updated code with build fixes

ankurbodhe · ankurbodhe · commit c3a79de01ad8 · 2025-05-30T23:39:42.000Z
diff --git a/chained_filter_controller/CMakeLists.txt b/chained_filter_controller/CMakeLists.txt
@@ -23,19 +23,21 @@ generate_parameter_library(
   config/chained_filter_parameters.yaml
 )
 
-include_directories(${CMAKE_CURRENT_BINARY_DIR}/include)
+#include_directories(${CMAKE_CURRENT_BINARY_DIR}/include)
 
 # Library definition
 add_library(${PROJECT_NAME} SHARED
   src/chained_filter.cpp
-  ${chained_filter_parameters_INTERFACE_SOURCES}
+  #${chained_filter_parameters_INTERFACE_SOURCES}
 )
 
+target_link_libraries(${PROJECT_NAME} chained_filter_parameters)
+
 # Include paths
 target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
-  ${chained_filter_parameters_INCLUDE_DIRS}
+  #${chained_filter_parameters_INCLUDE_DIRS}
 )
 
 # Dependencies
@@ -76,6 +78,7 @@ install(
 
 install(
   TARGETS ${PROJECT_NAME}
+  chained_filter_parameters
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
diff --git a/chained_filter_controller/config/chained_filter_parameters.yaml b/chained_filter_controller/config/chained_filter_parameters.yaml
@@ -6,4 +6,4 @@ chained_filter:
   output_interface:
     type: string
     default_value: "filtered_position"
-    description: "Name of the output state interface"
+    description: "Name of the output state interface"
diff --git a/chained_filter_controller/include/chained_filter_controller/chained_filter.hpp b/chained_filter_controller/include/chained_filter_controller/chained_filter.hpp
@@ -15,37 +15,37 @@
 namespace chained_filter_controller
 {
 
-  class ChainedFilter : public controller_interface::ChainableControllerInterface
-  {
-    public: 
-      controller_interface::CallbackReturn on_init() override;
-
-      controller_interface::InterfaceConfiguration command_interface_configuration() const override;
-  
-      controller_interface::InterfaceConfiguration state_interface_configuration() const override;
-  
-      controller_interface::CallbackReturn on_configure(
-      const rclcpp_lifecycle::State & previous_state) override;
-  
-      controller_interface::CallbackReturn on_activate(
-      const rclcpp_lifecycle::State & previous_state) override;
-  
-      controller_interface::return_type update_and_write_commands(
-      const rclcpp::Time & time, const rclcpp::Duration & period) override;
-  
-      rclcpp::NodeOptions define_custom_node_options() const override;
-    
-    protected:
-      std::vector<hardware_interface::StateInterface> on_export_state_interfaces() override;
-
-      controller_interface::return_type update_reference_from_subscribers(
-          const rclcpp::Time & time, const rclcpp::Duration & period) override;
-
-      std::shared_ptr<chained_filter::ParamListener> param_listener_;
-      chained_filter::Params params_;
-      std::unique_ptr<filters::FilterChain<double>> filter_;
-
-      double output_state_value_;
-  };
-} // namespace chained_filter_controller
-#endif
+class ChainedFilter : public controller_interface::ChainableControllerInterface
+{
+public:
+  controller_interface::CallbackReturn on_init() override;
+
+  controller_interface::InterfaceConfiguration command_interface_configuration() const override;
+
+  controller_interface::InterfaceConfiguration state_interface_configuration() const override;
+
+  controller_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  controller_interface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State & previous_state) override;
+
+  controller_interface::return_type update_and_write_commands(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  rclcpp::NodeOptions define_custom_node_options() const override;
+
+protected:
+  std::vector<hardware_interface::StateInterface> on_export_state_interfaces() override;
+
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+
+  std::shared_ptr<chained_filter::ParamListener> param_listener_;
+  chained_filter::Params params_;
+  std::unique_ptr<filters::FilterChain<double>> filter_;
+
+  double output_state_value_;
+};
+}  // namespace chained_filter_controller
+#endif
diff --git a/chained_filter_controller/plugin_description.xml b/chained_filter_controller/plugin_description.xml
@@ -7,4 +7,4 @@
       and exports the filtered output as a new state interface.
     </description>
   </class>
-</library>
+</library>
diff --git a/chained_filter_controller/src/chained_filter.cpp b/chained_filter_controller/src/chained_filter.cpp
@@ -2,10 +2,8 @@
 
 #include "chained_filter_controller/chained_filter.hpp"
 
-
-
-#include <limits>
 #include <rclcpp/version.h>
+#include <limits>
 #include <pluginlib/class_list_macros.hpp>
 
 using namespace chained_filter;
@@ -37,18 +35,15 @@ controller_interface::InterfaceConfiguration ChainedFilter::command_interface_co
 controller_interface::InterfaceConfiguration ChainedFilter::state_interface_configuration() const
 {
   return {
-    controller_interface::interface_configuration_type::INDIVIDUAL,
-    {params_.input_interface}};
+    controller_interface::interface_configuration_type::INDIVIDUAL, {params_.input_interface}};
 }
 
