From f180994944ffb9f1ed73dbddbdaed0821ca535b6 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 8 Sep 2020 03:20:01 -0300
Subject: [PATCH] Move messages to nonsmooth_backstep_controller_msgs package.

---
 CMakeLists.txt                                     | 25 ++++++++++------------
 .../nonsmooth_backstep_controller.h                |  4 ++--
 msg/NonSmoothBackstepControllerStatus.msg          | 16 --------------
 msg/PosePolar.msg                                  |  3 ---
 package.xml                                        |  5 +++--
 src/nonsmooth_backstep_controller.cpp              |  6 +++---
 6 files changed, 19 insertions(+), 40 deletions(-)
 delete mode 100644 msg/NonSmoothBackstepControllerStatus.msg
 delete mode 100644 msg/PosePolar.msg

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1948eda..38c6345 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,11 +12,10 @@ find_package(catkin REQUIRED COMPONENTS
   controller_interface
   effort_controllers
   geometry_msgs
-  message_generation
-  message_runtime
   nav_msgs
   roscpp
   tf
+  nonsmooth_backstep_controller_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -54,13 +53,11 @@ find_package(Eigen3 REQUIRED)
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-add_message_files(
-   FILES
+# add_message_files(
+#   FILES
 #   Message1.msg
 #   Message2.msg
-    NonSmoothBackstepControllerStatus.msg
-    PosePolar.msg
-)
+# )
 
 ## Generate services in the 'srv' folder
 # add_service_files(
@@ -77,12 +74,12 @@ add_message_files(
 # )
 
 ## Generate added messages and services with any dependencies listed here
-generate_messages(
-   DEPENDENCIES
-   std_msgs
-   geometry_msgs
-   nav_msgs
-)
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+#   geometry_msgs
+#   nav_msgs
+#)
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -116,7 +113,7 @@ generate_messages(
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES nonsmooth_backstep_controller
-  CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs  nav_msgs roscpp tf
+  CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs nav_msgs roscpp tf nonsmooth_backstep_controller_msgs
   DEPENDS EIGEN3
 )
 
diff --git a/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.h b/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.h
index b4f23da..022c0ee 100644
--- a/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.h
+++ b/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.h
@@ -41,7 +41,7 @@
 #include <realtime_tools/realtime_publisher.h>
 
 #include <arc_odometry/diff_odometry.h>
-#include <nonsmooth_backstep_controller/NonSmoothBackstepControllerStatus.h>
+#include <nonsmooth_backstep_controller_msgs/NonSmoothBackstepControllerStatus.h>
 
 namespace effort_controllers
 {
@@ -63,7 +63,7 @@ namespace effort_controllers
 		std::vector<hardware_interface::JointHandle> joints_;
 			
 		boost::scoped_ptr<realtime_tools::RealtimePublisher
-			<nonsmooth_backstep_controller::NonSmoothBackstepControllerStatus>
+			<nonsmooth_backstep_controller_msgs::NonSmoothBackstepControllerStatus>
 			>  status_publisher_ ;
 				
 		boost::shared_ptr<realtime_tools::RealtimePublisher
diff --git a/msg/NonSmoothBackstepControllerStatus.msg b/msg/NonSmoothBackstepControllerStatus.msg
deleted file mode 100644
index 3012416..0000000
--- a/msg/NonSmoothBackstepControllerStatus.msg
+++ /dev/null
@@ -1,16 +0,0 @@
-Header header
-geometry_msgs/Pose2D set_point
-geometry_msgs/Pose2D process_value
-geometry_msgs/Pose2D process_value_dot
-geometry_msgs/Pose2D error
-float64 time_step
-float64[2] command
-float64[5] lambda
-float64[4] gamma
-PosePolar polar_error
-float64[2] backstep_set_point
-float64[2] backstep_set_point_dot
-float64[2] backstep_process_value
-float64[2] backstep_error
-float64[2] backstep_command
-float64[2] linear_dynamics_command
diff --git a/msg/PosePolar.msg b/msg/PosePolar.msg
deleted file mode 100644
index 14a00fa..0000000
--- a/msg/PosePolar.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-float64 range
-float64 angle
-float64 orientation
diff --git a/package.xml b/package.xml
index 3fd3d67..0a37b3c 100644
--- a/package.xml
+++ b/package.xml
@@ -55,8 +55,8 @@
   <build_depend>controller_interface</build_depend>
   <build_depend>effort_controllers</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
   <build_depend>nav_msgs</build_depend>
+  <build_depend>nonsmooth_backstep_controller_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>tf</build_depend>
   <build_export_depend>Eigen3</build_export_depend>
@@ -65,6 +65,7 @@
   <build_export_depend>effort_controllers</build_export_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>nonsmooth_backstep_controller_msgs</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>tf</build_export_depend>
   <exec_depend>Eigen3</exec_depend>
@@ -72,8 +73,8 @@
   <exec_depend>controller_interface</exec_depend>
   <exec_depend>effort_controllers</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
   <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>nonsmooth_backstep_controller_msgs</exec_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>tf</exec_depend>
 
diff --git a/src/nonsmooth_backstep_controller.cpp b/src/nonsmooth_backstep_controller.cpp
index 149e173..d2ab303 100644
--- a/src/nonsmooth_backstep_controller.cpp
+++ b/src/nonsmooth_backstep_controller.cpp
@@ -27,8 +27,8 @@
 
 #include <nonsmooth_backstep_controller/nonsmooth_backstep_controller.h>
 
-#define sqr(x) (x*x)
-#define cub(x) (x*x*x)
+#define sqr(x) ((x)*(x))
+#define cub(x) ((x)*(x)*(x))
 
 namespace effort_controllers
 {	
@@ -80,7 +80,7 @@ namespace effort_controllers
 		std::string base_frame_id="base_link";
 		node_.param("base_frame_id",base_frame_id,base_frame_id);
 
-		status_publisher_.reset(new realtime_tools::RealtimePublisher<nonsmooth_backstep_controller::NonSmoothBackstepControllerStatus>(node_,"status",1));
+		status_publisher_.reset(new realtime_tools::RealtimePublisher<nonsmooth_backstep_controller_msgs::NonSmoothBackstepControllerStatus>(node_,"status",1));
 		status_publisher_->msg_.header.frame_id=odom_frame_id;
 		
 		odom_publisher_.reset(new realtime_tools::RealtimePublisher<nav_msgs::Odometry>(node_,"odom",100));
-- 
2.12.0