Clean up

panther_gazebo/CMakeLists.txt

@@ -42,10 +42,10 @@ ament_target_dependencies(
 target_link_libraries(panther_simulation_plugins ignition-gazebo6::core)
 
 set(CMAKE_AUTOMOC ON)
-qt5_add_resources(resources_rcc src/plugins/EStop.qrc)
+qt5_add_resources(resources_rcc src/e_stop/EStop.qrc)
 
-add_library(EStop SHARED include/panther_gazebo/plugins/e_stop.hpp
-                         src/plugins/e_stop.cpp ${resources_rcc})
+add_library(EStop SHARED include/panther_gazebo/e_stop.hpp
+                         src/e_stop/e_stop.cpp ${resources_rcc})
 ament_target_dependencies(EStop ignition-common4 ignition-gazebo6
                           ignition-plugin1 rclcpp std_srvs)
 target_link_libraries(EStop ${Qt5Core_LIBRARIES} ${Qt5Qml_LIBRARIES}

panther_gazebo/include/panther_gazebo/plugins/e_stop.hpp → panther_gazebo/include/panther_gazebo/e_stop.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
-#define PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
+#ifndef PANTHER_GAZEBO_E_STOP_HPP_
+#define PANTHER_GAZEBO_E_STOP_HPP_
 
 #include <string>
 
@@ -61,4 +61,4 @@ protected slots:
 };
 }  // namespace panther_gazebo
 
-#endif  // PANTHER_GAZEBO_PLUGINS_ESTOP_HPP_
+#endif  // PANTHER_GAZEBO_E_STOP_HPP_

panther_gazebo/include/panther_gazebo/led_strip.hpp

@@ -17,16 +17,19 @@
 
 #include <chrono>
 #include <mutex>
-#include <vector>
+#include <string>
 
+#include <gz/msgs/color.pb.h>
+#include <gz/msgs/image.pb.h>
+#include <gz/msgs/light.pb.h>
 #include <gz/math/Color.hh>
 #include <gz/sim/EntityComponentManager.hh>
 #include <gz/sim/EventManager.hh>
 #include <gz/sim/System.hh>
 #include <gz/sim/components/Light.hh>
+#include <gz/sim/components/Pose.hh>
 #include <gz/transport/Node.hh>
 #include <sdf/Element.hh>
-#include "gz/sim/components/Pose.hh"
 
 namespace panther_gazebo
 {

panther_gazebo/src/plugins/e_stop.cpp → panther_gazebo/src/e_stop/e_stop.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "panther_gazebo/plugins/e_stop.hpp"
+#include "panther_gazebo/e_stop.hpp"
 
 #include <memory>
 

panther_gazebo/src/led_strip.cpp

@@ -14,16 +14,11 @@
 
 #include "panther_gazebo/led_strip.hpp"
 
-#include <string>
-
-#include "gz/math/Color.hh"
-#include "gz/msgs/image.pb.h"
-#include "gz/msgs/light.pb.h"
-#include "gz/msgs/marker.pb.h"
-#include "gz/plugin/Register.hh"
-#include "gz/sim/Model.hh"
-#include "gz/sim/components/LightCmd.hh"
-#include "gz/sim/components/Name.hh"
+#include <gz/msgs/marker.pb.h>
+#include <gz/plugin/Register.hh>
+#include <gz/sim/Model.hh>
+#include <gz/sim/components/LightCmd.hh>
+#include <gz/sim/components/Name.hh>
 
 namespace panther_gazebo
 {
@@ -79,6 +74,7 @@ void LEDStrip::Configure(
 
   // Subscribe to the image topic
   node.Subscribe(ns + "/" + imageTopic, &LEDStrip::ImageCallback, this);
+  std::cout << "Subscribed to image topic: " << ns + "/" + imageTopic << std::endl;
 
   // Iterate through entities to find the light entity by name
   ecm.Each<gz::sim::components::Name, gz::sim::components::Light>(
@@ -87,7 +83,7 @@ void LEDStrip::Configure(
       const gz::sim::components::Light *) -> bool {
       if (_name->Data() == light_name) {
         light_entity = _entity;
-        ignmsg << "Light entity found: " << light_entity << std::endl;
+        igndbg << "Light entity found: " << light_entity << std::endl;
 
         // Ensure the LightCmd component is created
         if (!ecm.Component<gz::sim::components::LightCmd>(light_entity)) {
@@ -141,7 +137,7 @@ void LEDStrip::Configure(
             }
 
             ecm.CreateComponent(light_entity, gz::sim::components::LightCmd(light_msg));
-            ignmsg << "Created LightCmd component for entity: " << light_entity << std::endl;
+            igndbg << "Created LightCmd component for entity: " << light_entity << std::endl;
           }
         }
         return true;  // Stop searching