From b8fce473b994fb021d722da597ec35c1f579fc99 Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <thibault.poignonec@gmail.com>
Date: Mon, 8 Jan 2024 15:57:54 +0100
Subject: [PATCH] use "std_msgs/msg/bool"

---
 fd_controllers/ee_pose_broadcaster/CMakeLists.txt           | 2 ++
 .../include/ee_pose_broadcaster/ee_pose_broadcaster.hpp     | 6 +++---
 fd_controllers/ee_pose_broadcaster/package.xml              | 3 ++-
 .../ee_pose_broadcaster/src/ee_pose_broadcaster.cpp         | 4 ++--
 4 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/fd_controllers/ee_pose_broadcaster/CMakeLists.txt b/fd_controllers/ee_pose_broadcaster/CMakeLists.txt
index 5f5ce52..a225fc4 100644
--- a/fd_controllers/ee_pose_broadcaster/CMakeLists.txt
+++ b/fd_controllers/ee_pose_broadcaster/CMakeLists.txt
@@ -17,6 +17,7 @@ find_package(rclcpp_lifecycle REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3)
@@ -34,6 +35,7 @@ ament_target_dependencies(ee_pose_broadcaster
   rcutils
   realtime_tools
   geometry_msgs
+  std_msgs
   eigen3_cmake_module
   Eigen3
   example_interfaces
diff --git a/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp b/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp
index f5feb64..ef4597b 100644
--- a/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp
+++ b/fd_controllers/ee_pose_broadcaster/include/ee_pose_broadcaster/ee_pose_broadcaster.hpp
@@ -29,7 +29,7 @@
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "realtime_tools/realtime_publisher.h"
 #include "geometry_msgs/msg/pose_stamped.hpp"
-#include "example_interfaces/msg/bool.hpp"
+#include "std_msgs/msg/bool.hpp"
 
 namespace ee_pose_broadcaster
 {
@@ -77,8 +77,8 @@ class EePoseBroadcaster : public controller_interface::ControllerInterface
   std::shared_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>
   realtime_ee_pose_publisher_;
 
-  std::shared_ptr<rclcpp::Publisher<example_interfaces::msg::Bool>> fd_button_publisher_;
-  std::shared_ptr<realtime_tools::RealtimePublisher<example_interfaces::msg::Bool>>
+  std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Bool>> fd_button_publisher_;
+  std::shared_ptr<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>
   realtime_fd_button_publisher_;
 };
 
diff --git a/fd_controllers/ee_pose_broadcaster/package.xml b/fd_controllers/ee_pose_broadcaster/package.xml
index 638e710..3fc2c8d 100644
--- a/fd_controllers/ee_pose_broadcaster/package.xml
+++ b/fd_controllers/ee_pose_broadcaster/package.xml
@@ -20,8 +20,9 @@
   <depend>controller_interface</depend>
   <depend>hardware_interface</depend>
   <depend>rclcpp_lifecycle</depend>
-  <depend>geometry_msgs</depend>
   <depend>realtime_tools</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>
   <test_depend>controller_manager</test_depend>
diff --git a/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp b/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
index 0d8638b..9b31fab 100644
--- a/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
+++ b/fd_controllers/ee_pose_broadcaster/src/ee_pose_broadcaster.cpp
@@ -157,11 +157,11 @@ EePoseBroadcaster::on_configure(const rclcpp_lifecycle::State & /*previous_state
       std::make_shared<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>(
       ee_pose_publisher_);
 
-    fd_button_publisher_ = get_node()->create_publisher<example_interfaces::msg::Bool>(
+    fd_button_publisher_ = get_node()->create_publisher<std_msgs::msg::Bool>(
       "button_state", rclcpp::SystemDefaultsQoS());
 
     realtime_fd_button_publisher_ =
-      std::make_shared<realtime_tools::RealtimePublisher<example_interfaces::msg::Bool>>(
+      std::make_shared<realtime_tools::RealtimePublisher<std_msgs::msg::Bool>>(
       fd_button_publisher_);
   } catch (const std::exception & e) {
     // get_node() may throw, logging raw here