From 64abc78ad8a1bafb51d64d76f09689bd9a4e736b Mon Sep 17 00:00:00 2001
From: Luca Della Vedova <lucadv@intrinsic.ai>
Date: Fri, 10 Jan 2025 16:11:18 +0800
Subject: [PATCH] Namespace, file renaming, copyright

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
---
 nexus_visualization/CMakeLists.txt                     |  4 ++--
 ...ateVisualizer.cpp => workcell_state_visualizer.cpp} |  7 +++++--
 ...ateVisualizer.hpp => workcell_state_visualizer.hpp} | 10 ++++++----
 3 files changed, 13 insertions(+), 8 deletions(-)
 rename nexus_visualization/src/{WorkcellStateVisualizer.cpp => workcell_state_visualizer.cpp} (97%)
 rename nexus_visualization/src/{WorkcellStateVisualizer.hpp => workcell_state_visualizer.hpp} (93%)

diff --git a/nexus_visualization/CMakeLists.txt b/nexus_visualization/CMakeLists.txt
index b434266..a3c2eeb 100644
--- a/nexus_visualization/CMakeLists.txt
+++ b/nexus_visualization/CMakeLists.txt
@@ -22,7 +22,7 @@ foreach(pkg ${dep_pkgs})
 endforeach()
 
 #===============================================================================
-add_library(workcell_state_visualizer SHARED src/WorkcellStateVisualizer.cpp)
+add_library(workcell_state_visualizer SHARED src/workcell_state_visualizer.cpp)
 
 target_link_libraries(workcell_state_visualizer
   PUBLIC
@@ -45,7 +45,7 @@ target_include_directories(workcell_state_visualizer
 target_compile_features(workcell_state_visualizer INTERFACE cxx_std_17)
 
 rclcpp_components_register_node(workcell_state_visualizer
-  PLUGIN "WorkcellStateVisualizer"
+  PLUGIN "workcell_state_visualizer"
   EXECUTABLE workcell_state_visualizer_node)
 
 #===============================================================================
diff --git a/nexus_visualization/src/WorkcellStateVisualizer.cpp b/nexus_visualization/src/workcell_state_visualizer.cpp
similarity index 97%
rename from nexus_visualization/src/WorkcellStateVisualizer.cpp
rename to nexus_visualization/src/workcell_state_visualizer.cpp
index fbcc11c..b8d4b6e 100644
--- a/nexus_visualization/src/WorkcellStateVisualizer.cpp
+++ b/nexus_visualization/src/workcell_state_visualizer.cpp
@@ -17,10 +17,12 @@
 
 #include <chrono>
 
-#include "WorkcellStateVisualizer.hpp"
+#include "workcell_state_visualizer.hpp"
 
 using namespace std::chrono_literals;
 
+namespace nexus::visualization {
+
 //==============================================================================
 WorkcellStateVisualizer::WorkcellStateVisualizer(const rclcpp::NodeOptions& options)
 : Node("workcell_state_visualizer", options),
@@ -217,7 +219,8 @@ void WorkcellStateVisualizer::timer_cb()
   if (!marker_array->markers.empty())
     _marker_pub->publish(std::move(marker_array));
 }
+}
 
 #include <rclcpp_components/register_node_macro.hpp>
 
-RCLCPP_COMPONENTS_REGISTER_NODE(WorkcellStateVisualizer)
+RCLCPP_COMPONENTS_REGISTER_NODE(nexus::visualization::WorkcellStateVisualizer)
diff --git a/nexus_visualization/src/WorkcellStateVisualizer.hpp b/nexus_visualization/src/workcell_state_visualizer.hpp
similarity index 93%
rename from nexus_visualization/src/WorkcellStateVisualizer.hpp
rename to nexus_visualization/src/workcell_state_visualizer.hpp
index e12754f..fb85ebd 100644
--- a/nexus_visualization/src/WorkcellStateVisualizer.hpp
+++ b/nexus_visualization/src/workcell_state_visualizer.hpp
@@ -1,5 +1,5 @@
 /*
- * Copyright (C) 2024 Open Source Robotics Foundation
+ * Copyright (C) 2025 Open Source Robotics Foundation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -15,8 +15,8 @@
  *
  */
 
-#ifndef SRC__WORKCELLSTATEVISUALIZER_HPP
-#define SRC__WORKCELLSTATEVISUALIZER_HPP
+#ifndef SRC__WORKCELL_STATE_VISUALIZER_HPP
+#define SRC__WORKCELL_STATE_VISUALIZER_HPP
 
 #include <rclcpp/rclcpp.hpp>
 
@@ -31,7 +31,8 @@
 #include <visualization_msgs/msg/marker.hpp>
 
 #include <unordered_map>
-#include <unordered_set>
+
+namespace nexus::visualization {
 
 //==============================================================================
 class WorkcellStateVisualizer : public rclcpp::Node
@@ -80,5 +81,6 @@ class WorkcellStateVisualizer : public rclcpp::Node
   std::unordered_map<std::string, WorkcellState> _workcell_states;
 };
 
+}
 
 #endif // SRC__WORKCELLSTATEVISUALIZER_HPP