clearpathrobotics · tonybaltovski · Jul 25, 2024 · Jul 25, 2024 · Jul 25, 2024
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -39,10 +39,9 @@ jobs:
         with:
           target-ros2-distro: humble
           package-name: |
-            clearpath_diagnostics
-            clearpath_generator_robot
+            clearpath_socketcan_interface
             puma_motor_driver
-            clearpath_sensors
+            puma_motor_msgs
   puma_motor_driver_src_ci:
     name: Humble Clearpath Source
     runs-on: ubuntu-22.04
@@ -56,8 +55,7 @@ jobs:
         with:
           target-ros2-distro: humble
           package-name: |
-            clearpath_diagnostics
-            clearpath_generator_robot
+            clearpath_socketcan_interface
             puma_motor_driver
-            clearpath_sensors
+            puma_motor_msgs
           vcs-repo-file-url: dependencies.repos
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/asio_base.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/asio_base.hpp
@@ -13,13 +13,14 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
-#define SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
+
+#include <functional>
 
 #include <boost/asio.hpp>
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/thread.hpp>
-#include <functional>
 
 #include "clearpath_socketcan_interface/dispatcher.hpp"
 #include "clearpath_socketcan_interface/interface.hpp"
@@ -168,4 +169,4 @@ class AsioDriver : public DriverInterface
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__ASIO_BASE_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/bcm.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/bcm.hpp
@@ -13,8 +13,8 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__BCM_HPP_
-#define SOCKETCAN_INTERFACE__BCM_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__BCM_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__BCM_HPP_
 
 #include <sys/types.h>
 #include <sys/socket.h>
@@ -25,9 +25,10 @@
 #include <linux/can/bcm.h>
 #include <linux/can/error.h>
 
-#include <boost/chrono.hpp>
 #include <string>
 
+#include <boost/chrono.hpp>
+
 #include "clearpath_socketcan_interface/interface.hpp"
 
 namespace can
@@ -161,4 +162,4 @@ class BCMsocket
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__BCM_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__BCM_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/dispatcher.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/dispatcher.hpp
@@ -13,16 +13,16 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__DISPATCHER_HPP_
-#define SOCKETCAN_INTERFACE__DISPATCHER_HPP_
-
-#include <boost/thread/mutex.hpp>
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__DISPATCHER_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__DISPATCHER_HPP_
 
 #include <functional>
 #include <memory>
 #include <list>
 #include <unordered_map>
 
+#include <boost/thread/mutex.hpp>
+
 #include "clearpath_socketcan_interface/interface.hpp"
 
 namespace can
@@ -172,4 +172,4 @@ class FilteredDispatcher
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__DISPATCHER_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__DISPATCHER_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/dummy.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/dummy.hpp
@@ -13,16 +13,16 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__DUMMY_HPP_
-#define SOCKETCAN_INTERFACE__DUMMY_HPP_
-
-#include <boost/algorithm/string.hpp>
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__DUMMY_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__DUMMY_HPP_
 
 #include <unordered_map>
 #include <string>
 #include <utility>
 #include <memory>
 
+#include <boost/algorithm/string.hpp>
+
 #include "clearpath_socketcan_interface/interface.hpp"
 #include "clearpath_socketcan_interface/dispatcher.hpp"
 #include "clearpath_socketcan_interface/string.hpp"
@@ -153,4 +153,4 @@ using DummyInterfaceSharedPtr = std::shared_ptr<DummyInterface>;
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__DUMMY_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__DUMMY_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/filter.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/filter.hpp
@@ -13,8 +13,8 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__FILTER_HPP_
-#define SOCKETCAN_INTERFACE__FILTER_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__FILTER_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__FILTER_HPP_
 
 #include <vector>
 #include <memory>
@@ -111,4 +111,4 @@ class FilteredFrameListener : public CommInterface::FrameListener
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__FILTER_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__FILTER_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/interface.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/interface.hpp
@@ -13,18 +13,18 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__INTERFACE_HPP_
-#define SOCKETCAN_INTERFACE__INTERFACE_HPP_
-
-#include <boost/system/error_code.hpp>
-#include <boost/thread/mutex.hpp>
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__INTERFACE_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__INTERFACE_HPP_
 
 #include <iostream>
 #include <string>
 #include <array>
 #include <memory>
 #include <functional>
 
+#include <boost/system/error_code.hpp>
+#include <boost/thread/mutex.hpp>
+
 #include "clearpath_socketcan_interface/logging.hpp"
 
 namespace can
@@ -294,4 +294,4 @@ using DriverInterfaceSharedPtr = std::shared_ptr<DriverInterface>;
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__INTERFACE_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__INTERFACE_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/logging.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/logging.hpp
@@ -13,8 +13,8 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__LOGGING_HPP_
-#define SOCKETCAN_INTERFACE__LOGGING_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__LOGGING_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__LOGGING_HPP_
 
 #include <console_bridge/console.h>
 
@@ -25,7 +25,6 @@
   { \
     std::stringstream sstr; \
     sstr << name << ": " << args; \
-    // console_bridge::getOutputHandler()->log(sstr.str(), level, file, line); \
   }
 
