Backward compatibility

CMakeLists.txt

@@ -62,20 +62,20 @@ generate_parameter_library(
   src/control_filters/low_pass_filter_parameters.yaml
 )
 
-add_library(low_pass_filter SHARED
+add_library(low_pass_filter_ros SHARED
   src/control_filters/low_pass_filter_ros.cpp
 )
-target_compile_features(low_pass_filter PUBLIC cxx_std_17)
-target_include_directories(low_pass_filter PUBLIC
+target_compile_features(low_pass_filter_ros PUBLIC cxx_std_17)
+target_include_directories(low_pass_filter_ros PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
     $<INSTALL_INTERFACE:include/control_toolbox>
 )
-target_link_libraries(low_pass_filter PUBLIC
+target_link_libraries(low_pass_filter_ros PUBLIC
   low_pass_filter_parameters
   Eigen3::Eigen
 )
-ament_target_dependencies(low_pass_filter PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
+ament_target_dependencies(low_pass_filter_ros PUBLIC ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 
 # Install pluginlib xml
 pluginlib_export_plugin_description_file(filters control_filters.xml)
@@ -102,11 +102,11 @@ if(BUILD_TESTING)
   add_rostest_with_parameters_gmock(test_low_pass_filter_ros test/control_filters/test_low_pass_filter_ros.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/test/control_filters/test_low_pass_filter_parameters.yaml
   )
-  target_link_libraries(test_low_pass_filter_ros low_pass_filter low_pass_filter_parameters)
+  target_link_libraries(test_low_pass_filter_ros low_pass_filter_ros low_pass_filter_parameters)
   ament_target_dependencies(test_low_pass_filter_ros ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 
   ament_add_gmock(test_load_low_pass_filter test/control_filters/test_load_low_pass_filter_ros.cpp)
-  target_link_libraries(test_load_low_pass_filter low_pass_filter low_pass_filter_parameters)
+  target_link_libraries(test_load_low_pass_filter low_pass_filter_ros low_pass_filter_parameters)
   ament_target_dependencies(test_load_low_pass_filter ${CONTROL_FILTERS_INCLUDE_DEPENDS})
 endif()
 
@@ -115,7 +115,7 @@ install(
   DIRECTORY include/
   DESTINATION include/control_toolbox
 )
-install(TARGETS control_toolbox low_pass_filter low_pass_filter_parameters
+install(TARGETS control_toolbox low_pass_filter_ros low_pass_filter_parameters
   EXPORT export_control_toolbox
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

control_filters.xml

@@ -1,5 +1,5 @@
 <class_libraries>
-    <library path="low_pass_filter">
+    <library path="low_pass_filter_ros">
       <class name="control_filters/LowPassFilterDouble"
              type="control_filters::LowPassFilterRos&lt;double&gt;"
              base_class_type="filters::FilterBase&lt;double&gt;">

include/control_filters/low_pass_filter.hpp

@@ -0,0 +1,37 @@
+// Copyright (c) 2023, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
+#define CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
+
+#include "low_pass_filter_ros.hpp"
+
+// TODO(christophfroehlich) file is only for backwards compatibility, remove this file in the future
+
+// Deprecation notice
+#ifdef _WIN32
+#pragma message( \
+  "This header include is deprecated. Please update your code to use 'low_pass_filter_ros.hpp' header and link against 'control_toolbox' library.")  //NOLINT
+#else
+#warning \
+  "This header include is deprecated. Please update your code to use 'low_pass_filter_ros.hpp' header and link against 'control_toolbox' library." //NOLINT
+#endif
+
+namespace control_filters
+{
+template <typename T>
+using LowPassFilter = control_filters::LowPassFilterRos<T>;
+}  // namespace control_filters
+
+#endif  // CONTROL_FILTERS__LOW_PASS_FILTER_HPP_