A few more minor style updates. (#308)

- Get rid of the last users of new in the codebase
- Get rid of the users of 'using' in the codebase
- Rename 'calibrationFile' -> 'calibration_file'

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

velodyne_pointcloud/include/velodyne_pointcloud/convert.hpp

@@ -80,7 +80,7 @@ class Convert final
   diagnostic_updater::Updater diagnostics_;
   double diag_min_freq_;
   double diag_max_freq_;
-  std::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
+  std::unique_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
 };
 }  // namespace velodyne_pointcloud
 

velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp

@@ -77,7 +77,7 @@ class Transform final
   diagnostic_updater::Updater diagnostics_;
   double diag_min_freq_;
   double diag_max_freq_;
-  std::shared_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
+  std::unique_ptr<diagnostic_updater::TopicDiagnostic> diag_topic_;
 };
 }  // namespace velodyne_pointcloud
 

velodyne_pointcloud/src/conversions/convert.cpp

@@ -57,7 +57,7 @@ Convert::Convert(const rclcpp::NodeOptions & options)
   diagnostics_(this)
 {
   // get path to angles.config file for this device
-  std::string calibrationFile = this->declare_parameter("calibration", "");
+  std::string calibration_file = this->declare_parameter("calibration", "");
 
   rcl_interfaces::msg::ParameterDescriptor min_range_desc;
   min_range_desc.name = "min_range";
@@ -104,20 +104,18 @@ Convert::Convert(const rclcpp::NodeOptions & options)
   std::string target_frame = this->declare_parameter("target_frame", "");
   std::string fixed_frame = this->declare_parameter("fixed_frame", "");
 
-  RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibrationFile.c_str());
+  RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibration_file.c_str());
 
-  data_ = std::make_unique<velodyne_rawdata::RawData>(calibrationFile);
+  data_ = std::make_unique<velodyne_rawdata::RawData>(calibration_file);
 
   if (organize_cloud) {
-    container_ptr_ = std::unique_ptr<OrganizedCloudXYZIR>(
-      new OrganizedCloudXYZIR(
-        min_range, max_range, target_frame, fixed_frame,
-        data_->numLasers(), data_->scansPerPacket(), tf_buffer_));
+    container_ptr_ = std::make_unique<OrganizedCloudXYZIR>(
+      min_range, max_range, target_frame, fixed_frame,
+      data_->numLasers(), data_->scansPerPacket(), tf_buffer_);
   } else {
-    container_ptr_ = std::unique_ptr<PointcloudXYZIR>(
-      new PointcloudXYZIR(
-        min_range, max_range, target_frame, fixed_frame,
-        data_->scansPerPacket(), tf_buffer_));
+    container_ptr_ = std::make_unique<PointcloudXYZIR>(
+      min_range, max_range, target_frame, fixed_frame,
+      data_->scansPerPacket(), tf_buffer_);
   }
 
   // advertise output point cloud (before subscribing to input data)
@@ -136,13 +134,11 @@ Convert::Convert(const rclcpp::NodeOptions & options)
   // concerned about monitoring the frequency.
   diag_min_freq_ = 2.0;
   diag_max_freq_ = 20.0;
-  namespace du = diagnostic_updater;
-  diag_topic_.reset(
-    new du::TopicDiagnostic(
-      "velodyne_points", diagnostics_,
-      du::FrequencyStatusParam(
-        &diag_min_freq_, &diag_max_freq_, 0.1, 10),
-      du::TimeStampStatusParam()));
+  diag_topic_ = std::make_unique<diagnostic_updater::TopicDiagnostic>(
+    "velodyne_points", diagnostics_,
+    diagnostic_updater::FrequencyStatusParam(
+      &diag_min_freq_, &diag_max_freq_, 0.1, 10),
+    diagnostic_updater::TimeStampStatusParam());
 
   data_->setParameters(min_range, max_range, view_direction, view_width);
   container_ptr_->configure(min_range, max_range, target_frame, fixed_frame);

