timer(10ms, std::bind(&rmp220_middleware::timer_callback, this));
 
         chassis_enable_client = create_client<segway_msgs::srv::RosSetChassisEnableCmd>("set_chassis_enable");
         while (!chassis_enable_client->wait_for_service(1s)) {
@@ -107,7 +107,7 @@ private:
 
 int main(int argc, char * argv[]) {
     rclcpp::init(argc, argv);
-    auto node = std::make_shared<StateMachineNode>();
+    auto node = std::make_shared<rmp220_middleware>();
     rclcpp::spin(node);
     rclcpp::shutdown();
     return 0;