From 229d98ddc72727b5f9ddd1e66bbc116fff393bf1 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 14 Jan 2022 00:04:40 +0800
Subject: [PATCH 1/6] Using ament_cmake_auto to build & install

---
 ros_package_template/CMakeLists.txt | 57 +++++++++++------------------
 ros_package_template/package.xml    |  1 +
 2 files changed, 22 insertions(+), 36 deletions(-)

diff --git a/ros_package_template/CMakeLists.txt b/ros_package_template/CMakeLists.txt
index fbcee1e..fc02923 100644
--- a/ros_package_template/CMakeLists.txt
+++ b/ros_package_template/CMakeLists.txt
@@ -9,53 +9,30 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 ## enforcing cleaner code.
 add_definitions(-Wall -Werror)
 
-## Find catkin macros and libraries
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
+#######################
+## Find dependencies ##
+#######################
 
-## Find system libraries
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# See https://github.com/ros2/eigen3_cmake_module
+find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(Boost REQUIRED)
 
 ###########
 ## Build ##
 ###########
 
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-  # Set manually because Eigen sets a non standard INCLUDE DIR
-  ${EIGEN3_INCLUDE_DIR}
-  # Set because Boost is an internal dependency, not transitive.
-  ${Boost_INCLUDE_DIRS}
-)
-
-## Declare a cpp library
-add_library(${PROJECT_NAME}_core
-   src/Algorithm.cpp
+ament_auto_add_library(${PROJECT_NAME}_core 
+  src/Algorithm.cpp
 )
-target_compile_features(${PROJECT_NAME}_core INTERFACE cxx_std_14)
+ament_target_dependencies(${PROJECT_NAME}_core Eigen3)
 
-## Declare cpp executables
-add_executable(${PROJECT_NAME}
+ament_auto_add_executable(${PROJECT_NAME} 
   src/${PROJECT_NAME}_node.cpp
   src/RosPackageTemplate.cpp
 )
-target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_14)
-ament_target_dependencies(${PROJECT_NAME} rclcpp sensor_msgs)
-
-#############
-## Install ##
-#############
-
-# Mark executables and/or libraries for installation
-install(
-  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_core
-  DESTINATION lib/${PROJECT_NAME}
-)
 
 #############
 ## Testing ##
@@ -66,4 +43,12 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+#############
+## Install ##
+#############
+
+ament_auto_package(
+  INSTALL_TO_SHARE 
+  config
+  launch
+)
\ No newline at end of file
diff --git a/ros_package_template/package.xml b/ros_package_template/package.xml
index c911fd5..41354b5 100644
--- a/ros_package_template/package.xml
+++ b/ros_package_template/package.xml
@@ -18,6 +18,7 @@
   <!-- build_depend: dependencies only used in source files -->
   <build_depend>boost</build_depend>
   <!-- depend: build, export, and execution dependency -->
+  <depend>rclcpp</depend>
   <depend>eigen</depend>
   <depend>sensor_msgs</depend>
 

From 59902638bd1c0e97c91e6dc845f15e81655eacd8 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 14 Jan 2022 00:09:06 +0800
Subject: [PATCH 2/6] Using ament_uncrustify to reformat cpp file

---
 .../ros_package_template/Algorithm.hpp        | 15 ++++-----
 .../RosPackageTemplate.hpp                    |  9 +++---
 ros_package_template/src/Algorithm.cpp        | 32 ++++++++-----------
 .../src/RosPackageTemplate.cpp                | 11 +++----
 .../src/ros_package_template_node.cpp         |  3 +-
 ros_package_template/test/AlgorithmTest.cpp   |  6 ++--
 .../test/test_ros_package_template.cpp        |  4 +--
 7 files changed, 36 insertions(+), 44 deletions(-)

diff --git a/ros_package_template/include/ros_package_template/Algorithm.hpp b/ros_package_template/include/ros_package_template/Algorithm.hpp
index 4b8ecf9..e875311 100644
--- a/ros_package_template/include/ros_package_template/Algorithm.hpp
+++ b/ros_package_template/include/ros_package_template/Algorithm.hpp
@@ -1,17 +1,17 @@
 #pragma once
 