 #define ROSCANOPEN_ERROR(name, args) ROSCANOPEN_LOG( \
@@ -54,4 +53,4 @@ void roscanopen_log_deprecated(const std::string s, const char * f, int l)
     roscanopen_log_deprecated(sstr.str(), __FILE__, __LINE__); \
   }
 
-#endif  // SOCKETCAN_INTERFACE__LOGGING_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__LOGGING_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/make_shared.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/make_shared.hpp
@@ -13,10 +13,10 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
-#define SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
 
 #include <memory>
 #define ROSCANOPEN_MAKE_SHARED std::make_shared
 
-#endif  // SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__MAKE_SHARED_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/reader.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/reader.hpp
@@ -13,17 +13,17 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__READER_HPP_
-#define SOCKETCAN_INTERFACE__READER_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__READER_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__READER_HPP_
+
+#include <deque>
 
 #include <boost/thread/mutex.hpp>
 #include <boost/thread/condition_variable.hpp>
 #include <boost/chrono.hpp>
 
 #include <clearpath_socketcan_interface/interface.hpp>
 
-#include <deque>
-
 namespace can
 {
 
@@ -161,4 +161,4 @@ class BufferedReader
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__READER_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__READER_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/socketcan.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/socketcan.hpp
@@ -13,10 +13,8 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
-#define SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
-
-#include <boost/bind.hpp>
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
 
 #include <sys/types.h>
 #include <sys/socket.h>
@@ -30,6 +28,8 @@
 #include <string>
 #include <memory>
 
+#include <boost/bind.hpp>
+
 #include "clearpath_socketcan_interface/asio_base.hpp"
 #include "clearpath_socketcan_interface/dispatcher.hpp"
 
@@ -262,7 +262,7 @@ class SocketCANInterface
         input_.id = frame_.can_id & CAN_EFF_MASK;
         input_.is_error = 1;
 
-        //ROSCANOPEN_ERROR("socketcan_interface", "error: " << input_.id);
+        // ROSCANOPEN_ERROR("socketcan_interface", "error: " << input_.id);
         setInternalError(input_.id);
         setNotReady();
       } else {
@@ -291,4 +291,4 @@ using ThreadedSocketCANInterfaceSharedPtr = std::shared_ptr<ThreadedSocketCANInt
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__SOCKETCAN_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/string.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/string.hpp
@@ -13,8 +13,8 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__STRING_HPP_
-#define SOCKETCAN_INTERFACE__STRING_HPP_
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__STRING_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__STRING_HPP_
 
 #include <sstream>
 #include <string>
@@ -66,4 +66,4 @@ std::ostream & operator<<(std::ostream & stream, const can::Header & h);
 std::ostream & operator<<(std::ostream & stream, const can::Frame & f);
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__STRING_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__STRING_HPP_
diff --git a/clearpath_socketcan_interface/include/clearpath_socketcan_interface/threading.hpp b/clearpath_socketcan_interface/include/clearpath_socketcan_interface/threading.hpp
@@ -13,14 +13,14 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#ifndef SOCKETCAN_INTERFACE__THREADING_HPP_
-#define SOCKETCAN_INTERFACE__THREADING_HPP_
-
-#include <boost/thread/thread.hpp>
+#ifndef CLEARPATH_SOCKETCAN_INTERFACE__THREADING_HPP_
+#define CLEARPATH_SOCKETCAN_INTERFACE__THREADING_HPP_
 
 #include <memory>
 #include <string>
 
+#include <boost/thread/thread.hpp>
+
 #include "clearpath_socketcan_interface/interface.hpp"
 
 namespace can
@@ -119,4 +119,4 @@ class ThreadedInterface
 
 }  // namespace can
 
-#endif  // SOCKETCAN_INTERFACE__THREADING_HPP_
+#endif  // CLEARPATH_SOCKETCAN_INTERFACE__THREADING_HPP_
diff --git a/clearpath_socketcan_interface/src/candump.cpp b/clearpath_socketcan_interface/src/candump.cpp
@@ -13,14 +13,14 @@
 // You should have received a copy of the GNU Lesser General Public License
 // along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
-#include <boost/exception/diagnostic_information.hpp>
-#include <pluginlib/class_loader.hpp>
-
 #include <iostream>
 #include <memory>
 #include <unordered_set>
 #include <string>
 
+#include <boost/exception/diagnostic_information.hpp>
+#include <pluginlib/class_loader.hpp>
+
 #include "clearpath_socketcan_interface/socketcan.hpp"
 
 void print_error(const can::State & s);

diff --git a/clearpath_socketcan_interface/test/test_dispatcher.cpp b/clearpath_socketcan_interface/test/test_dispatcher.cpp
@@ -15,10 +15,10 @@
 
 #include <gtest/gtest.h>
 
-#include <clearpath_socketcan_interface/dispatcher.hpp>
-
 #include <vector>
 
+#include <clearpath_socketcan_interface/dispatcher.hpp>
+
 class Counter
 {
 public:

diff --git a/dependencies.repos b/dependencies.repos
@@ -0,0 +1,5 @@
+repositories:
+  puma_motor_driver:
+    type: git
+    url: https://github.com/clearpathrobotics/puma_motor_driver
+    version: foxy-devel