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Vatan Aksoy Tezerdestogl
Vatan Aksoy Tezer
authored and
destogl
committed
pre-commit fixes
1 parent e198942 commit 1d7fdd6

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10 files changed

+145
-83
lines changed

10 files changed

+145
-83
lines changed

‎diff_drive_controller/src/diff_drive_controller.cpp‎

Lines changed: 29 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -326,7 +326,8 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
326326
std::copy(
327327
pose_diagonal.begin(), pose_diagonal.end(), odom_params_.pose_covariance_diagonal.begin());
328328

329-
auto twist_diagonal = lifecycle_node_->get_parameter("twist_covariance_diagonal").as_double_array();
329+
auto twist_diagonal =
330+
lifecycle_node_->get_parameter("twist_covariance_diagonal").as_double_array();
330331
std::copy(
331332
twist_diagonal.begin(), twist_diagonal.end(), odom_params_.twist_covariance_diagonal.begin());
332333

@@ -353,7 +354,8 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
353354
}
354355
catch (const std::runtime_error & e)
355356
{
356-
RCLCPP_ERROR(lifecycle_node_->get_logger(), "Error configuring linear speed limiter: %s", e.what());
357+
RCLCPP_ERROR(
358+
lifecycle_node_->get_logger(), "Error configuring linear speed limiter: %s", e.what());
357359
}
358360

359361
try
@@ -371,7 +373,8 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
371373
}
372374
catch (const std::runtime_error & e)
373375
{
374-
RCLCPP_ERROR(lifecycle_node_->get_logger(), "Error configuring angular speed limiter: %s", e.what());
376+
RCLCPP_ERROR(
377+
lifecycle_node_->get_logger(), "Error configuring angular speed limiter: %s", e.what());
375378
}
376379

377380
if (!reset())
@@ -384,8 +387,8 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
384387

385388
if (publish_limited_velocity_)
386389
{
387-
limited_velocity_publisher_ =
388-
lifecycle_node_->create_publisher<Twist>(DEFAULT_COMMAND_OUT_TOPIC, rclcpp::SystemDefaultsQoS());
390+
limited_velocity_publisher_ = lifecycle_node_->create_publisher<Twist>(
391+
DEFAULT_COMMAND_OUT_TOPIC, rclcpp::SystemDefaultsQoS());
389392
realtime_limited_velocity_publisher_ =
390393
std::make_shared<realtime_tools::RealtimePublisher<Twist>>(limited_velocity_publisher_);
391394
}
@@ -405,7 +408,8 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
405408
[this](const std::shared_ptr<Twist> msg) -> void {
406409
if (!subscriber_is_active_)
407410
{
408-
RCLCPP_WARN(lifecycle_node_->get_logger(), "Can't accept new commands. subscriber is inactive");
411+
RCLCPP_WARN(
412+
lifecycle_node_->get_logger(), "Can't accept new commands. subscriber is inactive");
409413
return;
410414
}
411415
if ((msg->header.stamp.sec == 0) && (msg->header.stamp.nanosec == 0))
@@ -421,21 +425,23 @@ CallbackReturn DiffDriveController::on_configure(const rclcpp_lifecycle::State &
421425
}
422426
else
423427
{
424-
velocity_command_unstamped_subscriber_ = lifecycle_node_->create_subscription<geometry_msgs::msg::Twist>(
425-
DEFAULT_COMMAND_UNSTAMPED_TOPIC, rclcpp::SystemDefaultsQoS(),
426-
[this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) -> void {
427-
if (!subscriber_is_active_)
428-
{
429-
RCLCPP_WARN(lifecycle_node_->get_logger(), "Can't accept new commands. subscriber is inactive");
430-
return;
431-
}
432-
433-
// Write fake header in the stored stamped command
434-
std::shared_ptr<Twist> twist_stamped;
435-
received_velocity_msg_ptr_.get(twist_stamped);
436-
twist_stamped->twist = *msg;
437-
twist_stamped->header.stamp = lifecycle_node_->get_clock()->now();
438-
});
428+
velocity_command_unstamped_subscriber_ =
429+
lifecycle_node_->create_subscription<geometry_msgs::msg::Twist>(
430+
DEFAULT_COMMAND_UNSTAMPED_TOPIC, rclcpp::SystemDefaultsQoS(),
431+
[this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) -> void {
432+
if (!subscriber_is_active_)
433+
{
434+
RCLCPP_WARN(
435+
lifecycle_node_->get_logger(), "Can't accept new commands. subscriber is inactive");
436+
return;
437+
}
438+
439+
// Write fake header in the stored stamped command
440+
std::shared_ptr<Twist> twist_stamped;
441+
received_velocity_msg_ptr_.get(twist_stamped);
442+
twist_stamped->twist = *msg;
443+
twist_stamped->header.stamp = lifecycle_node_->get_clock()->now();
444+
});
439445
}
440446