-#include <memory>
-
 #include <Eigen/Core>
+#include <memory>
 
-namespace ros_package_template {
+namespace ros_package_template
+{
 
 /*!
  * Class containing the algorithmic part of the package.
  */
 class Algorithm
 {
- public:
+public:
   /*!
    * Constructor.
    */
@@ -32,7 +32,7 @@ class Algorithm
    * Add multiple measurements as once.
    * @param data new data.
    */
-  void addData(const Eigen::VectorXd& data);
+  void addData(const Eigen::VectorXd & data);
 
   /*!
    * Get the computed average of the data.
@@ -40,8 +40,7 @@ class Algorithm
    */
   double getAverage() const;
 
- private:
- 
+private:
   //! Forward declared structure that will contain the data
   struct Data;
 
@@ -49,4 +48,4 @@ class Algorithm
   std::unique_ptr<Data> data_;
 };
 
-} /* namespace */
+}  // namespace ros_package_template
diff --git a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp b/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
index 00daadf..62511c4 100644
--- a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
+++ b/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
@@ -5,19 +5,20 @@
 // ROS2
 #include "rclcpp/rclcpp.hpp"
 
-namespace ros_package_template {
+namespace ros_package_template
+{
 
 /*!
  * Main class for the node to handle the ROS interfacing.
  */
 class RosPackageTemplate : public rclcpp::Node
 {
- public:
+public:
   /*!
    * Constructor.
    * @param nodeHandle the ROS node handle.
    */
-  RosPackageTemplate(const std::string& name);
+  RosPackageTemplate(const std::string & name);
 
   /*!
    * Destructor.
@@ -25,4 +26,4 @@ class RosPackageTemplate : public rclcpp::Node
   virtual ~RosPackageTemplate();
 };
 
-} /* namespace */
+}  // namespace ros_package_template
diff --git a/ros_package_template/src/Algorithm.cpp b/ros_package_template/src/Algorithm.cpp
index a66c49a..baf5d6b 100644
--- a/ros_package_template/src/Algorithm.cpp
+++ b/ros_package_template/src/Algorithm.cpp
@@ -1,39 +1,33 @@
 #include "ros_package_template/Algorithm.hpp"
 
-#include <utility>
-
 #include <boost/accumulators/accumulators.hpp>
-#include <boost/accumulators/statistics/mean.hpp>
 #include <boost/accumulators/statistics/count.hpp>
+#include <boost/accumulators/statistics/mean.hpp>
+#include <utility>
 
-namespace ros_package_template {
+namespace ros_package_template
+{
 
 using namespace boost::accumulators;
 
-struct Algorithm::Data {
+struct Algorithm::Data
+{
   accumulator_set<double, features<tag::mean, tag::count>> acc;
 };
 
-Algorithm::Algorithm() {
-  data_ = std::make_unique<Data>();
-}
+Algorithm::Algorithm() {data_ = std::make_unique<Data>();}
 
 Algorithm::~Algorithm() = default;
 
-void Algorithm::addData(const double data)
-{
-  data_->acc(data);
-}
+void Algorithm::addData(const double data) {data_->acc(data);}
 
-void Algorithm::addData(const Eigen::VectorXd& data)
+void Algorithm::addData(const Eigen::VectorXd & data)
 {
-  for(auto i = 0; i < data.size(); ++i)
+  for (auto i = 0; i < data.size(); ++i) {
     addData(data[i]);
+  }
 }
 
-double Algorithm::getAverage() const
-{
-  return count(data_->acc) ? mean(data_->acc) : 0;
-}
+double Algorithm::getAverage() const {return count(data_->acc) ? mean(data_->acc) : 0;}
 
-} /* namespace */
+}  // namespace ros_package_template
diff --git a/ros_package_template/src/RosPackageTemplate.cpp b/ros_package_template/src/RosPackageTemplate.cpp
index c939067..451ef72 100644
--- a/ros_package_template/src/RosPackageTemplate.cpp
+++ b/ros_package_template/src/RosPackageTemplate.cpp
@@ -3,13 +3,12 @@
 // STD
 #include <string>
 
-namespace ros_package_template {
-
-RosPackageTemplate::RosPackageTemplate(const std::string& name)
-    : Node(name)
+namespace ros_package_template
 {
-}
+
+RosPackageTemplate::RosPackageTemplate(const std::string & name)
+: Node(name) {}
 
 RosPackageTemplate::~RosPackageTemplate() = default;
 
