granular rclcpp/rclcpp.hpp and include what you use

rclcpp/actions/minimal_action_client/member_functions.cpp

@@ -15,13 +15,18 @@
 #include <chrono>
 #include <cinttypes>
 #include <functional>
-#include <future>
 #include <memory>
-#include <string>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/client.hpp"
+#include "rclcpp_action/client_goal_handle.hpp"
+#include "rclcpp_action/create_client.hpp"
 
 class MinimalActionClient : public rclcpp::Node
 {

rclcpp/actions/minimal_action_client/not_composable.cpp

@@ -16,8 +16,13 @@
 #include <cinttypes>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/client_goal_handle.hpp"
+#include "rclcpp_action/create_client.hpp"
 
 using Fibonacci = example_interfaces::action::Fibonacci;
 

rclcpp/actions/minimal_action_client/not_composable_with_cancel.cpp

@@ -15,8 +15,13 @@
 #include <chrono>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/client_goal_handle.hpp"
+#include "rclcpp_action/create_client.hpp"
 
 using Fibonacci = example_interfaces::action::Fibonacci;
 

rclcpp/actions/minimal_action_client/not_composable_with_feedback.cpp

@@ -17,8 +17,14 @@
 #include <memory>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/client.hpp"
+#include "rclcpp_action/client_goal_handle.hpp"
+#include "rclcpp_action/create_client.hpp"
 
 using Fibonacci = example_interfaces::action::Fibonacci;
 rclcpp::Node::SharedPtr g_node = nullptr;

rclcpp/actions/minimal_action_server/member_functions.cpp

@@ -17,8 +17,16 @@
 #include <thread>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/create_server.hpp"
+#include "rclcpp_action/server.hpp"
+#include "rclcpp_action/server_goal_handle.hpp"
+#include "rclcpp_action/types.hpp"
 
 class MinimalActionServer : public rclcpp::Node
 {

rclcpp/actions/minimal_action_server/not_composable.cpp

@@ -16,8 +16,16 @@
 #include <thread>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/create_server.hpp"
+#include "rclcpp_action/server.hpp"
+#include "rclcpp_action/server_goal_handle.hpp"
+#include "rclcpp_action/types.hpp"
 
 using Fibonacci = example_interfaces::action::Fibonacci;
 using GoalHandleFibonacci = rclcpp_action::ServerGoalHandle<Fibonacci>;

rclcpp/actions/minimal_action_server/single_goal.cpp

@@ -18,8 +18,17 @@
 #include <thread>
 
 #include "example_interfaces/action/fibonacci.hpp"
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/rate.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp_action/create_server.hpp"
+#include "rclcpp_action/server.hpp"
+#include "rclcpp_action/server_goal_handle.hpp"
+#include "rclcpp_action/types.hpp"
 
 class MinimalActionServer : public rclcpp::Node
 {

rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp

@@ -15,7 +15,12 @@
 #ifndef MINIMAL_COMPOSITION__PUBLISHER_NODE_HPP_
 #define MINIMAL_COMPOSITION__PUBLISHER_NODE_HPP_
 
-#include "rclcpp/rclcpp.hpp"
+#include <cstddef>
+
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/timer.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "minimal_composition/visibility.h"
 

rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp

@@ -15,7 +15,9 @@
 #ifndef MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_
 #define MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/subscription.hpp"
 #include "std_msgs/msg/string.hpp"
 #include "minimal_composition/visibility.h"
 

rclcpp/composition/minimal_composition/src/composed.cpp

@@ -15,7 +15,9 @@
 #include <memory>
 #include "minimal_composition/publisher_node.hpp"
 #include "minimal_composition/subscriber_node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char * argv[])
 {

rclcpp/composition/minimal_composition/src/publisher_node.cpp

@@ -13,9 +13,12 @@
 // limitations under the License.
 
