Replacing ros_timer_client with cl_ros2_timer in sm10

sm_nav2_test_10/include/sm_nav2_test_10/orthogonals/or_timer.hpp

@@ -19,7 +19,7 @@
  ******************************************************************************************************************/
 
 #pragma once
-#include <ros_timer_client/cl_ros_timer.hpp>
+#include <cl_ros2_timer/cl_ros2_timer.hpp>
 #include <smacc2/smacc_orthogonal.hpp>
 
 namespace sm_nav2_test_10
@@ -29,7 +29,7 @@ class OrTimer : public smacc2::Orthogonal<OrTimer>
 public:
   void onInitialize() override
   {
-    auto actionclient = this->createClient<cl_ros_timer::ClRosTimer>(
+    auto actionclient = this->createClient<cl_ros2_timer::ClRos2Timer>(
       rclcpp::Duration(std::chrono::milliseconds(500)));
   }
 };

sm_nav2_test_10/include/sm_nav2_test_10/sm_nav2_test_10.hpp

@@ -23,36 +23,39 @@
 #include <smacc2/client_behaviors/cb_sleep_for.hpp>
 #include <smacc2/client_behaviors/cb_ros_stop_2.hpp>
 
-#include <lifecyclenode_client/client_behaviors/cb_deactivate.hpp>
-#include <lifecyclenode_client/lifecyclenode_client.hpp>
-
 #include <sensor_msgs/msg/laser_scan.hpp>
 
-// CLIENT BEHAVIORS
-#include <ros_timer_client/client_behaviors/cb_ros_timer.hpp>
-#include <ros_timer_client/client_behaviors/cb_timer_countdown_once.hpp>
+// CLIENT LIBRARIES
+#include <cl_ros2_timer/cl_ros2_timer.hpp>
+#include <cl_ros2_timer/components/cp_timer_listener_1.hpp>
+
+#include <cl_ros2_timer/client_behaviors/cb_ros2_timer.hpp>
+#include <cl_ros2_timer/client_behaviors/cb_timer_countdown_once.hpp>
 
 #include <cl_keyboard/cl_keyboard.hpp>
+#include <cl_keyboard/components/cp_keyboard_listener_1.hpp>
+
 #include <cl_keyboard/client_behaviors/cb_default_keyboard_behavior.hpp>
 
-#include <nav2z_client/client_behaviors.hpp>
-#include <nav2z_client/components/odom_tracker/cp_odom_tracker.hpp>
-#include <nav2z_client/nav2z_client.hpp>
-#include <nav2z_client/client_behaviors/cb_navigate_global_position.hpp>
+#include <lifecyclenode_client/lifecyclenode_client.hpp>
 
-#include <sm_nav2_test_10/clients/cl_lidar/cl_lidar.hpp>
-#include <sm_nav2_test_10/clients/cl_lidar/components/cp_forward_obstacle_detector.hpp>
+#include <lifecyclenode_client/client_behaviors/cb_deactivate.hpp>
+
+#include <nav2z_client/nav2z_client.hpp>
+#include <nav2z_client/components/odom_tracker/cp_odom_tracker.hpp>
 
-// #include
-// <sm_nav2_test_10/clients/nav2z_client/client_behaviors/cb_navigate_next_waypoint.hpp>
+#include <nav2z_client/client_behaviors.hpp>
+#include <nav2z_client/client_behaviors/cb_navigate_global_position.hpp>
 #include <nav2z_client/client_behaviors/cb_active_stop.hpp>
 #include <nav2z_client/client_behaviors/cb_load_waypoints_file.hpp>
 #include <nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.hpp>
 #include <nav2z_client/client_behaviors/cb_position_control_free_space.hpp>
-
 #include <nav2z_client/client_behaviors/cb_pure_spinning.hpp>
 #include <nav2z_client/client_behaviors/cb_save_slam_map.hpp>
 
+#include <sm_nav2_test_10/clients/cl_lidar/cl_lidar.hpp>
+#include <sm_nav2_test_10/clients/cl_lidar/components/cp_forward_obstacle_detector.hpp>
+
 // STATE REACTORS
 #include <sr_all_events_go/sr_all_events_go.hpp>
 #include <sr_conditional/sr_conditional.hpp>
@@ -149,7 +152,7 @@ struct EvGlobalError : sc::event<EvGlobalError> {};
 } // namespace sm_nav2_test_10
 
 using namespace sm_nav2_test_10;
-using namespace cl_ros_timer;
+using namespace cl_ros2_timer;
 using namespace smacc2;
 using namespace cl_mission_tracker;
 

sm_nav2_test_10/include/sm_nav2_test_10/states/st_initial_move.hpp

@@ -10,7 +10,7 @@ using smacc2::client_behaviors::CbSleepFor;
 using namespace std::chrono_literals;
 using namespace cl_nav2z;
 using namespace cl_keyboard;
-using namespace cl_ros_timer;
+using namespace cl_ros2_timer;
 
 
 // STATE DECLARATION

sm_nav2_test_10/include/sm_nav2_test_10/states/st_pre_spiral_pattern.hpp

@@ -10,7 +10,7 @@ using smacc2::client_behaviors::CbSleepFor;
 using namespace std::chrono_literals;
 using namespace cl_nav2z;
 using namespace cl_keyboard;
-using namespace cl_ros_timer;
+using namespace cl_ros2_timer;
 
 
 // STATE DECLARATION

sm_nav2_test_10/include/sm_nav2_test_10/states/st_spiral_pattern_1.hpp

@@ -10,7 +10,7 @@ using smacc2::client_behaviors::CbSleepFor;
 using namespace std::chrono_literals;
 using namespace cl_nav2z;
 using namespace cl_keyboard;
-using namespace cl_ros_timer;
+using namespace cl_ros2_timer;
 
 
 // STATE DECLARATION

sm_nav2_test_10/package.xml

@@ -18,7 +18,7 @@
   <depend>nav2_bringup</depend>
 
   <depend>robot_state_publisher</depend>
-  <depend>ros_timer_client</depend>
+  <depend>cl_ros2_timer</depend>
   <depend>slam_toolbox</depend>
   <depend>smacc2</depend>
   <depend>std_msgs</depend>