rclcpp tests: Granular includes and include what you use

rclcpp/include/rclcpp/create_subscription.hpp

@@ -30,6 +30,7 @@
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 #include "rclcpp/create_publisher.hpp"
+#include "rclcpp/create_timer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
 #include "rclcpp/subscription_options.hpp"

rclcpp/test/benchmark/benchmark_client.cpp

@@ -12,11 +12,16 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <chrono>
 #include <memory>
 #include <string>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/service.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_msgs/srv/empty.hpp"
 
 using performance_test_fixture::PerformanceTest;

rclcpp/test/benchmark/benchmark_executor.cpp

@@ -12,15 +12,38 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <functional>
+#include <future>
 #include <memory>
+#include <mutex>
 #include <string>
+#include <thread>
 #include <utility>
 #include <vector>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/executors.hpp"
 #include "rclcpp/executors/events_cbg_executor/events_cbg_executor.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/future_return_code.hpp"
+#include "rclcpp/guard_condition.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/publisher_base.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/timer.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp/waitable.hpp"
 #include "rcpputils/scope_exit.hpp"
 #include "test_msgs/msg/empty.hpp"
 

rclcpp/test/benchmark/benchmark_init_shutdown.cpp

@@ -14,7 +14,7 @@
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/utilities.hpp"
 
 using performance_test_fixture::PerformanceTest;
 

rclcpp/test/benchmark/benchmark_node.cpp

@@ -16,7 +16,8 @@
 #include <string>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 using performance_test_fixture::PerformanceTest;
 

rclcpp/test/benchmark/benchmark_node_parameters_interface.cpp

@@ -18,7 +18,10 @@
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/utilities.hpp"
 
 class NodeParametersInterfaceTest : public performance_test_fixture::PerformanceTest
 {

rclcpp/test/benchmark/benchmark_parameter_client.cpp

@@ -12,13 +12,24 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <algorithm>
 #include <memory>
-#include <vector>
 #include <string>
+#include <thread>
+#include <vector>
 
 #include "benchmark/benchmark.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/context.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/init_options.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/parameter_client.hpp"
+#include "rclcpp/parameter_value.hpp"
+#include "rclcpp/utilities.hpp"
 
 class RemoteNodeTest : public benchmark::Fixture
 {

rclcpp/test/benchmark/benchmark_service.cpp

@@ -12,10 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <functional>
 #include <memory>
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_msgs/srv/empty.hpp"
 
 using performance_test_fixture::PerformanceTest;

rclcpp/test/rclcpp/exceptions/test_exceptions.cpp

@@ -14,8 +14,10 @@
 
 #include <gtest/gtest.h>
 
+#include <stdexcept>
+
+#include "rclcpp/exceptions.hpp"
 #include "rclcpp/exceptions/exceptions.hpp"
-#include "rclcpp/rclcpp.hpp"
 
 #include "../../mocking_utils/patch.hpp"
 #include "../../utils/rclcpp_gtest_macros.hpp"

rclcpp/test/rclcpp/executors/test_entities_collector.cpp

@@ -14,9 +14,14 @@
 
 #include <gtest/gtest.h>
 
-#include "rclcpp/executors/executor_notify_waitable.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include <memory>
+#include <stdexcept>
+
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/executors/executor_entities_collector.hpp"
+#include "rclcpp/executors/executor_notify_waitable.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "../../utils/rclcpp_gtest_macros.hpp"
 

rclcpp/test/rclcpp/executors/test_events_cbg_executor_reentrant.cpp

@@ -21,7 +21,12 @@
 #include <mutex>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors/events_cbg_executor/events_cbg_executor.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "test_msgs/msg/empty.hpp"
 
 using namespace std::chrono_literals;

rclcpp/test/rclcpp/executors/test_executor_notify_waitable.cpp

@@ -19,7 +19,10 @@
 #include <stdexcept>
 
 #include "rclcpp/executors/single_threaded_executor.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/guard_condition.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
+#include "rclcpp/waitable.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -26,19 +26,32 @@
 #include <limits>
 #include <memory>
 #include <sstream>
+#include <stdexcept>
 #include <string>
 #include <thread>
 #include <utility>
 #include <vector>
 
 #include "rcl/error_handling.h"
 #include "rcl/time.h"
+#include "rclcpp/callback_group.hpp"
 #include "rclcpp/clock.hpp"
+#include "rclcpp/context.hpp"
 #include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
 #include "rclcpp/duration.hpp"
+#include "rclcpp/executor_options.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/future_return_code.hpp"
 #include "rclcpp/guard_condition.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "rclcpp/time_source.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/msg/empty.hpp"
 #include "test_msgs/srv/empty.hpp"

rclcpp/test/rclcpp/executors/test_executors_busy_waiting.cpp

@@ -15,13 +15,16 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
+#include <condition_variable>
 #include <functional>
 #include <memory>
 #include <mutex>
 #include <sstream>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "./executor_types.hpp"
 #include "./test_waitable.hpp"

rclcpp/test/rclcpp/executors/test_executors_warmup.cpp

@@ -28,7 +28,14 @@
 
 #include "rcpputils/compile_warnings.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "test_msgs/msg/empty.hpp"
 

rclcpp/test/rclcpp/executors/test_multi_threaded_executor.cpp

@@ -15,13 +15,20 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
-#include <string>
+#include <cmath>
 #include <memory>
+#include <mutex>
+#include <string>
 
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/clock.hpp"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executor_options.hpp"
 #include "rclcpp/executors.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/utilities.hpp"
 
 using namespace std::chrono_literals;
 

rclcpp/test/rclcpp/executors/test_reinitialized_timers.cpp

@@ -19,8 +19,10 @@
 #include <memory>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/create_timer.hpp"
+#include "rclcpp/duration.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "./executor_types.hpp"
 

rclcpp/test/rclcpp/node_interfaces/node_wrapper.hpp

@@ -18,7 +18,17 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/client.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_clock_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/node_interfaces/node_time_source_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
 
 class NodeWrapper
 {

rclcpp/test/rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_rclcpp_node.cpp

@@ -14,8 +14,9 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 int main(void)
 {

rclcpp/test/rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ptr_wrapped_node.cpp

@@ -14,8 +14,8 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 #include "../node_wrapper.hpp"
 

rclcpp/test/rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_rclcpp_node.cpp

@@ -14,8 +14,9 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 int main(void)
 {

rclcpp/test/rclcpp/node_interfaces/test_does_not_compile/get_node_topics_interface_const_ref_wrapped_node.cpp

@@ -14,8 +14,8 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
 #include "../node_wrapper.hpp"
 

rclcpp/test/rclcpp/node_interfaces/test_get_node_interfaces.cpp

@@ -13,12 +13,16 @@
 // limitations under the License.
 
 #include <memory>
+#include <stdexcept>
 #include <string>
+#include <type_traits>
 
 #include "gtest/gtest.h"
 
+#include "rclcpp/node.hpp"
 #include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "./node_wrapper.hpp"
 

rclcpp/test/rclcpp/node_interfaces/test_node_base.cpp

@@ -15,12 +15,14 @@
 #include <gtest/gtest.h>
 
 #include <memory>
+#include <stdexcept>
 #include <string>
 
 #include "rcl/node_options.h"
+#include "rclcpp/exceptions.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/node_interfaces/node_base.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rmw/validate_namespace.h"
 #include "rmw/validate_node_name.h"