 #include <chrono>
+#include <functional>
+#include <string>
 
 #include "minimal_composition/publisher_node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node_options.hpp"
 #include "std_msgs/msg/string.hpp"
 
 using namespace std::chrono_literals;

rclcpp/composition/minimal_composition/src/standalone_publisher.cpp

@@ -14,7 +14,9 @@
 
 #include <memory>
 #include "minimal_composition/publisher_node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char * argv[])
 {

rclcpp/composition/minimal_composition/src/standalone_subscriber.cpp

@@ -14,7 +14,9 @@
 
 #include <memory>
 #include "minimal_composition/subscriber_node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 int main(int argc, char * argv[])
 {

rclcpp/composition/minimal_composition/src/subscriber_node.cpp

@@ -13,7 +13,8 @@
 // limitations under the License.
 
 #include "minimal_composition/subscriber_node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node_options.hpp"
 #include "std_msgs/msg/string.hpp"
 
 SubscriberNode::SubscriberNode(rclcpp::NodeOptions options)

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp

@@ -17,11 +17,13 @@
 
 #include <chrono>
 #include <memory>
-#include <string>
-#include <utility>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/timer.hpp"
 #include "std_msgs/msg/int32.hpp"
 
 namespace examples_rclcpp_cbg_executor

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp

@@ -17,9 +17,11 @@
 
 #include <chrono>
 #include <memory>
-#include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
 #include "std_msgs/msg/int32.hpp"
 
 namespace examples_rclcpp_cbg_executor

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp

@@ -14,11 +14,15 @@
 
 #include "examples_rclcpp_cbg_executor/ping_node.hpp"
 
-#include <algorithm>
+#include <chrono>
+#include <cstddef>
 #include <functional>
 #include <memory>
 #include <vector>
 
+#include "rclcpp/logging.hpp"
+#include "rclcpp/qos.hpp"
+
 #include "./utilities.hpp"
 
 namespace examples_rclcpp_cbg_executor

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp

@@ -14,11 +14,15 @@
 
 #include "examples_rclcpp_cbg_executor/pong_node.hpp"
 
-#include <cassert>
-
 #include <chrono>
+#include <cstdlib>
+#include <functional>
 #include <memory>
 
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
+
 #include "./utilities.hpp"
 
 namespace examples_rclcpp_cbg_executor

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/utilities.hpp

@@ -18,7 +18,9 @@
 #include <cmath>
 
 #include <chrono>
+#include <cstdint>
 #include <functional>
+#include <numeric>
 #include <string>
 #include <thread>
 #include <vector>
@@ -41,7 +43,7 @@
   #include <pthread.h>
 #endif
 
-#include <rclcpp/rclcpp.hpp>
+#include "rclcpp/node.hpp"
 
 namespace examples_rclcpp_cbg_executor
 {

rclcpp/executors/cbg_executor/src/ping.cpp

@@ -12,22 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cinttypes>
-#include <cstdlib>
-#include <ctime>
-
 #include <chrono>
-#include <condition_variable>
-#include <functional>
-#include <iostream>
 #include <memory>
-#include <mutex>
-#include <string>
 #include <thread>
-#include <vector>
 
-#include "rclcpp/executor.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "examples_rclcpp_cbg_executor/ping_node.hpp"
 #include "examples_rclcpp_cbg_executor/utilities.hpp"

rclcpp/executors/cbg_executor/src/ping_pong.cpp

@@ -13,21 +13,15 @@
 // limitations under the License.
 
 #include <cinttypes>
-#include <cstdlib>
-#include <ctime>
 
 #include <chrono>
-#include <condition_variable>
-#include <functional>
-#include <iostream>
 #include <memory>
-#include <mutex>
-#include <string>
 #include <thread>
-#include <vector>
 
-#include "rclcpp/executor.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "examples_rclcpp_cbg_executor/ping_node.hpp"
 #include "examples_rclcpp_cbg_executor/pong_node.hpp"

rclcpp/executors/cbg_executor/src/pong.cpp

@@ -13,21 +13,15 @@
 // limitations under the License.
 
 #include <cinttypes>
-#include <cstdlib>
-#include <ctime>
 
 #include <chrono>
-#include <condition_variable>
-#include <functional>
-#include <iostream>
 #include <memory>
-#include <mutex>
-#include <string>
 #include <thread>
-#include <vector>
 
-#include "rclcpp/executor.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "examples_rclcpp_cbg_executor/pong_node.hpp"
 #include "examples_rclcpp_cbg_executor/utilities.hpp"