-} /* namespace */
+}  // namespace ros_package_template
diff --git a/ros_package_template/src/ros_package_template_node.cpp b/ros_package_template/src/ros_package_template_node.cpp
index 804595f..e1ba03b 100644
--- a/ros_package_template/src/ros_package_template_node.cpp
+++ b/ros_package_template/src/ros_package_template_node.cpp
@@ -1,8 +1,7 @@
 #include "rclcpp/rclcpp.hpp"
-
 #include "ros_package_template/RosPackageTemplate.hpp"
 
-int main(int argc, char** argv)
+int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
diff --git a/ros_package_template/test/AlgorithmTest.cpp b/ros_package_template/test/AlgorithmTest.cpp
index aeb10cd..3a7bc21 100644
--- a/ros_package_template/test/AlgorithmTest.cpp
+++ b/ros_package_template/test/AlgorithmTest.cpp
@@ -32,10 +32,10 @@ TEST(Algorithm, singleDataVector)
   Algorithm algorithm;
   Eigen::VectorXd inputData;
   inputData.resize(2);
-  inputData << inputValue, 3*inputValue;
+  inputData << inputValue, 3 * inputValue;
   algorithm.addData(inputData);
   const double average = algorithm.getAverage();
-  EXPECT_NEAR(2*inputValue, average, 1e-10);
+  EXPECT_NEAR(2 * inputValue, average, 1e-10);
 }
 
 TEST(Algorithm, multipleDataPoints)
@@ -43,7 +43,7 @@ TEST(Algorithm, multipleDataPoints)
   size_t nMeasurements = 100;
   std::vector<double> inputData(nMeasurements);
   double sum = 0.0;
-  for (auto& data : inputData) {
+  for (auto & data : inputData) {
     data = 100.0 * (double)rand() / RAND_MAX;
     sum += data;
   }
diff --git a/ros_package_template/test/test_ros_package_template.cpp b/ros_package_template/test/test_ros_package_template.cpp
index 2fc9dd5..c4f1a54 100644
--- a/ros_package_template/test/test_ros_package_template.cpp
+++ b/ros_package_template/test/test_ros_package_template.cpp
@@ -2,9 +2,9 @@
 #include <gtest/gtest.h>
 
 // Run all the tests that were declared with TEST()
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   testing::InitGoogleTest(&argc, argv);
   srand((int)time(0));
   return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}

From ecbc818117621b235c9b13929f440cb70abf50b4 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 14 Jan 2022 00:28:17 +0800
Subject: [PATCH 3/6] Use rclcpp components to build a node

---
 ros_package_template/CMakeLists.txt               | 13 +++++++------
 .../ros_package_template/RosPackageTemplate.hpp   |  6 +++---
 ros_package_template/package.xml                  |  1 +
 ros_package_template/src/RosPackageTemplate.cpp   | 14 ++++++++++++--
 .../src/ros_package_template_node.cpp             | 15 ---------------
 5 files changed, 23 insertions(+), 26 deletions(-)
 delete mode 100644 ros_package_template/src/ros_package_template_node.cpp

diff --git a/ros_package_template/CMakeLists.txt b/ros_package_template/CMakeLists.txt
index fc02923..7801a68 100644
--- a/ros_package_template/CMakeLists.txt
+++ b/ros_package_template/CMakeLists.txt
@@ -24,14 +24,15 @@ find_package(Eigen3 REQUIRED)
 ## Build ##
 ###########
 
-ament_auto_add_library(${PROJECT_NAME}_core 
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/Algorithm.cpp
+  src/RosPackageTemplate.cpp
 )
-ament_target_dependencies(${PROJECT_NAME}_core Eigen3)
+ament_target_dependencies(${PROJECT_NAME} Eigen3)
 
-ament_auto_add_executable(${PROJECT_NAME} 
-  src/${PROJECT_NAME}_node.cpp
-  src/RosPackageTemplate.cpp
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN ${PROJECT_NAME}::RosPackageTemplate
+  EXECUTABLE ${PROJECT_NAME}_node
 )
 