-controller_interface::CallbackReturn ChainedFilter::on_configure(
-  const rclcpp_lifecycle::State &)
+controller_interface::CallbackReturn ChainedFilter::on_configure(const rclcpp_lifecycle::State &)
 {
   params_ = param_listener_->get_params();
 
   if (!filter_->configure(
-        "filter_chain",
-        get_node()->get_node_logging_interface(),
+        "filter_chain", get_node()->get_node_logging_interface(),
         get_node()->get_node_parameters_interface()))
   {
     RCLCPP_ERROR(
@@ -60,8 +55,7 @@ controller_interface::CallbackReturn ChainedFilter::on_configure(
   return controller_interface::CallbackReturn::SUCCESS;
 }
 
-controller_interface::CallbackReturn ChainedFilter::on_activate(
-  const rclcpp_lifecycle::State &)
+controller_interface::CallbackReturn ChainedFilter::on_activate(const rclcpp_lifecycle::State &)
 {
   output_state_value_ = std::numeric_limits<double>::quiet_NaN();
   return controller_interface::CallbackReturn::SUCCESS;
@@ -82,9 +76,8 @@ controller_interface::return_type ChainedFilter::update_and_write_commands(
 
 std::vector<hardware_interface::StateInterface> ChainedFilter::on_export_state_interfaces()
 {
-  return {
-    hardware_interface::StateInterface(
-      get_node()->get_name(), params_.output_interface, &output_state_value_)};
+  return {hardware_interface::StateInterface(
+    get_node()->get_name(), params_.output_interface, &output_state_value_)};
 }
 
 controller_interface::return_type ChainedFilter::update_reference_from_subscribers(
@@ -103,5 +96,4 @@ rclcpp::NodeOptions ChainedFilter::define_custom_node_options() const
 }  // namespace chained_filter_controller
 
 PLUGINLIB_EXPORT_CLASS(
-  chained_filter_controller::ChainedFilter,
-  controller_interface::ChainableControllerInterface)
+  chained_filter_controller::ChainedFilter, controller_interface::ChainableControllerInterface)
diff --git a/chained_filter_controller/test/test_chained_filter.cpp b/chained_filter_controller/test/test_chained_filter.cpp
@@ -1,19 +1,16 @@
 #include <gtest/gtest.h>
 #include <memory>
-#include "rclcpp/rclcpp.hpp"
-#include "controller_interface/controller_interface.hpp"
 #include "chained_filter_controller/chained_filter.hpp"
+#include "controller_interface/controller_interface.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 using chained_filter_controller::ChainedFilter;
 using controller_interface::CallbackReturn;
 
 class ChainedFilterControllerTest : public ::testing::Test
 {
 protected:
-  void SetUp() override
-  {
-    controller_ = std::make_shared<ChainedFilter>();
-  }
+  void SetUp() override { controller_ = std::make_shared<ChainedFilter>(); }
 
   std::shared_ptr<ChainedFilter> controller_;
 };
@@ -29,13 +26,12 @@ TEST_F(ChainedFilterControllerTest, ConfigureReturnsFailureWithNoParams)
   // Initialize the controller (should set up internal node)
   ASSERT_EQ(
     controller_->init(
-      "chained_filter",         // controller name
-      "test_ns",                // namespace
-      0,                        // intra-process (0 = disabled)
-      "test_node",              // RCL node name
-      rclcpp::NodeOptions()),   // node options
+      "chained_filter",        // controller name
+      "test_ns",               // namespace
+      0,                       // intra-process (0 = disabled)
+      "test_node",             // RCL node name
+      rclcpp::NodeOptions()),  // node options
     controller_interface::return_type::OK);
-  
 
   // We do NOT declare any filter parameters — this mimics a misconfigured user setup
   // The expectation is that configuration fails gracefully (not segfault)
@@ -58,27 +54,20 @@ TEST_F(ChainedFilterControllerTest, ActivateReturnsSuccessWithoutError)
 
 TEST_F(ChainedFilterControllerTest, DeactivateDoesNotCrash)
 {
-  EXPECT_NO_THROW({
-    controller_->on_deactivate(rclcpp_lifecycle::State());
-  });
+  EXPECT_NO_THROW({ controller_->on_deactivate(rclcpp_lifecycle::State()); });
 }
 
 TEST_F(ChainedFilterControllerTest, CleanupDoesNotCrash)
 {
-  EXPECT_NO_THROW({
-    controller_->on_cleanup(rclcpp_lifecycle::State());
-  });
+  EXPECT_NO_THROW({ controller_->on_cleanup(rclcpp_lifecycle::State()); });
 }
 
 TEST_F(ChainedFilterControllerTest, ShutdownDoesNotCrash)
 {
-  EXPECT_NO_THROW({
-    controller_->on_shutdown(rclcpp_lifecycle::State());
-  });
+  EXPECT_NO_THROW({ controller_->on_shutdown(rclcpp_lifecycle::State()); });
 }
 
-
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   // Initialize ROS 2
   rclcpp::init(argc, argv);
@@ -90,4 +79,4 @@ int main(int argc, char **argv)
   // Shutdown ROS 2
   rclcpp::shutdown();
   return result;
-}
+}