velodyne_pointcloud/src/conversions/transform.cpp

@@ -56,7 +56,7 @@ Transform::Transform(const rclcpp::NodeOptions & options)
   velodyne_scan_(this, "velodyne_packets"), tf_buffer_(this->get_clock()),
   diagnostics_(this)
 {
-  std::string calibrationFile = this->declare_parameter("calibration", "");
+  std::string calibration_file = this->declare_parameter("calibration", "");
 
   rcl_interfaces::msg::ParameterDescriptor min_range_desc;
   min_range_desc.name = "min_range";
@@ -102,20 +102,18 @@ Transform::Transform(const rclcpp::NodeOptions & options)
   std::string fixed_frame = this->declare_parameter("fixed_frame", "odom");
   bool organize_cloud = this->declare_parameter("organize_cloud", true);
 
-  RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibrationFile.c_str());
+  RCLCPP_INFO(this->get_logger(), "correction angles: %s", calibration_file.c_str());
 
-  data_ = std::make_unique<velodyne_rawdata::RawData>(calibrationFile);
+  data_ = std::make_unique<velodyne_rawdata::RawData>(calibration_file);
 
   if (organize_cloud) {
-    container_ptr_ = std::unique_ptr<OrganizedCloudXYZIR>(
-      new OrganizedCloudXYZIR(
-        min_range, max_range, target_frame, fixed_frame, data_->numLasers(),
-        data_->scansPerPacket(), tf_buffer_));
+    container_ptr_ = std::make_unique<OrganizedCloudXYZIR>(
+      min_range, max_range, target_frame, fixed_frame, data_->numLasers(),
+      data_->scansPerPacket(), tf_buffer_);
   } else {
-    container_ptr_ = std::unique_ptr<PointcloudXYZIR>(
-      new PointcloudXYZIR(
-        min_range, max_range, target_frame, fixed_frame,
-        data_->scansPerPacket(), tf_buffer_));
+    container_ptr_ = std::make_unique<PointcloudXYZIR>(
+      min_range, max_range, target_frame, fixed_frame,
+      data_->scansPerPacket(), tf_buffer_);
   }
 
   // advertise output point cloud (before subscribing to input data)
@@ -135,12 +133,10 @@ Transform::Transform(const rclcpp::NodeOptions & options)
   // concerned about monitoring the frequency.
   diag_min_freq_ = 2.0;
   diag_max_freq_ = 20.0;
-  namespace du = diagnostic_updater;
-  diag_topic_.reset(
-    new du::TopicDiagnostic(
-      "velodyne_points", diagnostics_, du::FrequencyStatusParam(
-        &diag_min_freq_, &diag_max_freq_, 0.1, 10),
-      du::TimeStampStatusParam()));
+  diag_topic_ = std::make_unique<diagnostic_updater::TopicDiagnostic>(
+    "velodyne_points", diagnostics_, diagnostic_updater::FrequencyStatusParam(
+      &diag_min_freq_, &diag_max_freq_, 0.1, 10),
+    diagnostic_updater::TimeStampStatusParam());
 
   data_->setParameters(min_range, max_range, view_direction, view_width);
   container_ptr_->configure(min_range, max_range, target_frame, fixed_frame);

velodyne_pointcloud/src/lib/rawdata.cpp

@@ -115,7 +115,6 @@ int RawData::numLasers() const
  */
 void RawData::unpack(const velodyne_msgs::msg::VelodynePacket & pkt, DataContainerBase & data)
 {
-  using velodyne_pointcloud::LaserCorrection;
   // RCLCPP_DEBUG(this->get_logger(), "Received packet, time: %s", pkt.stamp);
 
   /** special parsing for the VLP16 **/
@@ -142,7 +141,8 @@ void RawData::unpack(const velodyne_msgs::msg::VelodynePacket & pkt, DataContain
       float intensity;
       const uint8_t laser_number = j + bank_origin;
 
-      const LaserCorrection & corrections = calibration_->laser_corrections[laser_number];
+      const velodyne_pointcloud::LaserCorrection & corrections =
+        calibration_->laser_corrections[laser_number];
 
       /** Position Calculation */
       const raw_block_t & block = raw->blocks[i];