Optimize includes

camera_calibration_parsers/src/parse.cpp

@@ -35,7 +35,7 @@
 #include "camera_calibration_parsers/parse_ini.hpp"
 #include "camera_calibration_parsers/parse_yml.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/logging.hpp"
 
 namespace camera_calibration_parsers
 {

camera_info_manager/doc/api.rst

@@ -26,7 +26,9 @@ Usage Example
 
 .. code-block:: cpp
 
-   #include <rclcpp/rclcpp.hpp>
+   #include <rclcpp/logging.hpp>
+   #include <rclcpp/node.hpp>
+   #include <rclcpp/timer.hpp>
    #include <camera_info_manager/camera_info_manager.hpp>
    #include <image_transport/image_transport.hpp>
 

camera_info_manager/include/camera_info_manager/camera_info_manager.hpp

@@ -35,7 +35,12 @@
 #include <mutex>
 #include <string>
 
-#include "rclcpp/node.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_logging_interface.hpp"
+#include "rclcpp/node_interfaces/node_services_interface.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/service.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/srv/set_camera_info.hpp"
 #include "camera_info_manager/visibility_control.h"

camera_info_manager/src/camera_info_manager.cpp

@@ -36,6 +36,9 @@
 #include <string>
 #include <string_view>
 
+#include "rclcpp/create_service.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rcpputils/env.hpp"
 #include "camera_calibration_parsers/parse.hpp"
 #include "ament_index_cpp/get_package_prefix.hpp"

camera_info_manager/tests/unit_test.cpp

@@ -47,7 +47,11 @@
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/distortion_models.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/utilities.hpp"
 
 ///////////////////////////////////////////////////////////////
 // global test data

image_transport/doc/camera_api.rst

@@ -44,7 +44,8 @@ Usage Example
 
 .. code-block:: cpp
 
-   #include <rclcpp/rclcpp.hpp>
+   #include <rclcpp/logging.hpp>
+   #include <rclcpp/node.hpp>
    #include <image_transport/image_transport.hpp>
    #include <sensor_msgs/msg/camera_info.hpp>
 

image_transport/doc/filter_api.rst

@@ -23,7 +23,8 @@ using ``message_filters::TimeSynchronizer``.
 
 .. code-block:: cpp
 
-   #include <rclcpp/rclcpp.hpp>
+   #include <rclcpp/logging.hpp>
+   #include <rclcpp/node.hpp>
    #include <image_transport/subscriber_filter.hpp>
    #include <message_filters/subscriber.h>
    #include <message_filters/time_synchronizer.h>

image_transport/doc/user_api.rst

@@ -70,7 +70,8 @@ Usage Example
 
 .. code-block:: cpp
 
-   #include <rclcpp/rclcpp.hpp>
+   #include <rclcpp/logging.hpp>
+   #include <rclcpp/node.hpp>
    #include <image_transport/image_transport.hpp>
    #include <sensor_msgs/msg/image.hpp>
 

image_transport/include/image_transport/camera_publisher.hpp

@@ -34,7 +34,9 @@
 #include <string>
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/time.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 #include "sensor_msgs/msg/camera_info.hpp"

image_transport/include/image_transport/camera_subscriber.hpp

@@ -34,7 +34,7 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
 
 #include "sensor_msgs/msg/camera_info.hpp"
 #include "sensor_msgs/msg/image.hpp"

image_transport/include/image_transport/image_transport.hpp

@@ -34,7 +34,9 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/node.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
 
 #include "image_transport/camera_publisher.hpp"
 #include "image_transport/camera_subscriber.hpp"

image_transport/include/image_transport/publisher.hpp

@@ -34,7 +34,8 @@
 #include <string>
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
 
 #include "sensor_msgs/msg/image.hpp"
 

image_transport/include/image_transport/republish.hpp

@@ -37,7 +37,9 @@
 
 #include <pluginlib/class_loader.hpp>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/node_options.hpp>
+#include <rclcpp/timer.hpp>
 
 namespace image_transport
 {

image_transport/include/image_transport/subscriber.hpp

@@ -34,7 +34,8 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/exception.hpp"

image_transport/include/image_transport/subscriber_filter.hpp

@@ -32,7 +32,8 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
 #include "sensor_msgs/msg/image.hpp"
 #include "message_filters/simple_filter.hpp"
 

image_transport/src/camera_subscriber.cpp

@@ -31,6 +31,10 @@
 #include <memory>
 #include <string>
 
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/timer.hpp"
+
 // TODO(ahcorde): Remove this #ifdef when message_filters remove the
 // deprecations
 #ifdef _WIN32

image_transport/src/republish.cpp

@@ -33,7 +33,13 @@
 
 #include <pluginlib/class_loader.hpp>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/event_handler.hpp>
+#include <rclcpp/logging.hpp>
+#include <rclcpp/node_options.hpp>
+#include <rclcpp/publisher_options.hpp>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/qos_overriding_options.hpp>
+#include <rclcpp/subscription_options.hpp>
 
