Fix some minor issues

pluginlib/include/pluginlib/class_loader.hpp

@@ -54,11 +54,10 @@ class ClassLoader : public ClassLoaderBase
 public:
   typedef typename std::map<std::string, ClassDesc>::iterator ClassMapIterator;
 
-public:
   /**
    * \param package The package containing the base class
    * \param base_class The type of the base class for classes to be loaded
-   * \param attrib_name The attribute to search for in manifext.xml files, defaults to "plugin"
+   * \param attrib_name The attribute to search for in manifest.xml files, defaults to "plugin"
    * \param plugin_xml_paths The list of paths of plugin.xml files, defaults to be crawled via
    *   ros::package::getPlugins()
    * \throws pluginlib::ClassLoaderException if package manifest cannot be found

pluginlib/include/pluginlib/class_loader_base.hpp

@@ -29,8 +29,8 @@
 #ifndef PLUGINLIB__CLASS_LOADER_BASE_HPP_
 #define PLUGINLIB__CLASS_LOADER_BASE_HPP_
 
-#include <vector>
 #include <string>
+#include <vector>
 
 namespace pluginlib
 {

pluginlib/include/pluginlib/class_loader_imp.hpp

@@ -42,7 +42,6 @@
 #include <vector>
 
 #include "ament_index_cpp/get_package_prefix.hpp"
-#include "ament_index_cpp/get_package_share_directory.hpp"
 #include "ament_index_cpp/get_resource.hpp"
 #include "ament_index_cpp/get_resources.hpp"
 #include "class_loader/interface_traits.hpp"
@@ -52,12 +51,6 @@
 
 #include "./class_loader.hpp"
 
-#ifdef _WIN32
-#define CLASS_LOADER_IMPL_OS_PATHSEP ";"
-#else
-#define CLASS_LOADER_IMPL_OS_PATHSEP ":"
-#endif
-
 namespace pluginlib
 {
 
@@ -93,7 +86,7 @@ ClassLoader<T>::ClassLoader(
   }
   classes_available_ = determineAvailableClasses(plugin_xml_paths_);
   RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader",
-    "Finished constructring ClassLoader, base = %s, address = %p",
+    "Finished constructing ClassLoader, base = %s, address = %p",
     base_class.c_str(), static_cast<void *>(this));
 }
 
@@ -166,7 +159,7 @@ T * ClassLoader<T>::createUnmanagedInstance(const std::string & lookup_name, Arg
     loadLibraryForClass(lookup_name);
   }
 
-  T * instance = 0;
+  T * instance = nullptr;
   try {
     RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader",
       "Attempting to create instance through low level multi-library class loader.");
@@ -269,7 +262,7 @@ std::string ClassLoader<T>::extractPackageNameFromPackageXML(const std::string &
   tinyxml2::XMLDocument document;
   document.LoadFile(package_xml_path.c_str());
   tinyxml2::XMLElement * doc_root_node = document.FirstChildElement("package");
-  if (NULL == doc_root_node) {
+  if (nullptr == doc_root_node) {
     RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
       "Could not find a root element for package manifest at %s.",
       package_xml_path.c_str());
@@ -279,7 +272,7 @@ std::string ClassLoader<T>::extractPackageNameFromPackageXML(const std::string &
   assert(document.RootElement() == doc_root_node);
 
   tinyxml2::XMLElement * package_name_node = doc_root_node->FirstChildElement("name");
-  if (NULL == package_name_node) {
+  if (nullptr == package_name_node) {
     RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
       "package.xml at %s does not have a <name> tag! Cannot determine package "
       "which exports plugin.",
@@ -288,7 +281,7 @@ std::string ClassLoader<T>::extractPackageNameFromPackageXML(const std::string &
   }
 