441447
// initialize odometry publisher and messasge
@@ -495,7 +501,8 @@ CallbackReturn DiffDriveController::on_activate(const rclcpp_lifecycle::State &)
495501
if (registered_left_wheel_handles_.empty() || registered_right_wheel_handles_.empty())
496502
{
497503
RCLCPP_ERROR(
498-
lifecycle_node_->get_logger(), "Either left wheel interfaces, right wheel interfaces are non existent");
504+
lifecycle_node_->get_logger(),
505+
"Either left wheel interfaces, right wheel interfaces are non existent");
499506
return CallbackReturn::ERROR;
500507
}
501508

‎effort_controllers/test/test_joint_group_effort_controller.cpp‎

Lines changed: 6 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -94,13 +94,15 @@ TEST_F(JointGroupEffortControllerTest, ConfigureAndActivateParamsSuccess)
9494
TEST_F(JointGroupEffortControllerTest, ActivateWithWrongJointsNamesFails)
9595
{
9696
SetUpController();
97-
controller_->get_lifecycle_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint4"}});
97+
controller_->get_lifecycle_node()->set_parameter(
98+
{"joints", std::vector<std::string>{"joint1", "joint4"}});
9899

99100
// activate failed, 'joint4' is not a valid joint name for the hardware
100101
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
101102
ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), CallbackReturn::ERROR);
102103

103-
controller_->get_lifecycle_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
104+
controller_->get_lifecycle_node()->set_parameter(
105+
{"joints", std::vector<std::string>{"joint1", "joint2"}});
104106

105107
// activate failed, 'acceleration' is not a registered interface for `joint1`
106108
ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
@@ -197,7 +199,8 @@ TEST_F(JointGroupEffortControllerTest, CommandCallbackTest)
197199
// send a new command
198200
rclcpp::Node test_node("test_node");
199201
auto command_pub = test_node.create_publisher<std_msgs::msg::Float64MultiArray>(
200-
std::string(controller_->get_lifecycle_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
202+
std::string(controller_->get_lifecycle_node()->get_name()) + "/commands",
203+
rclcpp::SystemDefaultsQoS());
201204
std_msgs::msg::Float64MultiArray command_msg;
202205
command_msg.data = {10.0, 20.0, 30.0};
203206
command_pub->publish(command_msg);

‎force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.cpp‎

Lines changed: 32 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -113,8 +113,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_FrameId_NotSet)
113113
SetUpFTSBroadcaster();
114114

115115
// set the 'interface_names'
116-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
117-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
116+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
117+
{"interface_names.force.x", "fts_sensor/force.x"});
118+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
119+
{"interface_names.torque.z", "fts_sensor/torque.z"});
118120

119121
// configure failed, 'frame_id' parameter not set
120122
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
@@ -139,8 +141,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, SensorName_InterfaceNames_Set)
139141
fts_broadcaster_->get_lifecycle_node()->set_parameter({"sensor_name", sensor_name_});
140142

141143
// set the 'interface_names'
142-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
143-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
144+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
145+
{"interface_names.force.x", "fts_sensor/force.x"});
146+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
147+
{"interface_names.torque.z", "fts_sensor/torque.z"});
144148

145149
// configure failed, both 'sensor_name' and 'interface_names' supplied
146150
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_ERROR);
@@ -188,8 +192,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Configure_Success)
188192
SetUpFTSBroadcaster();
189193

190194
// set the 'interface_names'
191-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
192-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
195+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
196+
{"interface_names.force.x", "fts_sensor/force.x"});
197+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
198+
{"interface_names.torque.z", "fts_sensor/torque.z"});
193199

194200
// set the 'frame_id'
195201
fts_broadcaster_->get_lifecycle_node()->set_parameter({"frame_id", frame_id_});
@@ -232,8 +238,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Success)
232238
SetUpFTSBroadcaster();
233239

234240
// set the params 'interface_names' and 'frame_id'
235-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
236-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
241+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
242+
{"interface_names.force.x", "fts_sensor/force.x"});
243+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
244+
{"interface_names.torque.z", "fts_sensor/torque.z"});
237245
fts_broadcaster_->get_lifecycle_node()->set_parameter({"frame_id", frame_id_});
238246

239247
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
@@ -271,8 +279,10 @@ TEST_F(ForceTorqueSensorBroadcasterTest, InterfaceNames_Publish_Success)
271279
SetUpFTSBroadcaster();
272280

273281
// set the params 'interface_names' and 'frame_id'
274-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
275-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
282+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
283+
{"interface_names.force.x", "fts_sensor/force.x"});
284+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
285+
{"interface_names.torque.z", "fts_sensor/torque.z"});
276286
fts_broadcaster_->get_lifecycle_node()->set_parameter({"frame_id", frame_id_});
277287

278288
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
@@ -295,12 +305,18 @@ TEST_F(ForceTorqueSensorBroadcasterTest, All_InterfaceNames_Publish_Success)
295305
SetUpFTSBroadcaster();
296306

