drake_ros_*:: -> drake_ros::*:: namespace (#258)

drake_ros/core/drake_ros.cc

@@ -7,7 +7,8 @@
 #include <rclcpp/executors.hpp>
 #include <rclcpp/node.hpp>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 struct DrakeRos::Impl {
   rclcpp::Context::SharedPtr context;
   rclcpp::Node::UniquePtr node;
@@ -59,4 +60,5 @@ void init(int argc, const char** argv) {
 
 bool shutdown() { return rclcpp::shutdown(); }
 
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/drake_ros.h

@@ -6,7 +6,8 @@
 #include <rclcpp/node.hpp>
 #include <rclcpp/node_options.hpp>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 
 /** A Drake ROS interface that wraps a live ROS node.
 
@@ -65,4 +66,5 @@ void init(int argc = 0, const char** argv = nullptr);
 */
 bool shutdown();
 
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/geometry_conversions.cc

@@ -1,6 +1,7 @@
 #include "drake_ros/core/geometry_conversions.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 
 Eigen::Vector3d RosPointToVector3(const geometry_msgs::msg::Point& point) {
   return Eigen::Vector3d(point.x, point.y, point.z);
@@ -183,4 +184,5 @@ geometry_msgs::msg::Wrench SpatialForceToRosWrench(
   return result;
 }
 
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/geometry_conversions.h

@@ -41,7 +41,8 @@ expressing it).
 #include <geometry_msgs/msg/twist.hpp>
 #include <geometry_msgs/msg/wrench.hpp>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 
 // Vector / Translation.
 
@@ -127,4 +128,5 @@ drake::multibody::SpatialForce<double> RosWrenchToSpatialForce(
 geometry_msgs::msg::Wrench SpatialForceToRosWrench(
     const drake::multibody::SpatialForce<double>& force);
 
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/publisher.cc

@@ -4,7 +4,8 @@
 
 #include <rclcpp/version.h>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace internal {
 namespace {
 // Copied from rosbag2_transport rosbag2_get_publisher_options
@@ -45,4 +46,5 @@ void Publisher::publish(const rclcpp::SerializedMessage& serialized_msg) {
   }
 }
 }  // namespace internal
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/publisher.h

@@ -8,7 +8,8 @@
 #include <rclcpp/serialized_message.hpp>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace internal {
 // A type-erased version of rclcpp:::Publisher<Message>.
 // This class conforms to the ROS 2 C++ style for consistency.
@@ -23,4 +24,5 @@ class Publisher final : public rclcpp::PublisherBase {
   void publish(const rclcpp::SerializedMessage& serialized_msg);
 };
 }  // namespace internal
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_interface_system.cc

@@ -4,7 +4,8 @@
 #include <memory>
 #include <utility>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 struct RosInterfaceSystem::Impl {
   // Interface to ROS (through a node).
   std::unique_ptr<DrakeRos> ros;
@@ -32,4 +33,5 @@ void RosInterfaceSystem::DoCalcNextUpdateTime(
   // order of node spinning and message taking affects it?
   *time = std::numeric_limits<double>::infinity();
 }
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_interface_system.h

@@ -6,7 +6,8 @@
 
 #include "drake_ros/core/drake_ros.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 /** A system that manages a Drake ROS interface. */
 class RosInterfaceSystem : public drake::systems::LeafSystem<double> {
  public:
@@ -27,4 +28,5 @@ class RosInterfaceSystem : public drake::systems::LeafSystem<double> {
   struct Impl;
   std::unique_ptr<Impl> impl_;
 };
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_publisher_system.cc

@@ -9,7 +9,8 @@
 
 #include "drake_ros/core/serializer_interface.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 struct RosPublisherSystem::Impl {
   // Interface for message (de)serialization.
   std::unique_ptr<SerializerInterface> serializer;
@@ -89,4 +90,5 @@ drake::systems::EventStatus RosPublisherSystem::PublishInput(
   impl_->pub->publish(impl_->serializer->Serialize(input));
   return drake::systems::EventStatus::Succeeded();
 }
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_publisher_system.h

@@ -13,7 +13,8 @@
 #include "drake_ros/core/serializer.h"
 #include "drake_ros/core/serializer_interface.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 /** A system that can publish ROS messages.
  It accepts ROS messages on its sole input port and publishes them
  to a ROS topic.
@@ -83,4 +84,5 @@ class RosPublisherSystem : public drake::systems::LeafSystem<double> {
   struct Impl;
   std::unique_ptr<Impl> impl_;
 };
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_subscriber_system.cc

