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Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
open-rmf · Nov 18, 2022 · ddf188e · ddf188e
1 parent b36c218
commit ddf188e
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Showing 7 changed files with 11 additions and 22 deletions.
diff --git a/rmf_obstacle_ros2/CMakeLists.txt b/rmf_obstacle_ros2/CMakeLists.txt
@@ -10,21 +10,20 @@ include(GNUInstallDirs)
 find_package(ament_cmake REQUIRED)
 
 set(dep_pkgs
+  geometry_msgs
   rclcpp
   rclcpp_components
   rmf_utils
-  pluginlib
   rmf_obstacle_msgs
   rmf_fleet_msgs
   rmf_building_map_msgs
   sensor_msgs
   OCTOMAP
   rmf_fleet_adapter
-  tf2_ros
-  geometry_msgs
-  tf2_geometry_msgs
   rmf_traffic
   rmf_traffic_ros2
+  tf2_ros
+  tf2_geometry_msgs
 )
 foreach(pkg ${dep_pkgs})
   find_package(${pkg} REQUIRED)
@@ -133,7 +132,6 @@ if(BUILD_TESTING)
   )
 
   add_subdirectory(src/lane_blocker/test)
-
 endif()
 
 #===============================================================================

diff --git a/rmf_obstacle_ros2/include/rmf_obstacle_ros2/StandardNames.hpp b/rmf_obstacle_ros2/include/rmf_obstacle_ros2/StandardNames.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2019 Open Source Robotics Foundation
+ * Copyright (C) 2022 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.

diff --git a/rmf_obstacle_ros2/include/rmf_obstacle_ros2/obstacles/Convert.hpp b/rmf_obstacle_ros2/include/rmf_obstacle_ros2/obstacles/Convert.hpp
@@ -39,8 +39,6 @@ void fill_obstacle_data(const PointCloud& msg, Obstacle& obstacle);
 /// Convert an RMF Obstacle msg into a PointCloud2 msg
 PointCloud convert(
   const Obstacle& msg);
-
-
 } // namespace rmf_obstacle_ros2
 
 #endif // #indef RMF_OBSTACLE_ROS2__OBSTACLES__CONVERT_HPP
diff --git a/rmf_obstacle_ros2/package.xml b/rmf_obstacle_ros2/package.xml
@@ -3,25 +3,26 @@
 <package format="3">
   <name>rmf_obstacle_ros2</name>
   <version>2.1.0</version>
-  <description>A package contiainings utilities for managing obstacles in RMF</description>
+  <description>A package containing utilities for managing obstacles in RMF</description>
   <maintainer email="yadunund@openrobotics.org">Yadunund</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>rmf_utils</depend>
   <depend>rmf_obstacle_msgs</depend>
   <depend>rmf_fleet_msgs</depend>
   <depend>rmf_building_map_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>octomap</depend>
+  <depend>rmf_fleet_adapter</depend>
   <depend>rmf_traffic</depend>
   <depend>rmf_traffic_ros2</depend>
-  <depend>rmf_fleet_adapter</depend>
   <depend>tf2_ros</depend>
   <depend>tf2_geometry_msgs</depend>
-  <depend>geometry_msgs</depend>
 
   <test_depend>ament_cmake_catch2</test_depend>
   <test_depend>ament_cmake_uncrustify</test_depend>

diff --git a/rmf_obstacle_ros2/src/lane_blocker/LaneBlocker.cpp b/rmf_obstacle_ros2/src/lane_blocker/LaneBlocker.cpp
@@ -504,8 +504,6 @@ void LaneBlocker::process()
       lanes_with_changes.insert(lane_id);
     }
   }
-
-
   request_lane_modifications(std::move(lanes_with_changes));
 }
 

diff --git a/rmf_obstacle_ros2/src/lane_blocker/test/CMakeLists.txt b/rmf_obstacle_ros2/src/lane_blocker/test/CMakeLists.txt
@@ -1,14 +1,9 @@
-
 file(GLOB_RECURSE unit_test_srcs "*.cpp" "../IntersectionChecker.cpp")
-# add_executable(test_intersection_checker ${unit_test_srcs})
 
 ament_add_catch2(
   test_intersection_checker ${unit_test_srcs}
-  TIMEOUT 300)
-# target_link_libraries(test_intersection_checker
-#     rmf_traffic
-#     ${FCL_LIBRARIES}
-#     Threads::Threads
+  TIMEOUT 300
+)
 
 target_link_libraries(test_intersection_checker
   PRIVATE

diff --git a/rmf_obstacle_ros2/src/lane_blocker/test/test_IntersectionChecker.cpp b/rmf_obstacle_ros2/src/lane_blocker/test/test_IntersectionChecker.cpp
@@ -28,7 +28,6 @@ using CollisionGeometry = IntersectionChecker::CollisionGeometry;
 
 SCENARIO("Test IntersectionChecker")
 {
-
   auto radians =
     [](double degree) -> double
     {
@@ -375,4 +374,4 @@ SCENARIO("Test IntersectionChecker")
     std::cout <<"how_much: " << how_much << std::endl;
     CHECK((how_much - expected) == Approx(0.0).margin(1e-3));
   }
-}
+}