297307
// set all the params 'interface_names' and 'frame_id'
298-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.x", "fts_sensor/force.x"});
299-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.y", "fts_sensor/force.y"});
300-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.force.z", "fts_sensor/force.z"});
301-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.x", "fts_sensor/torque.x"});
302-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.y", "fts_sensor/torque.y"});
303-
fts_broadcaster_->get_lifecycle_node()->set_parameter({"interface_names.torque.z", "fts_sensor/torque.z"});
308+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
309+
{"interface_names.force.x", "fts_sensor/force.x"});
310+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
311+
{"interface_names.force.y", "fts_sensor/force.y"});
312+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
313+
{"interface_names.force.z", "fts_sensor/force.z"});
314+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
315+
{"interface_names.torque.x", "fts_sensor/torque.x"});
316+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
317+
{"interface_names.torque.y", "fts_sensor/torque.y"});
318+
fts_broadcaster_->get_lifecycle_node()->set_parameter(
319+
{"interface_names.torque.z", "fts_sensor/torque.z"});
304320
fts_broadcaster_->get_lifecycle_node()->set_parameter({"frame_id", frame_id_});
305321

306322
ASSERT_EQ(fts_broadcaster_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);

‎forward_command_controller/src/forward_command_controller.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -139,8 +139,8 @@ CallbackReturn ForwardCommandController::on_activate(
139139
command_interfaces_.size() != ordered_interfaces.size())
140140
{
141141
RCLCPP_ERROR(
142-
lifecycle_node_->get_logger(), "Expected %zu position command interfaces, got %zu", joint_names_.size(),
143-
ordered_interfaces.size());
142+
lifecycle_node_->get_logger(), "Expected %zu position command interfaces, got %zu",
143+
joint_names_.size(), ordered_interfaces.size());
144144
return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
145145
}
146146

‎forward_command_controller/test/test_forward_command_controller.cpp‎

Lines changed: 8 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -107,7 +107,8 @@ TEST_F(ForwardCommandControllerTest, InterfaceParameterEmpty)
107107
SetUpController();
108108

109109
// configure failed, 'interface_name' parameter not set
110-
controller_->get_lifecycle_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
110+
controller_->get_lifecycle_node()->set_parameter(
111+
{"joints", std::vector<std::string>{"joint1", "joint2"}});
111112
controller_->get_lifecycle_node()->set_parameter({"interface_name", ""});
112113

113114
// configure failed, 'interface_name' is empty
@@ -118,7 +119,8 @@ TEST_F(ForwardCommandControllerTest, ConfigureParamsSuccess)
118119
{
119120
SetUpController();
120121

121-
controller_->get_lifecycle_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
122+
controller_->get_lifecycle_node()->set_parameter(
123+
{"joints", std::vector<std::string>{"joint1", "joint2"}});
122124
controller_->get_lifecycle_node()->set_parameter({"interface_name", "position"});
123125

124126
// configure successful
@@ -129,7 +131,8 @@ TEST_F(ForwardCommandControllerTest, ActivateWithWrongJointsNamesFails)
129131
{
130132
SetUpController();
131133

132-
controller_->get_lifecycle_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint4"}});
134+
controller_->get_lifecycle_node()->set_parameter(
135+
{"joints", std::vector<std::string>{"joint1", "joint4"}});
133136
controller_->get_lifecycle_node()->set_parameter({"interface_name", "position"});
134137

135138
// activate failed, 'joint4' is not a valid joint name for the hardware
@@ -270,7 +273,8 @@ TEST_F(ForwardCommandControllerTest, CommandCallbackTest)
270273
// send a new command
271274
rclcpp::Node test_node("test_node");
272275
auto command_pub = test_node.create_publisher<std_msgs::msg::Float64MultiArray>(
273-
std::string(controller_->get_lifecycle_node()->get_name()) + "/commands", rclcpp::SystemDefaultsQoS());
276+
std::string(controller_->get_lifecycle_node()->get_name()) + "/commands",
277+
rclcpp::SystemDefaultsQoS());
274278
std_msgs::msg::Float64MultiArray command_msg;
275279
command_msg.data = {10.0, 20.0, 30.0};
276280
command_pub->publish(command_msg);

‎imu_sensor_broadcaster/src/imu_sensor_broadcaster.cpp‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,8 @@ CallbackReturn IMUSensorBroadcaster::on_init()
3333
catch (const std::exception & e)
3434
{
3535
RCLCPP_ERROR(
36-
lifecycle_node_->get_logger(), "Exception thrown during init stage with message: %s \n", e.what());
36+
lifecycle_node_->get_logger(), "Exception thrown during init stage with message: %s \n",
37+
e.what());
3738
return CallbackReturn::ERROR;
3839
}
3940

@@ -62,8 +63,8 @@ CallbackReturn IMUSensorBroadcaster::on_configure(
6263
try
6364
{
6465
// register ft sensor data publisher
65-
sensor_state_publisher_ =
66-
lifecycle_node_->create_publisher<sensor_msgs::msg::Imu>("~/imu", rclcpp::SystemDefaultsQoS());
66+
sensor_state_publisher_ = lifecycle_node_->create_publisher<sensor_msgs::msg::Imu>(
67+
"~/imu", rclcpp::SystemDefaultsQoS());
6768
realtime_publisher_ = std::make_unique<StatePublisher>(sensor_state_publisher_);
6869
}
6970
catch (const std::exception & e)

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