   const char * package_name_node_txt = package_name_node->GetText();
-  if (NULL == package_name_node_txt) {
+  if (nullptr == package_name_node_txt) {
     RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
       "package.xml at %s has an invalid <name> tag! Cannot determine package "
       "which exports plugin.",
@@ -436,13 +429,13 @@ template<class T>
 std::string ClassLoader<T>::getClassLibraryPath(const std::string & lookup_name)
 /***************************************************************************/
 {
-  if (classes_available_.find(lookup_name) == classes_available_.end()) {
+  ClassMapIterator it = classes_available_.find(lookup_name);
+  if (it == classes_available_.end()) {
     std::ostringstream error_msg;
     error_msg << "Could not find library corresponding to plugin " << lookup_name <<
       ". Make sure the plugin description XML file has the correct name of the library.";
     throw pluginlib::LibraryLoadException(error_msg.str());
   }
-  ClassMapIterator it = classes_available_.find(lookup_name);
   std::string library_name = it->second.library_name_;
   RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader",
     "Class %s maps to library %s in classes_available_.",
@@ -653,14 +646,14 @@ void ClassLoader<T>::processSingleXMLPluginFile(
   tinyxml2::XMLDocument document;
   document.LoadFile(xml_file.c_str());
   tinyxml2::XMLElement * config = document.RootElement();
-  if (NULL == config) {
+  if (nullptr == config) {
     throw pluginlib::InvalidXMLException(
             "XML Document '" + xml_file +
             "' has no Root Element. This likely means the XML is malformed or missing.");
     return;
   }
   const char * config_value = config->Value();
-  if (NULL == config_value) {
+  if (nullptr == config_value) {
     throw pluginlib::InvalidXMLException(
               "XML Document '" + xml_file +
               "' has an invalid Root Element. This likely means the XML is malformed or missing.");
@@ -680,9 +673,9 @@ void ClassLoader<T>::processSingleXMLPluginFile(
   }
 
   tinyxml2::XMLElement * library = config;
-  while (library != NULL) {
+  while (library != nullptr) {
     const char * path = library->Attribute("path");
-    if (NULL == path) {
+    if (nullptr == path) {
       RCUTILS_LOG_ERROR_NAMED("pluginlib.ClassLoader",
         "Attribute 'path' in 'library' tag is missing in %s.", xml_file.c_str());
       continue;
@@ -706,23 +699,23 @@ void ClassLoader<T>::processSingleXMLPluginFile(
     tinyxml2::XMLElement * class_element = library->FirstChildElement("class");
     while (class_element) {
       std::string derived_class;
-      if (class_element->Attribute("type") != NULL) {
+      if (class_element->Attribute("type") != nullptr) {
         derived_class = std::string(class_element->Attribute("type"));
       } else {
         throw pluginlib::ClassLoaderException(
                 "Class could not be loaded. Attribute 'type' in class tag is missing.");
       }
 
       std::string base_class_type;
-      if (class_element->Attribute("base_class_type") != NULL) {
+      if (class_element->Attribute("base_class_type") != nullptr) {
         base_class_type = std::string(class_element->Attribute("base_class_type"));
       } else {
         throw pluginlib::ClassLoaderException(
                 "Class could not be loaded. Attribute 'base_class_type' in class tag is missing.");
       }
 
       std::string lookup_name;
-      if (class_element->Attribute("name") != NULL) {
+      if (class_element->Attribute("name") != nullptr) {
         lookup_name = class_element->Attribute("name");
         RCUTILS_LOG_DEBUG_NAMED("pluginlib.ClassLoader",
           "XML file specifies lookup name (i.e. magic name) = %s.",

pluginlib/src/list_plugins.cpp

@@ -10,7 +10,7 @@
 //      notice, this list of conditions and the following disclaimer in the
 //      documentation and/or other materials provided with the distribution.
 //
-//    * Neither the name of the Willow Garage nor the names of its
+//    * Neither the name of the Metro Robots nor the names of its
 //      contributors may be used to endorse or promote products derived from
 //      this software without specific prior written permission.
 //

pluginlib/test/unique_ptr_test.cpp

@@ -45,7 +45,7 @@ TEST(PluginlibUniquePtrTest, misspelledPlugin) {
       "test_pluginlib/foo"), pluginlib::LibraryLoadException);
 }
 
-TEST(PluginlibTest, brokenPlugin) {
+TEST(PluginlibUniquePtrTest, brokenPlugin) {
   pluginlib::ClassLoader<test_base::Fubar> test_loader("test_pluginlib", "test_base::Fubar");
   ASSERT_THROW(
     test_loader.createUniqueInstance("test_pluginlib/none"), pluginlib::PluginlibException);