Fixe temp.

Signed-off-by: Benjamin Perseghetti <[email protected]>

examples/standalone/scene_provider/README.md

@@ -9,7 +9,7 @@ plugin to update the scene using Gazebo Transport.
 
 ## Build
 
-```
+```bash
 cd examples/standalone/scene_provider
 mkdir build
 cd build
@@ -21,14 +21,14 @@ make
 
 In one terminal, start the scene provider:
 
-```
+```bash
 cd examples/standalone/scene_provider/build
 ./scene_provider
 ```
 
 On another terminal, start the example config:
 
-```
+```bash
 gz gui -c examples/config/scene3d.config
 ```
 
@@ -42,35 +42,35 @@ Some commands to test camera tracking with this demo:
 
 Move to box:
 
-```
+```bash
 gz service -s /gui/move_to --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Echo camera pose:
 
-```
+```bash
 gz topic -e -t /gui/camera/pose
 ```
 
 Follow box:
 
-```
+```bash
 gz service -s /gui/follow --reqtype gz.msgs.StringMsg --reptype gz.msgs.Boolean --timeout 2000 --req 'data: "box_model"'
 ```
 
 Update follow offset:
 
-```
+```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 5, y: 5, z: 5'
 ```
 
-Set next follow pgain:
+Set next follow p_gain:
 
 ```bash
-gz service -s /gui/follow/pgain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
+gz service -s /gui/follow/p_gain --reqtype gz.msgs.Double --reptype gz.msgs.Boolean --timeout 2000 --req 'data: 1.0'
 ```
 
-Update follow offset with new pgain:
+Update follow offset with new p_gain:
 
 ```bash
 gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req 'x: 1, y: 1, z: 5'

src/plugins/camera_tracking/CameraTracking.cc

@@ -227,7 +227,7 @@ void CameraTrackingPrivate::Initialize()
          << this->followOffsetService << "]" << std::endl;
 
   // follow pgain
-  this->followPGainService = "/gui/follow/pgain";
+  this->followPGainService = "/gui/follow/p_gain";
   this->node.Advertise(this->followPGainService,
       &CameraTrackingPrivate::OnFollowPGain, this);
   gzmsg << "Follow P gain service on ["

src/plugins/camera_tracking/CameraTracking.hh

@@ -39,7 +39,7 @@ namespace plugins
   /// * `/gui/move_to/pose`: Move the user camera to a given pose.
   /// * `/gui/follow`: Set the user camera to follow a given target,
   ///                   identified by name.
-  /// * `/gui/follow/pgain`: Set the pgain for following.
+  /// * `/gui/follow/p_gain`: Set the pgain for following.
   /// * `/gui/follow/offset`: Set the offset for following.
   ///
   /// Topics:

src/plugins/camera_tracking/CameraTracking.qml

@@ -29,7 +29,7 @@ ColumnLayout {
       '<li>/gui/move_to</li>' +
       '<li>/gui/move_to/pose</li>' +
       '<li>/gui/follow</li>' +
-      '<li>/gui/follow/pgain</li>' +
+      '<li>/gui/follow/p_gain</li>' +
       '<li>/gui/follow/offset</li></ul><br>Topics provided:<br><ul>' +
       '<li>/gui/camera/pose</li></ul>'
 

src/plugins/follow_config/CMakeLists.txt

@@ -3,6 +3,4 @@ gz_gui_add_plugin(FollowConfig
     FollowConfig.cc
   QT_HEADERS
     FollowConfig.hh
-  TEST_SOURCES
-    # FollowConfig_TEST.cc
 )

src/plugins/follow_config/FollowConfig.cc

@@ -36,10 +36,13 @@
 /// \brief Private data class for FollowConfig
 class gz::gui::plugins::FollowConfigPrivate
 {
+  /// \brief Service request topic for follow name
   public: std::string followTargetNameService;
 
+  /// \brief Service request topic for follow offset
   public: std::string followOffsetService;
 
+  /// \brief Service request topic for follow p_gain
   public: std::string followPGainService;
 
   /// \brief Offset of camera from target being followed
@@ -48,20 +51,27 @@ class gz::gui::plugins::FollowConfigPrivate
   /// \brief Follow P gain
   public: double followPGain{0.01};
 
+  /// \brief Follow target name from sdf
   public: std::string followTargetName;
 
   public: transport::Node node;
 
+  /// \brief Process updated follow name from SDF
   public: void UpdateFollowTargetName();
 
+  /// \brief Process updated follow offset
   public: void UpdateFollowOffset();
 
+  /// \brief Process updated P Gain
   public: void UpdateFollowPGain();
 
+  /// \brief flag for updating target name
   public: bool newFollowUpdateTargetName = false;
 
+  /// \brief flag for updating P gain
   public: bool newFollowUpdatePGain = false;
 
+  /// \brief flag for updating offset
   public: bool newFollowUpdateOffset = false;
 
 };
@@ -96,7 +106,7 @@ void FollowConfig::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
          << this->dataPtr->followOffsetService << "]" << std::endl;
 
   // Follow target pgain service
-  this->dataPtr->followPGainService = "/gui/follow/pgain";
+  this->dataPtr->followPGainService = "/gui/follow/p_gain";
   gzmsg << "FollowConfig: Follow P gain service on ["
          << this->dataPtr->followPGainService << "]" << std::endl;
 
@@ -189,7 +199,8 @@ void FollowConfigPrivate::UpdateFollowTargetName()
   std::function<void(const msgs::Boolean &, const bool)> cbName =
     [&](const msgs::Boolean &/*_rep*/, const bool _resultName)
   {
-    if (!_resultName) {
+    if (!_resultName)
+    {
       gzerr << "FollowConfig: Error sending follow target name." << std::endl;
     } else {
       gzmsg << "FollowConfig: Request Target Name: "
@@ -210,7 +221,8 @@ void FollowConfigPrivate::UpdateFollowOffset()
   std::function<void(const msgs::Boolean &, const bool)> cbOffset =
     [&](const msgs::Boolean &/*_rep*/, const bool _resultOffset)
   {
-    if (!_resultOffset) {
+    if (!_resultOffset)
+    {
       gzerr << "FollowConfig: Error sending follow offset." << std::endl;
     } else {
       gzmsg << "FollowConfig: Request Offset: "
@@ -233,7 +245,8 @@ void FollowConfigPrivate::UpdateFollowPGain()
   std::function<void(const msgs::Boolean &, const bool)> cbPGain =
     [&](const msgs::Boolean &/*_rep*/, const bool _resultPGain)
   {
-    if (!_resultPGain) {
+    if (!_resultPGain)
+    {
       gzerr << "FollowConfig: Error sending follow pgain." << std::endl;
     } else {
       gzmsg << "FollowConfig: Request PGain: "

test/integration/camera_tracking.cc

@@ -189,7 +189,7 @@ TEST(MinimalSceneTest, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(Config))
 
   msgs::Double reqPGain;
   reqPGain.set_data(1.0);
-  executed = node.Request("/gui/follow/pgain", reqPGain, timeout, rep,
+  executed = node.Request("/gui/follow/p_gain", reqPGain, timeout, rep,
       result);
   EXPECT_TRUE(executed);
   EXPECT_TRUE(result);