 #############
@@ -48,7 +49,7 @@ endif()
 #############
 
 ament_auto_package(
-  INSTALL_TO_SHARE 
+  INSTALL_TO_SHARE
   config
   launch
 )
\ No newline at end of file
diff --git a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp b/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
index 62511c4..64f9bfd 100644
--- a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
+++ b/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
@@ -18,12 +18,12 @@ class RosPackageTemplate : public rclcpp::Node
    * Constructor.
    * @param nodeHandle the ROS node handle.
    */
-  RosPackageTemplate(const std::string & name);
+  RosPackageTemplate(const rclcpp::NodeOptions & options);
 
-  /*!
+    /*!
    * Destructor.
    */
-  virtual ~RosPackageTemplate();
+    virtual ~RosPackageTemplate();
 };
 
 }  // namespace ros_package_template
diff --git a/ros_package_template/package.xml b/ros_package_template/package.xml
index 41354b5..ee74770 100644
--- a/ros_package_template/package.xml
+++ b/ros_package_template/package.xml
@@ -19,6 +19,7 @@
   <build_depend>boost</build_depend>
   <!-- depend: build, export, and execution dependency -->
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>eigen</depend>
   <depend>sensor_msgs</depend>
 
diff --git a/ros_package_template/src/RosPackageTemplate.cpp b/ros_package_template/src/RosPackageTemplate.cpp
index 451ef72..6d4a525 100644
--- a/ros_package_template/src/RosPackageTemplate.cpp
+++ b/ros_package_template/src/RosPackageTemplate.cpp
@@ -6,9 +6,19 @@
 namespace ros_package_template
 {
 
-RosPackageTemplate::RosPackageTemplate(const std::string & name)
-: Node(name) {}
+RosPackageTemplate::RosPackageTemplate(const rclcpp::NodeOptions & options)
+: Node("RosPackageTemplateNode", options)
+{
+  RCLCPP_INFO(this->get_logger(), "Starting RosPackageTemplateNode!");
+}
 
 RosPackageTemplate::~RosPackageTemplate() = default;
 
 }  // namespace ros_package_template
+
+#include "rclcpp_components/register_node_macro.hpp"
+
+// Register the component with class_loader.
+// This acts as a sort of entry point, allowing the component to be discoverable when its library
+// is being loaded into a running process.
+RCLCPP_COMPONENTS_REGISTER_NODE(ros_package_template::RosPackageTemplate)
\ No newline at end of file
diff --git a/ros_package_template/src/ros_package_template_node.cpp b/ros_package_template/src/ros_package_template_node.cpp
deleted file mode 100644
index e1ba03b..0000000
--- a/ros_package_template/src/ros_package_template_node.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include "rclcpp/rclcpp.hpp"
-#include "ros_package_template/RosPackageTemplate.hpp"
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-
-  rclcpp::executors::SingleThreadedExecutor exec;
-  auto node = std::make_shared<ros_package_template::RosPackageTemplate>("ros_package_template");
-
-  exec.add_node(node);
-  exec.spin();
-  rclcpp::shutdown();
-  return 0;
-}

From 51ae7a5c2ce9f3447173ca1d32c5e68f4a69e4e8 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 14 Jan 2022 00:36:12 +0800
Subject: [PATCH 4/6] Update launch file

---
 ros_package_template/config/default.yaml      |  1 -
 ros_package_template/config/template.yaml     |  3 +++
 .../launch/ros_package_template.launch        |  8 ------
 .../launch/ros_package_template.launch.py     | 22 +++++++++++++++
 ...s_package_template_overlying_params.launch | 27 -------------------
 5 files changed, 25 insertions(+), 36 deletions(-)
 delete mode 100644 ros_package_template/config/default.yaml
 create mode 100644 ros_package_template/config/template.yaml
 delete mode 100644 ros_package_template/launch/ros_package_template.launch
 create mode 100644 ros_package_template/launch/ros_package_template.launch.py
 delete mode 100644 ros_package_template/launch/ros_package_template_overlying_params.launch

