Put everyting into ur_rtde_driver namespace

src/ros/action_server.cpp

@@ -21,6 +21,8 @@
 #include "ur_rtde_driver/ros/action_server.h"
 #include <cmath>
 
+namespace ur_rtde_driver
+{
 ActionServer::ActionServer(ActionTrajectoryFollowerInterface& follower, std::vector<std::string>& joint_names,
                            double max_velocity)
   : as_(nh_, "follow_joint_trajectory", boost::bind(&ActionServer::onGoal, this, _1),
@@ -367,3 +369,4 @@ void ActionServer::trajectoryThread()
     lk.unlock();
   }
 }
+}  // namespace ur_rtde_driver

src/ros/controller.cpp

@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/controller.h"
 
+namespace ur_rtde_driver
+{
 ROSController::ROSController(URCommander& commander, TrajectoryFollower& follower,
                              std::vector<std::string>& joint_names, double max_vel_change, std::string tcp_link)
   : controller_(this, nh_)
@@ -147,3 +149,4 @@ void ROSController::onRobotStateChange(RobotState state)
   service_enabled_ = next;
   service_cooldown_ = 125;
 }
+}  // namespace ur_rtde_driver

src/ros/hardware_interface.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ros/hardware_interface.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 const std::string JointInterface::INTERFACE_NAME = "hardware_interface::JointStateInterface";
 JointInterface::JointInterface(std::vector<std::string>& joint_names)
 {
@@ -104,3 +106,4 @@ void PositionInterface::stop()
 {
   follower_.stop();
 }
+}  // namespace ur_rtde_driver

src/ros/lowbandwidth_trajectory_follower.cpp

@@ -19,6 +19,8 @@
 #include <ros/ros.h>
 #include <cmath>
 
+namespace ur_rtde_driver
+{
 static const std::array<double, 6> EMPTY_VALUES = { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 };
 
 static const std::string TIME_INTERVAL("{{TIME_INTERVAL}}");
@@ -402,3 +404,4 @@ void LowBandwidthTrajectoryFollower::stop()
   server_.disconnectClient();
   running_ = false;
 }
+}  // namespace ur_rtde_driver

src/ros/mb_publisher.cpp

@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/mb_publisher.h"
 
+namespace ur_rtde_driver
+{
 inline void appendAnalog(std::vector<ur_msgs::Analog>& vec, double val, uint8_t pin)
 {
   ur_msgs::Analog ana;
@@ -130,3 +132,4 @@ bool MBPublisher::consume(RobotModeData_V3_2& data)
   publishRobotStatus(data);
   return true;
 }
+}  // namespace ur_rtde_driver

src/ros/rt_publisher.cpp

@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/rt_publisher.h"
 
+namespace ur_rtde_driver
+{
 bool RTPublisher::publishJoints(RTShared& packet, Time& t)
 {
   sensor_msgs::JointState joint_msg;
@@ -134,3 +136,4 @@ bool RTPublisher::consume(RTState_V3_2__3& state)
 {
   return publish(state);
 }
+}  // namespace ur_rtde_driver

src/ros/service_stopper.cpp

@@ -18,6 +18,8 @@
 
 #include "ur_rtde_driver/ros/service_stopper.h"
 
+namespace ur_rtde_driver
+{
 ServiceStopper::ServiceStopper(std::vector<Service*> services)
   : enable_service_(nh_.advertiseService("ur_driver/robot_enable", &ServiceStopper::enableCallback, this))
   , services_(services)
@@ -92,3 +94,4 @@ bool ServiceStopper::handle(SharedRobotModeData& data, bool error)
 
   return true;
 }
+}  // namespace ur_rtde_driver

src/ros/trajectory_follower.cpp

@@ -83,6 +83,8 @@ def driverProg():
 end
 )";
 