@@ -8,7 +8,8 @@
 #include "subscription.h"  // NOLINT(build/include)
 #include <drake/systems/framework/abstract_values.h>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace {
 // A synchronized queue of `MessageT` messages.
 template <typename MessageT>
@@ -110,4 +111,5 @@ void RosSubscriberSystem::DoCalcNextUpdateTime(
   uu_events.AddEvent(drake::systems::UnrestrictedUpdateEvent<double>(
       drake::systems::TriggerType::kTimed, callback));
 }
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/ros_subscriber_system.h

@@ -11,7 +11,8 @@
 #include "drake_ros/core/serializer.h"
 #include "drake_ros/core/serializer_interface.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 /** A system that can subscribe to ROS messages.
  It subscribes to a ROS topic and makes ROS messages available on
  its sole output port.
@@ -55,4 +56,5 @@ class RosSubscriberSystem : public drake::systems::LeafSystem<double> {
   struct Impl;
   std::unique_ptr<Impl> impl_;
 };
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/serializer.h

@@ -9,7 +9,8 @@
 
 #include "drake_ros/core/serializer_interface.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 /** A (de)serialization interface implementation that is
  bound to C++ ROS messages of `MessageT` type. */
 template <typename MessageT>
@@ -40,4 +41,5 @@ class Serializer : public SerializerInterface {
  private:
   rclcpp::Serialization<MessageT> protocol_;
 };
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/serializer_interface.h

@@ -6,7 +6,8 @@
 #include <rclcpp/serialized_message.hpp>
 #include <rosidl_typesupport_cpp/message_type_support.hpp>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 /** An interface for (de)serialization of a ROS message.
 
  This interface deals with ROS messages of a fixed message
@@ -42,4 +43,5 @@ class SerializerInterface {
   /** Returns a reference to the ROS message typesupport. */
   virtual const rosidl_message_type_support_t* GetTypeSupport() const = 0;
 };
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/subscription.cc

@@ -5,7 +5,8 @@
 
 #include <rclcpp/version.h>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace internal {
 namespace {
 // Copied from rosbag2_transport rosbag2_get_subscription_options
@@ -80,4 +81,5 @@ void Subscription::return_serialized_message(
   message.reset();
 }
 }  // namespace internal
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/subscription.h

@@ -8,7 +8,8 @@
 #include <rmw/serialized_message.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace internal {
 // A type-erased version of rclcpp:::Subscription<Message>.
 // This class conforms to the ROS 2 C++ style for consistency.
@@ -60,4 +61,5 @@ class Subscription final : public rclcpp::SubscriptionBase {
   std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback_;
 };
 }  // namespace internal
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/test/test_drake_ros.cc

@@ -8,12 +8,12 @@
 
 #include "drake_ros/core/drake_ros.h"
 
-using drake_ros_core::DrakeRos;
+using drake_ros::core::DrakeRos;
 
 TEST(DrakeRos, default_construct) {
-  drake_ros_core::init();
+  drake_ros::core::init();
   EXPECT_NO_THROW(std::make_unique<DrakeRos>("default_node"));
-  EXPECT_TRUE(drake_ros_core::shutdown());
+  EXPECT_TRUE(drake_ros::core::shutdown());
 }
 
 TEST(DrakeRos, local_context) {

drake_ros/core/test/test_geometry_conversions.cc

@@ -2,7 +2,8 @@
 
 #include "drake_ros/core/geometry_conversions.h"
 
-namespace drake_ros_core {
+namespace drake_ros {
+namespace core {
 namespace {
 
 // N.B. For the purpose of testing type conversions, we should use explicit
@@ -312,4 +313,5 @@ TEST(GeometryConversions, Force) {
 }
 
 }  // namespace
-}  // namespace drake_ros_core
+}  // namespace core
+}  // namespace drake_ros

drake_ros/core/test/test_pub_sub.cc

@@ -13,13 +13,13 @@
 #include "drake_ros/core/ros_publisher_system.h"
 #include "drake_ros/core/ros_subscriber_system.h"
 
-using drake_ros_core::DrakeRos;
-using drake_ros_core::RosInterfaceSystem;
-using drake_ros_core::RosPublisherSystem;
-using drake_ros_core::RosSubscriberSystem;
+using drake_ros::core::DrakeRos;
+using drake_ros::core::RosInterfaceSystem;
+using drake_ros::core::RosPublisherSystem;
+using drake_ros::core::RosSubscriberSystem;
 
 TEST(Integration, sub_to_pub) {
-  drake_ros_core::init(0, nullptr);
+  drake_ros::core::init(0, nullptr);
 
   drake::systems::DiagramBuilder<double> builder;
 
@@ -90,7 +90,7 @@ TEST(Integration, sub_to_pub) {
     EXPECT_EQ(rx_msgs_direct_sub_out.back()->uint64_value, i);
   }
 
-  drake_ros_core::shutdown();
+  drake_ros::core::shutdown();
 }
 
 // Only available in Bazel.