Update from template

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(TODO_PACKAGE_NAME)
+project(obj_tracker)
 include(FetchContent)
 
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -18,11 +18,11 @@ find_package(cv_bridge REQUIRED)
 find_package(OpenCV 4.2.0 REQUIRED)
 
 # Add source for node executable (link non-ros dependencies here)
-add_executable(TODO_PACKAGE_NAME src/TODO_NODE_NAME.cpp src/TODO_NODE_NAME_node.cpp)
-target_include_directories(TODO_PACKAGE_NAME PUBLIC
+add_executable(obj_tracker src/ObjTrackerNode.cpp src/ObjTrackerNode_node.cpp)
+target_include_directories(obj_tracker PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>)
-target_compile_features(TODO_PACKAGE_NAME PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(obj_tracker PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
 
 # Make ros deps a variable so they get linked to tests as well
 set(dependencies
@@ -38,11 +38,11 @@ set(dependencies
 
 # Link ros dependencies
 ament_target_dependencies(
-        TODO_PACKAGE_NAME
+        obj_tracker
         ${dependencies}
 )
 
-install(TARGETS TODO_PACKAGE_NAME
+install(TARGETS obj_tracker
         DESTINATION lib/${PROJECT_NAME})
 
 # Uncomment below to make launch files available if created
@@ -62,7 +62,7 @@ if (BUILD_TESTING)
     ament_add_gtest(${PROJECT_NAME}-test
             tests/unit.cpp
             # Remember to add node source files
-            src/TODO_NODE_NAME_node.cpp
+            src/ObjTrackerNode_node.cpp
             )
     ament_target_dependencies(${PROJECT_NAME}-test ${dependencies})
     target_include_directories(${PROJECT_NAME}-test PUBLIC

README.md

@@ -6,8 +6,8 @@ An opinionated ROS2 C++ node template, optimised for ISC.
 2. `rosdep install --from-paths . --ignore-src -r -y` to install deps
 3. `colcon build` to make sure the repo builds before you mess with it
 4. Replace the following in both file names and code exactly and consistently. 
-   1. TODO_PACKAGE_NAME: Replace with the package name. Use snake case. Ex. `data_logger`
-   2. TODO_NODE_NAME: Replace with the node name. Use Pascal case. Ex. `DataLogger`
+   1. obj_tracker: Replace with the package name. Use snake case. Ex. `data_logger`
+   2. ObjTrackerNode: Replace with the node name. Use Pascal case. Ex. `DataLogger`
 5. `colcon build` again. If it builds, you are done
 6. Rename outer folder
 7. Review the optional dependencies, and remove what you do not need
@@ -29,19 +29,19 @@ These are marked with TODO_EXTRA.
 ```
 .
 ├── include
-│   └── TODO_PACKAGE_NAME
-│       └── TODO_NODE_NAME_node.hpp
+│   └── obj_tracker
+│       └── ObjTrackerNode_node.hpp
 ├── package.xml
 ├── README.md
 ├── src
-│   ├── TODO_NODE_NAME.cpp
-│   └── TODO_NODE_NAME_node.cpp
+│   ├── ObjTrackerNode.cpp
+│   └── ObjTrackerNode_node.cpp
 └── tests
     └── unit.cpp
 ```
 
-TODO_NODE_NAME_node: Source files for the ROS2 node object itself, and only itself
+ObjTrackerNode_node: Source files for the ROS2 node object itself, and only itself
 
-TODO_NODE_NAME.cpp: Source for the main function of the node, and only the main function
+ObjTrackerNode.cpp: Source for the main function of the node, and only the main function
 
 tests/unit.cpp: Example file for unit tests. This is linked to the node and ros, so both can be used

include/TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp → include/obj_tracker/ObjTrackerNode_node.hpp

@@ -3,14 +3,14 @@
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/string.hpp"
 
-class TODO_NODE_NAME : public rclcpp::Node {
+class ObjTrackerNode : public rclcpp::Node {
 private:
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub;
 
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
 
 public:
-    TODO_NODE_NAME(const rclcpp::NodeOptions& options);
+    ObjTrackerNode(const rclcpp::NodeOptions& options);
 
     /// subscriber callback
     void sub_cb(std_msgs::msg::String::SharedPtr msg);

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-    <name>TODO_PACKAGE_NAME</name>
+    <name>obj_tracker</name>
     <version>0.1.0</version>
     <description>A node template</description>
     <maintainer email="[email protected]">Andrew Ealovega</maintainer>

src/TODO_NODE_NAME.cpp → src/ObjTrackerNode.cpp

@@ -1,4 +1,4 @@
-#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+#include "obj_tracker/ObjTrackerNode_node.hpp"
 
 int main(int argc, char** argv) {
     // Setup runtime
@@ -7,7 +7,7 @@ int main(int argc, char** argv) {
     rclcpp::NodeOptions options;
 
     // Add nodes to executor
-    auto node = std::make_shared<TODO_NODE_NAME>(options);
+    auto node = std::make_shared<ObjTrackerNode>(options);
     exec.add_node(node);
 
     // Run

src/TODO_NODE_NAME_node.cpp → src/ObjTrackerNode_node.cpp

@@ -1,15 +1,15 @@
-#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+#include "obj_tracker/ObjTrackerNode_node.hpp"
 
 // For _1
 using namespace std::placeholders;
 
-TODO_NODE_NAME::TODO_NODE_NAME(const rclcpp::NodeOptions& options) : Node("TODO_NODE_NAME", options) {
+ObjTrackerNode::ObjTrackerNode(const rclcpp::NodeOptions& options) : Node("ObjTrackerNode", options) {
     // Parameters
     float x = this->declare_parameter<float>("foo", -10.0);
 
     // Pub Sub
     this->sub =
-        this->create_subscription<std_msgs::msg::String>("/str", 1, std::bind(&TODO_NODE_NAME::sub_cb, this, _1));
+        this->create_subscription<std_msgs::msg::String>("/str", 1, std::bind(&ObjTrackerNode::sub_cb, this, _1));
     this->pub = this->create_publisher<std_msgs::msg::String>("/run_folder", 1);
 
     // Log a sample log
@@ -21,7 +21,7 @@ TODO_NODE_NAME::TODO_NODE_NAME(const rclcpp::NodeOptions& options) : Node("TODO_
     pub->publish(msg);
 }
 
-void TODO_NODE_NAME::sub_cb(const std_msgs::msg::String::SharedPtr msg) {
+void ObjTrackerNode::sub_cb(const std_msgs::msg::String::SharedPtr msg) {
     // Echo message
     this->pub->publish(*msg);
 }

tests/unit.cpp

@@ -2,9 +2,9 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "TODO_PACKAGE_NAME/TODO_NODE_NAME_node.hpp"
+#include "obj_tracker/ObjTrackerNode_node.hpp"
 
-TEST(TODO_NODE_NAME, Test1) {}
+TEST(ObjTrackerNode, Test1) {}
 
 int main(int argc, char** argv) {
     rclcpp::init(0, nullptr);