diff --git a/ros_package_template/config/default.yaml b/ros_package_template/config/default.yaml
deleted file mode 100644
index a89e5b5..0000000
--- a/ros_package_template/config/default.yaml
+++ /dev/null
@@ -1 +0,0 @@
-subscriber_topic: /temperature
\ No newline at end of file
diff --git a/ros_package_template/config/template.yaml b/ros_package_template/config/template.yaml
new file mode 100644
index 0000000..42ffc65
--- /dev/null
+++ b/ros_package_template/config/template.yaml
@@ -0,0 +1,3 @@
+/template_node:
+  ros__parameters:
+    use_sim_time: false
\ No newline at end of file
diff --git a/ros_package_template/launch/ros_package_template.launch b/ros_package_template/launch/ros_package_template.launch
deleted file mode 100644
index 6974a76..0000000
--- a/ros_package_template/launch/ros_package_template.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<launch>
-
-  <!-- Launch ROS Package Template Node -->
-  <node pkg="ros_package_template" type="ros_package_template" name="ros_package_template" output="screen">
-    <rosparam command="load" file="$(dirname)/../config/default.yaml" />
-  </node>
-
-</launch>
diff --git a/ros_package_template/launch/ros_package_template.launch.py b/ros_package_template/launch/ros_package_template.launch.py
new file mode 100644
index 0000000..8c27c3f
--- /dev/null
+++ b/ros_package_template/launch/ros_package_template.launch.py
@@ -0,0 +1,22 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    config = os.path.join(
+        get_package_share_directory('ros_package_template'), 'config', 'default.yaml')
+
+    template_node = Node(
+        name='template_node',
+        package='ros_package_template',
+        executable='ros_package_template_node',
+        namespace='',
+        output='screen',
+        parameters=[config],
+        ## Uncomment this line to change log level to DEBUG
+        # arguments=['--ros-args', '--log-level', 'DEBUG'],
+    )
+
+    return LaunchDescription([template_node])
diff --git a/ros_package_template/launch/ros_package_template_overlying_params.launch b/ros_package_template/launch/ros_package_template_overlying_params.launch
deleted file mode 100644
index 0ac3e22..0000000
--- a/ros_package_template/launch/ros_package_template_overlying_params.launch
+++ /dev/null
@@ -1,27 +0,0 @@
-<launch>
-
-  <!-- This launch file shows how to launch ROS nodes with default parameters and some user's
-       custom parameters:
-        * Default parameters are loaded form the file specified by 'default_param_file';
-        * User's overlying parameters file path is specified by 'overlying_param_file', which can
-          be set from the launch file that includes this file.
-
-       The user can overwrite even just a subset of the default parameters. Only parameters
-       contained in 'overlying_param_file' will overwrite the corresponding default ones.
-       This means that if the user does not specify some parameters, then the default ones
-       will be loaded. -->
-
-  <!-- Default parameters. Note the usage of 'value', to avoid they can be wrongly changed. -->
-  <arg name="default_param_file" value="$(dirname)/../config/default.yaml" />
-
-  <!-- User's parameters that can overly default ones: use default ones in case user does not specify them. -->
-  <arg name="overlying_param_file" default="$(arg default_param_file)" />
-
-  <!-- Launch ROS Package Template node. -->
-  <node pkg="ros_package_template" type="ros_package_template" name="ros_package_template" output="screen">
-    <rosparam command="load" file="$(arg default_param_file)" />
-    <!-- Overlay parameters if user specified them. They must be loaded after default parameters! -->
-    <rosparam command="load" file="$(arg overlying_param_file)" />
-  </node>
-
-</launch>

From f8dd12989c46e6035cea71061155b1d6490e010b Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Fri, 14 Jan 2022 18:33:20 +0800
Subject: [PATCH 5/6] Change files to under_scored

---
 ros_package_template/CMakeLists.txt                           | 4 ++--
 .../ros_package_template/{Algorithm.hpp => algorithm.hpp}     | 0
 .../{RosPackageTemplate.hpp => ros_package_template.hpp}      | 2 +-
 ros_package_template/src/{Algorithm.cpp => algorithm.cpp}     | 2 +-
 .../src/{RosPackageTemplate.cpp => ros_package_template.cpp}  | 2 +-
 5 files changed, 5 insertions(+), 5 deletions(-)
 rename ros_package_template/include/ros_package_template/{Algorithm.hpp => algorithm.hpp} (100%)
 rename ros_package_template/include/ros_package_template/{RosPackageTemplate.hpp => ros_package_template.hpp} (90%)
 rename ros_package_template/src/{Algorithm.cpp => algorithm.cpp} (94%)
 rename ros_package_template/src/{RosPackageTemplate.cpp => ros_package_template.cpp} (92%)

