From f6d27c4b9405f09ae8f53d0231ba109322101441 Mon Sep 17 00:00:00 2001
From: Miguel Fernandez Cortizas <miguel.fernandez.cortizas@upm.es>
Date: Mon, 1 Jul 2024 09:51:26 +0000
Subject: [PATCH] [fix] passing tests

---
 CMakeLists.txt                                 |  5 ++++-
 .../as2_platform_mavlink/mavlink_platform.hpp  | 11 +++++------
 src/mavlink_platform.cpp                       | 18 ------------------
 3 files changed, 9 insertions(+), 25 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5afd269..442f784 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,7 +46,10 @@ set(SOURCE_CPP_FILES
 )
 
 # Create the node executable
-add_executable(${PROJECT_NAME}_node src/mavlink_platform_node.cpp ${SOURCE_CPP_FILES})
+add_executable(${PROJECT_NAME}_node
+  src/mavlink_platform_node.cpp
+  ${SOURCE_CPP_FILES})
+
 ament_target_dependencies(${PROJECT_NAME}_node ${PROJECT_DEPENDENCIES})
 
 # Create the library
diff --git a/include/as2_platform_mavlink/mavlink_platform.hpp b/include/as2_platform_mavlink/mavlink_platform.hpp
index a21cc81..642a70c 100644
--- a/include/as2_platform_mavlink/mavlink_platform.hpp
+++ b/include/as2_platform_mavlink/mavlink_platform.hpp
@@ -33,8 +33,6 @@
  *
  * @author Miguel Fernández Cortizas
  *         Rafael Pérez Seguí
- *         Pedro Arias Pérez
- *         Javier Melero Deza
  */
 
 #ifndef AS2_PLATFORM_MAVLINK__MAVLINK_PLATFORM_HPP_
@@ -42,12 +40,14 @@
 
 #include <Eigen/Dense>
 
+#include <string>
+#include <memory>
 #include <cmath>
+
+
 #include <mavros_msgs/msg/detail/attitude_target__struct.hpp>
 #include <nav_msgs/msg/detail/odometry__struct.hpp>
 #include <rclcpp/subscription.hpp>
-#include <string>
-#include <memory>
 
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/twist_stamped.hpp>
@@ -56,14 +56,13 @@
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
 #include <sensor_msgs/msg/nav_sat_status.hpp>
-
+#include <mavros_msgs/msg/attitude_target.hpp>
 #include <mavros_msgs/msg/command_code.hpp>
 #include <mavros_msgs/msg/state.hpp>
 #include <mavros_msgs/msg/thrust.hpp>
 #include <mavros_msgs/srv/command_bool.hpp>
 #include <mavros_msgs/srv/command_long.hpp>
 #include <mavros_msgs/srv/set_mode.hpp>
-#include <mavros_msgs/msg/attitude_target.hpp>
 
 
 #include "as2_core/aerial_platform.hpp"
diff --git a/src/mavlink_platform.cpp b/src/mavlink_platform.cpp
index 18b31f9..ab45c37 100644
--- a/src/mavlink_platform.cpp
+++ b/src/mavlink_platform.cpp
@@ -93,24 +93,6 @@ MavlinkPlatform::MavlinkPlatform(const rclcpp::NodeOptions & options)
     std::make_shared<as2::SynchronousServiceClient<mavros_msgs::srv::SetMode>>(
     "mavros/set_mode", this);
 
-
-  // // px4_timesync_sub_ = this->create_subscription<px4_msgs::msg::TimesyncStatus>(
-  // //     "/fmu/out/timesync_status", rclcpp::SensorDataQoS(),
-  // //     [this](const px4_msgs::msg::TimesyncStatus::UniquePtr msg) {
-  // //       timestamp_.store(msg->timestamp);
-  // //     });
-
-  // px4_gps_sub_ = this->create_subscription<px4_msgs::msg::SensorGps>(
-  //   "/fmu/out/vehicle_gps_position", rclcpp::SensorDataQoS(),
-  //   std::bind(&MavlinkPlatform::px4GpsCallback, this, std::placeholders::_1));
-
-  // px4_battery_sub_ = this->create_subscription<px4_msgs::msg::BatteryStatus>(
-  //   "/fmu/out/battery_status", rclcpp::SensorDataQoS(),
-  //   std::bind(&MavlinkPlatform::px4BatteryCallback, this, std::placeholders::_1));
-
-  // px4_odometry_sub_ = this->create_subscription<px4_msgs::msg::VehicleOdometry>(
-  //   "/fmu/out/vehicle_odometry", rclcpp::SensorDataQoS(),
-  //   std::bind(&MavlinkPlatform::px4odometryCallback, this, std::placeholders::_1));
   tf_handler_ = std::make_shared<as2::tf::TfHandler>(this);
 
   if (external_odom_) {