Adaptations on ROS coding standard and synchronization with upcoming …

…ROS2 Driver version of this

* Adaptations on ROS coding standards
* Synchronization of handling between this ROS1 Driver and the up-for-release ROS2 Driver version
* Added handling for SIGTERM and SIGKILL
* Removed support for TMC variants that are either obsolete, no CAN support, or no Motor Drive

Co-Authored-By: Christian Joseph Acar <124771470+CAcarADI@users.noreply.github.com>

CMakeLists.txt

@@ -125,7 +125,7 @@ include_directories(
 #add_definitions(-DDEBUG)
 
 ## Declare a C++ library
-add_library(socket_can_wrapper src/socket_can_wrapper.cpp)
+add_library(${PROJECT_NAME}_socket_can_wrapper src/socket_can_wrapper.cpp)
 add_library(tmcl_interpreter src/tmcl_interpreter.cpp)
 add_library(tmcl_ros src/tmcl_ros.cpp)
 add_library(tmcl_motor src/tmcl_motor.cpp)
@@ -158,7 +158,7 @@ add_executable(${PROJECT_NAME}_node src/tmcl_ros_node.cpp)
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(tmcl_interpreter socket_can_wrapper)
+target_link_libraries(tmcl_interpreter ${PROJECT_NAME}_socket_can_wrapper)
 target_link_libraries(tmcl_ros tmcl_interpreter)
 target_link_libraries(tmcl_ros tmcl_motor)
 target_link_libraries(tmcl_interpreter tmcl_motor)

README.md

@@ -164,13 +164,13 @@ $ roslaunch tmcl_ros tmcm_1636.launch
 
 ## tmcl_ros_node
 
-> :memo: _Note: For those with <motor_num> in the topic names, these are ideally the motor number. For example, if there are 2 motors used, there should be two published topics for tmc_info, specifically /tmc_info_0 for motor 0 and then /tmc_info_1 for motor 1._
+> :memo: _Note: For those with <motor_number> in the topic names, these are ideally the motor number. For example, if there are 2 motors used, there should be two published topics for tmc_info, specifically /tmc_info_0 for motor 0 and then /tmc_info_1 for motor 1._
 
 ### Published topics
 
 These are the default topic names, topic names can be modified as a ROS parameter.
 
-+ **/tmc_info_<motor_num>**
++ **/tmc_info_<motor_number>**
     - Data containing:
       + (1) board voltage (V)
       + (2) statusflag value (only for boards with StatusFlags AP, else, value is set to 0)
@@ -182,13 +182,13 @@ These are the default topic names, topic names can be modified as a ROS paramete
 
 ### Subscriber topics
 
-+ **/cmd_vel_<motor_num>** 
++ **/cmd_vel_<motor_number>** 
     - Velocity command (rpm or m/s)
-+ **/cmd_abspos_<motor_num>** 
++ **/cmd_abspos_<motor_number>** 
     - Absolute position command (degree angle)
-+ **/cmd_relpos_<motor_num>** 
++ **/cmd_relpos_<motor_number>** 
     - Relative position command (degree angle)
-+ **/cmd_trq_<motor_num>** 
++ **/cmd_trq_<motor_number>** 
     - Torque command (mA)
 
 ### Advertised services