Unused header cleanup

[henrygerardmoore]

Follow-on for my other PR, another one just removing unused headers. Also removes some unused using declarations, and a test (test_transmission_parser.cpp) that wasn't being built and was including a file that was removed a while ago in #633. Also standardizes to use braced includes (e.g. <gmock/gmock.h>) as opposed to using quotes for gtest and gmock.

Tests pass locally, no noticeable build time improvements (so this is just a style change). The removed test accounts for the vast majority of the lines removed at 441 lines (don't worry 😄)

[olivier-stasse]

It looks fine, but before approving the 13 workflows should be approved by one of the maintainers to see what the builders say.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 87.60%. Comparing base (b7bbdd6) to head (c9231ad).

Additional details and impacted files

@@           Coverage Diff           @@
##           master    #1627   +/-   ##
=======================================
  Coverage   87.60%   87.60%           
=======================================
  Files         108      108           
  Lines        9918     9918           
  Branches      889      889           
=======================================
  Hits         8689     8689           
  Misses        912      912           
  Partials      317      317           

Flag	Coverage Δ
unittests	87.60% <ø> (ø)

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
...lude/controller_interface/controller_interface.hpp	100.00% <ø> (ø)
...controller_interface/controller_interface_base.hpp	87.50% <ø> (ø)
controller_interface/src/controller_interface.cpp	75.00% <ø> (ø)
...roller_interface/src/controller_interface_base.cpp	86.27% <ø> (ø)
...rface/test/test_chainable_controller_interface.hpp	86.95% <ø> (ø)
...oller_interface/test/test_controller_interface.hpp	57.14% <ø> (ø)
...er_interface/test/test_controller_with_options.cpp	100.00% <ø> (ø)
...er_interface/test/test_controller_with_options.hpp	47.05% <ø> (ø)
...roller_interface/test/test_force_torque_sensor.hpp	100.00% <ø> (ø)
controller_interface/test/test_imu_sensor.hpp	100.00% <ø> (ø)
... and 64 more

[christophfroehlich]

Thanks for the cleanup (again!). The failing tests are not related to this PR and already reported.

[saikishor]

Thanks for the cleanup!!

[olivier-stasse]

Thanks

[christophfroehlich]

@henrygerardmoore @bmagyar Merging this breaks lots of packages in ros2_controllers and ros2_control_demos repo, because there are now lots of missing includes. I fix ros2_controllers, but we might break lots of other downstream packages.

[henrygerardmoore]

@christophfroehlich I can make a PR for ros2_control_demos, are there any others that you know of?

[christophfroehlich]

@christophfroehlich I can make a PR for ros2_control_demos, are there any others that you know of?

I created one for ros2_controllers and for ros2_control_demos, the other packages of ros2_control stack build still fine. I only fear the next release on the build farm, but we'll see.

apt-cache rdepends ros-rolling-controller-interface
ros-rolling-controller-interface
Reverse Depends:
  ros-rolling-ur-controllers
  ros-rolling-robotiq-controllers
  ros-rolling-picknik-twist-controller
  ros-rolling-picknik-reset-fault-controller
  ros-rolling-canopen-ros2-controllers

apt-cache rdepends ros-rolling-hardware-interface
ros-rolling-hardware-interface
Reverse Depends:
  ros-rolling-ur-robot-driver
  ros-rolling-topic-based-ros2-control
  ros-rolling-kortex-driver
  ros-rolling-dynamixel-hardware
  ros-rolling-canopen-ros2-controllers
  ros-rolling-canopen-ros2-control

[henrygerardmoore]

Sorry for the trouble, was there a better way I should have gone about the unused header cleanup?

[christophfroehlich]

I think that you did a good job, the only easy thing would have been to compile the obvious dependencies (ros2_controllers for example).
Packages not following the "include what you use" paradigm will have problems now, this is fine for rolling now 😁