+namespace ur_rtde_driver
+{
 TrajectoryFollower::TrajectoryFollower(URCommander& commander, std::string& reverse_ip, int reverse_port,
                                        bool version_3)
   : running_(false)
@@ -259,3 +261,4 @@ void TrajectoryFollower::stop()
   server_.disconnectClient();
   running_ = false;
 }
+}  // namespace ur_rtde_driver

src/ros/urscript_handler.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ros/urscript_handler.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 URScriptHandler::URScriptHandler(URCommander& commander) : commander_(commander), state_(RobotState::Error)
 {
   LOG_INFO("Initializing ur_driver/URScript subscriber");
@@ -60,3 +62,4 @@ void URScriptHandler::onRobotStateChange(RobotState state)
 {
   state_ = state;
 }
+}  // namespace ur_rtde_driver

src/ros_main.cpp

@@ -61,6 +61,8 @@ static const std::vector<std::string> DEFAULT_JOINTS = { "shoulder_pan_joint", "
 static const int UR_SECONDARY_PORT = 30002;
 static const int UR_RT_PORT = 30003;
 
+using namespace ur_rtde_driver;
+
 struct ProgArgs
 {
 public:

src/tcp_socket.cpp

@@ -27,6 +27,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/tcp_socket.h"
 
+namespace ur_rtde_driver
+{
 TCPSocket::TCPSocket() : socket_fd_(-1), state_(SocketState::Invalid)
 {
 }
@@ -184,3 +186,4 @@ bool TCPSocket::write(const uint8_t* buf, size_t buf_len, size_t& written)
 
   return true;
 }
+}  // namespace ur_rtde_driver

src/ur/commander.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/commander.h"
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 bool URCommander::write(const std::string& s)
 {
   size_t len = s.size();
@@ -168,3 +170,4 @@ bool URCommander_V3_3::speedj(std::array<double, 6>& speeds, double acceleration
   std::string s(out.str());
   return write(s);
 }
+}  // namespace ur_rtde_driver

src/ur/master_board.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/master_board.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool SharedMasterBoardData::parseWith(BinParser& bp)
 {
   bp.parse(analog_input_range0);
@@ -118,4 +120,5 @@ bool MasterBoardData_V3_0__1::consumeWith(URStatePacketConsumer& consumer)
 bool MasterBoardData_V3_2::consumeWith(URStatePacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
+}
+}  // namespace ur_rtde_driver

src/ur/messages.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/messages.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool VersionMessage::parseWith(BinParser& bp)
 {
   bp.parse(project_name);
@@ -34,4 +36,5 @@ bool VersionMessage::parseWith(BinParser& bp)
 bool VersionMessage::consumeWith(URMessagePacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
+}
+}  // namespace ur_rtde_driver

src/ur/robot_mode.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/robot_mode.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 bool SharedRobotModeData::parseWith(BinParser& bp)
 {
   bp.parse(timestamp);
@@ -100,3 +102,4 @@ bool RobotModeData_V3_5::consumeWith(URStatePacketConsumer& consumer)
 {
   return consumer.consume(*this);
 }
+}  // namespace ur_rtde_driver

src/ur/rt_state.cpp

@@ -19,6 +19,8 @@
 #include "ur_rtde_driver/ur/rt_state.h"
 #include "ur_rtde_driver/ur/consumer.h"
 
+namespace ur_rtde_driver
+{
 void RTShared::parse_shared1(BinParser& bp)
 {
   bp.parse(time);
@@ -132,4 +134,5 @@ bool RTState_V3_0__1::consumeWith(URRTPacketConsumer& consumer)
 bool RTState_V3_2__3::consumeWith(URRTPacketConsumer& consumer)
 {
   return consumer.consume(*this);
-}
+}
+}  // namespace ur_rtde_driver

src/ur/server.cpp

@@ -25,6 +25,8 @@
 #include <cstring>
 #include "ur_rtde_driver/log.h"
 
+namespace ur_rtde_driver
+{
 URServer::URServer(int port) : port_(port)
 {
 }
@@ -149,3 +151,4 @@ bool URServer::readLine(char* buffer, size_t buf_len)
   *current_pointer = '\0';
   return true;
 }
+}  // namespace ur_rtde_driver

src/ur/stream.cpp

@@ -24,6 +24,8 @@
 #include "ur_rtde_driver/log.h"
 #include "ur_rtde_driver/ur/stream.h"
 
+namespace ur_rtde_driver
+{
 bool URStream::write(const uint8_t* buf, size_t buf_len, size_t& written)
 {
   std::lock_guard<std::mutex> lock(write_mutex_);
@@ -59,4 +61,5 @@ bool URStream::read(uint8_t* buf, size_t buf_len, size_t& total)
   }
 
   return remainder == 0;
-}
+}
+}  // namespace ur_rtde_driver