diff --git a/ros_package_template/CMakeLists.txt b/ros_package_template/CMakeLists.txt
index 7801a68..f7a7972 100644
--- a/ros_package_template/CMakeLists.txt
+++ b/ros_package_template/CMakeLists.txt
@@ -25,8 +25,8 @@ find_package(Eigen3 REQUIRED)
 ###########
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
-  src/Algorithm.cpp
-  src/RosPackageTemplate.cpp
+  src/algorithm.cpp
+  src/ros_package_template.cpp
 )
 ament_target_dependencies(${PROJECT_NAME} Eigen3)
 
diff --git a/ros_package_template/include/ros_package_template/Algorithm.hpp b/ros_package_template/include/ros_package_template/algorithm.hpp
similarity index 100%
rename from ros_package_template/include/ros_package_template/Algorithm.hpp
rename to ros_package_template/include/ros_package_template/algorithm.hpp
diff --git a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp b/ros_package_template/include/ros_package_template/ros_package_template.hpp
similarity index 90%
rename from ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
rename to ros_package_template/include/ros_package_template/ros_package_template.hpp
index 64f9bfd..617fa63 100644
--- a/ros_package_template/include/ros_package_template/RosPackageTemplate.hpp
+++ b/ros_package_template/include/ros_package_template/ros_package_template.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "ros_package_template/Algorithm.hpp"
+#include "ros_package_template/algorithm.hpp"
 
 // ROS2
 #include "rclcpp/rclcpp.hpp"
diff --git a/ros_package_template/src/Algorithm.cpp b/ros_package_template/src/algorithm.cpp
similarity index 94%
rename from ros_package_template/src/Algorithm.cpp
rename to ros_package_template/src/algorithm.cpp
index baf5d6b..2a9098c 100644
--- a/ros_package_template/src/Algorithm.cpp
+++ b/ros_package_template/src/algorithm.cpp
@@ -1,4 +1,4 @@
-#include "ros_package_template/Algorithm.hpp"
+#include "ros_package_template/algorithm.hpp"
 
 #include <boost/accumulators/accumulators.hpp>
 #include <boost/accumulators/statistics/count.hpp>
diff --git a/ros_package_template/src/RosPackageTemplate.cpp b/ros_package_template/src/ros_package_template.cpp
similarity index 92%
rename from ros_package_template/src/RosPackageTemplate.cpp
rename to ros_package_template/src/ros_package_template.cpp
index 6d4a525..4c5dd8a 100644
--- a/ros_package_template/src/RosPackageTemplate.cpp
+++ b/ros_package_template/src/ros_package_template.cpp
@@ -1,4 +1,4 @@
-#include "ros_package_template/RosPackageTemplate.hpp"
+#include "ros_package_template/ros_package_template.hpp"
 
 // STD
 #include <string>

From f01af465bd40c2b89adb125bbb8a3af9ff756523 Mon Sep 17 00:00:00 2001
From: ChenJun <chen.junn@outlook.com>
Date: Sat, 22 Jan 2022 18:49:45 +0800
Subject: [PATCH 6/6] Remove eigen in CmakeLists

---
 ros_package_template/CMakeLists.txt                          | 5 -----
 .../include/ros_package_template/algorithm.hpp               | 2 +-
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/ros_package_template/CMakeLists.txt b/ros_package_template/CMakeLists.txt
index f7a7972..a1f1d47 100644
--- a/ros_package_template/CMakeLists.txt
+++ b/ros_package_template/CMakeLists.txt
@@ -16,10 +16,6 @@ add_definitions(-Wall -Werror)
 find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
-# See https://github.com/ros2/eigen3_cmake_module
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
-
 ###########
 ## Build ##
 ###########
@@ -28,7 +24,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/algorithm.cpp
   src/ros_package_template.cpp
 )
-ament_target_dependencies(${PROJECT_NAME} Eigen3)
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN ${PROJECT_NAME}::RosPackageTemplate
diff --git a/ros_package_template/include/ros_package_template/algorithm.hpp b/ros_package_template/include/ros_package_template/algorithm.hpp
index e875311..feaee74 100644
--- a/ros_package_template/include/ros_package_template/algorithm.hpp
+++ b/ros_package_template/include/ros_package_template/algorithm.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <Eigen/Core>
+#include <eigen3/Eigen/Eigen>
 #include <memory>
 
 namespace ros_package_template