Code cleanup and shutdown fixes

src/ign_actor_plugin/CMakeLists.txt

@@ -5,13 +5,11 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 project(ign_actor_plugin)
 
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
-find_package(rclcpp_components REQUIRED)
+find_package(ament_cmake REQUIRED)
 find_package(ignition-cmake2 REQUIRED)
 find_package(ignition-gazebo6 REQUIRED)
+find_package(geometry_msgs REQUIRED)
 find_package(ros_actor_message_queue_msgs REQUIRED)
-find_package(ros_actor_action_server_msgs REQUIRED)
 
 find_package(ignition-plugin1 REQUIRED COMPONENTS register)
 set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
@@ -19,22 +17,18 @@ set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 ament_export_dependencies(ign_actor_plugin
     "rosidl_default_runtime"
     "ros_actor_action_server_msgs"
-    "rclcpp"
-    "rclcpp_action"
-    "rclcpp_components"
+    "geometry_msgs"
 )
 
 # Add sources for each plugin to be registered.
 add_library(ign_actor_plugin SHARED src/ActorSystem.cpp)
-ament_target_dependencies(ign_actor_plugin rclcpp rclcpp_action ros_actor_message_queue_msgs ros_actor_action_server_msgs)
+ament_target_dependencies(ign_actor_plugin ros_actor_message_queue_msgs geometry_msgs)
 set_property(TARGET ign_actor_plugin PROPERTY CXX_STANDARD 17)
 target_compile_options(ign_actor_plugin PRIVATE -std=c++17)
 
 target_link_libraries(ign_actor_plugin
     ignition-gazebo6::ignition-gazebo6
     ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
-    ${rclcpp_LIBRARIES}
-    ${rclcpp_action_LIBRARIES}
 )
 
 install(TARGETS

src/ign_actor_plugin/package.xml

@@ -8,11 +8,8 @@
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
-  <depend>rclcpp_components</depend>
   <depend>ros_actor_message_queue_msgs</depend>
-  <depend>ros_actor_action_server_msgs</depend>
+  <depend>geometry_msgs</depend>
   <depend>ignition-cmake2</depend>
   <depend>ignition-gazebo6</depend>
   <test_depend>ament_lint_auto</test_depend>

src/ign_actor_plugin/src/ActorSystem.cpp

@@ -8,7 +8,6 @@ IGNITION_ADD_PLUGIN(ignition::gazebo::ActorSystem, ignition::gazebo::System, ign
                     ignition::gazebo::ActorSystem::ISystemConfigure)
 
 using namespace ignition::gazebo;
-using namespace ros_actor_action_server_msgs;
 
 ActorSystem::ActorSystem() = default;
 

src/ign_actor_plugin/src/ActorSystem.hpp

@@ -36,18 +36,9 @@
 #include <ignition/gazebo/components/Pose.hh>
 #include <sdf/Actor.hh>
 
-#include <rclcpp/node.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_action/create_server.hpp>
-#include <rclcpp_action/server.hpp>
-#include <rclcpp_action/server_goal_handle.hpp>
-#include <ros_actor_action_server_msgs/action/animation.hpp>
-#include <ros_actor_action_server_msgs/action/movement.hpp>
 #include <ros_actor_message_queue_msgs/MessageTypes.hpp>
 
 using namespace ros_actor_message_queue_msgs;
-using namespace ros_actor_action_server_msgs;
-using rclcpp_action::ServerGoalHandle;
 
 #define AnimationActionServer rclcpp_action::Server<action::Animation>
 #define MovementActionServer rclcpp_action::Server<action::Movement>