 #include "image_transport/image_transport.hpp"
 #include "image_transport/publisher_plugin.hpp"

image_transport/test/test_message_passing.cpp

@@ -31,8 +31,10 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "image_transport/image_transport.hpp"
 #include "sensor_msgs/msg/image.hpp"

image_transport/test/test_message_passing_lifecycle.cpp

@@ -33,7 +33,9 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "image_transport/image_transport.hpp"

image_transport/test/test_publisher.cpp

@@ -31,7 +31,10 @@
 #include <string>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "image_transport/image_transport.hpp"
 

image_transport/test/test_publisher_lifecycle.cpp

@@ -31,7 +31,9 @@
 #include <string>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/time.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "image_transport/image_transport.hpp"

image_transport/test/test_qos_override.cpp

@@ -31,7 +31,14 @@
 #include <string>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/qos_overriding_options.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "image_transport/image_transport.hpp"
 

image_transport/test/test_qos_override_lifecycle.cpp

@@ -31,7 +31,13 @@
 #include <memory>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/publisher_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/qos_overriding_options.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "image_transport/image_transport.hpp"

image_transport/test/test_remapping.cpp

@@ -33,8 +33,11 @@
 #include <memory>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors.hpp"
 #include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/utilities.hpp"
 #include "utils.hpp"
 
 #include "image_transport/image_transport.hpp"

image_transport/test/test_remapping_lifecycle.cpp

@@ -37,7 +37,10 @@
 
 #include <image_transport/image_transport.hpp>
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/executors.hpp>
+#include <rclcpp/node_options.hpp>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/utilities.hpp>
 #include <rclcpp_lifecycle/lifecycle_node.hpp>
 
 #include "utils.hpp"

image_transport/test/test_single_subscriber_publisher.cpp

@@ -32,7 +32,8 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "sensor_msgs/msg/image.hpp"
 
 #include "image_transport/single_subscriber_publisher.hpp"

image_transport/test/test_single_subscriber_publisher_lifecycle.cpp

@@ -33,7 +33,7 @@
 
 #include "gtest/gtest.h"
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "sensor_msgs/msg/image.hpp"
 

image_transport/test/test_subscriber.cpp

@@ -31,7 +31,14 @@
 #include <string>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "image_transport/image_transport.hpp"
 

image_transport/test/test_subscriber_lifecycle.cpp

@@ -35,7 +35,13 @@
 #include <string>
 #include <thread>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node_options.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/subscription_options.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 
 #include "image_transport/image_transport.hpp"

image_transport/test/utils.hpp

@@ -15,15 +15,23 @@
 #ifndef UTILS_HPP_
 #define UTILS_HPP_
 
+#include <chrono>
 #include <cinttypes>
+#include <cstdio>
 #include <memory>
 #include <stdexcept>
 #include <string>
 
 #include "gtest/gtest.h"
 
-#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/event.hpp>
 #include <rclcpp/node_interfaces/node_interfaces.hpp>
+#include <rclcpp/node_interfaces/node_base_interface.hpp>
+#include <rclcpp/node_interfaces/node_graph_interface.hpp>
+#include <rclcpp/node_interfaces/node_logging_interface.hpp>
+#include <rclcpp/node_interfaces/node_parameters_interface.hpp>
+#include <rclcpp/node_interfaces/node_timers_interface.hpp>
+#include <rclcpp/node_interfaces/node_topics_interface.hpp>
 
 namespace test_rclcpp
 {

image_transport_py/src/image_transport_py/pybind_image_transport.cpp

@@ -16,15 +16,18 @@
 #include <memory>
 #include <string>
 #include <thread>
+#include <vector>
 
 #include "./pybind11.hpp"
 #include "image_transport_py/cast_image.hpp"
 
 #include <image_transport/image_transport.hpp>
 #include <image_transport/publisher.hpp>
 #include <image_transport/subscriber.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/serialization.hpp>
+#include <rclcpp/executors/multi_threaded_executor.hpp>
+#include <rclcpp/node.hpp>
+#include <rclcpp/node_options.hpp>
+#include <rclcpp/utilities.hpp>
 #include <sensor_msgs/msg/image.hpp>
 
 namespace image_transport_python