Formatting Done #1

.clang-format

@@ -0,0 +1,12 @@
+Language:        Cpp
+BasedOnStyle:  Google
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+IncludeBlocks: Preserve

.gitignore

@@ -0,0 +1,5 @@
+build/**
+install/**
+log/**
+.vscode/c_cpp_properties.json
+.vscode/settings.json

.pre-commit-config.yaml

@@ -0,0 +1,77 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.4.0
+    hooks:
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.4.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/psf/black
+    rev: 23.3.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 6.0.0
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v16.0.3
+    hooks:
+      - id: clang-format
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+exclude: 'baghira_hardware_interface/xsens/.*'

chaining_controller/config/tricycle_drive_controller.yaml

@@ -13,7 +13,7 @@ joint_state_broadcaster:
   ros__parameters:
     extra_joints: ["right_wheel_joint", "left_wheel_joint"]
 
-tricycle_controller: 
+tricycle_controller:
   ros__parameters:
     # Model
     traction_joint_name: traction_joint # Name of traction joint in URDF
@@ -31,7 +31,7 @@ tricycle_controller:
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
-    
+
     # Rate Limiting
     traction: # All values should be positive
       # min_velocity: 0.0

chaining_controller/examples/example_diff_drive.cpp

@@ -24,8 +24,7 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
-  std::shared_ptr<rclcpp::Node> node =
-    std::make_shared<rclcpp::Node>("diff_drive_test_node");
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("diff_drive_test_node");
 
   auto publisher = node->create_publisher<geometry_msgs::msg::Twist>(
     "/diff_drive_base_controller/cmd_vel_unstamped", 10);
@@ -42,7 +41,8 @@ int main(int argc, char * argv[])
   command.angular.y = 0.0;
   command.angular.z = 0.1;
 
-  while (1) {
+  while (1)
+  {
     publisher->publish(command);
     std::this_thread::sleep_for(50ms);
     rclcpp::spin_some(node);

chaining_controller/examples/example_effort.cpp

@@ -28,8 +28,8 @@ int main(int argc, char * argv[])
 
   node = std::make_shared<rclcpp::Node>("effort_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
-    "/effort_controllers/commands", 10);
+  auto publisher =
+    node->create_publisher<std_msgs::msg::Float64MultiArray>("/effort_controllers/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 

chaining_controller/examples/example_gripper.cpp

@@ -28,8 +28,8 @@ int main(int argc, char * argv[])
 
   node = std::make_shared<rclcpp::Node>("gripper_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
-    "/gripper_controller/commands", 10);
+  auto publisher =
+    node->create_publisher<std_msgs::msg::Float64MultiArray>("/gripper_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 

chaining_controller/examples/example_position.cpp

@@ -27,29 +27,31 @@ rclcpp_action::ResultCode common_resultcode = rclcpp_action::ResultCode::UNKNOWN
 int common_action_result_code = control_msgs::action::FollowJointTrajectory_Result::SUCCESSFUL;
 
 void common_goal_response(
-  rclcpp_action::ClientGoalHandle
-  <control_msgs::action::FollowJointTrajectory>::SharedPtr goal_handle)
+  rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::SharedPtr
+    goal_handle)
 {
   RCLCPP_DEBUG(
-    node->get_logger(), "common_goal_response time: %f",
-    rclcpp::Clock().now().seconds());
-  if (!goal_handle) {
+    node->get_logger(), "common_goal_response time: %f", rclcpp::Clock().now().seconds());
+  if (!goal_handle)
+  {
     common_goal_accepted = false;
     printf("Goal rejected\n");
-  } else {
+  }
+  else
+  {
     common_goal_accepted = true;
     printf("Goal accepted\n");
   }
 }
 
-void common_result_response(
-  const rclcpp_action::ClientGoalHandle
-  <control_msgs::action::FollowJointTrajectory>::WrappedResult & result)
+void common_result_response(const rclcpp_action::ClientGoalHandle<
+                            control_msgs::action::FollowJointTrajectory>::WrappedResult & result)
 {
   printf("common_result_response time: %f\n", rclcpp::Clock().now().seconds());
   common_resultcode = result.code;
   common_action_result_code = result.result->error_code;
-  switch (result.code) {
+  switch (result.code)
+  {
     case rclcpp_action::ResultCode::SUCCEEDED:
       printf("SUCCEEDED result code\n");
       break;
@@ -70,12 +72,14 @@ void common_feedback(
   const std::shared_ptr<const control_msgs::action::FollowJointTrajectory::Feedback> feedback)
 {
   std::cout << "feedback->desired.positions :";
-  for (auto & x : feedback->desired.positions) {
+  for (auto & x : feedback->desired.positions)
+  {
     std::cout << x << "\t";
   }
   std::cout << std::endl;
   std::cout << "feedback->desired.velocities :";
-  for (auto & x : feedback->desired.velocities) {
+  for (auto & x : feedback->desired.velocities)
+  {
     std::cout << x << "\t";
   }
   std::cout << std::endl;
@@ -91,15 +95,13 @@ int main(int argc, char * argv[])
 
   rclcpp_action::Client<control_msgs::action::FollowJointTrajectory>::SharedPtr action_client;
   action_client = rclcpp_action::create_client<control_msgs::action::FollowJointTrajectory>(
-    node->get_node_base_interface(),
-    node->get_node_graph_interface(),
-    node->get_node_logging_interface(),
-    node->get_node_waitables_interface(),
+    node->get_node_base_interface(), node->get_node_graph_interface(),
+    node->get_node_logging_interface(), node->get_node_waitables_interface(),
     "/joint_trajectory_controller/follow_joint_trajectory");
 
-  bool response =
-    action_client->wait_for_action_server(std::chrono::seconds(1));
-  if (!response) {
+  bool response = action_client->wait_for_action_server(std::chrono::seconds(1));
+  if (!response)
+  {
     throw std::runtime_error("could not get action server");
   }
   std::cout << "Created action server" << std::endl;
@@ -145,7 +147,8 @@ int main(int argc, char * argv[])
 
   auto goal_handle_future = action_client->async_send_goal(goal_msg, opt);
 
-  if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
+  if (
+    rclcpp::spin_until_future_complete(node, goal_handle_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
@@ -157,7 +160,8 @@ int main(int argc, char * argv[])
 
   rclcpp_action::ClientGoalHandle<control_msgs::action::FollowJointTrajectory>::SharedPtr
     goal_handle = goal_handle_future.get();
-  if (!goal_handle) {
+  if (!goal_handle)
+  {
     RCLCPP_ERROR(node->get_logger(), "Goal was rejected by server");
     action_client.reset();
     node.reset();
@@ -168,8 +172,7 @@ int main(int argc, char * argv[])
   // Wait for the server to be done with the goal
   auto result_future = action_client->async_get_result(goal_handle);
   RCLCPP_INFO(node->get_logger(), "Waiting for result");
-  if (rclcpp::spin_until_future_complete(node, result_future) !=
-    rclcpp::FutureReturnCode::SUCCESS)
+  if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get result call failed :(");
     return 1;

chaining_controller/examples/example_tricycle_drive.cpp

@@ -24,11 +24,10 @@ int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
 
-  std::shared_ptr<rclcpp::Node> node =
-    std::make_shared<rclcpp::Node>("tricycle_drive_test_node");
+  std::shared_ptr<rclcpp::Node> node = std::make_shared<rclcpp::Node>("tricycle_drive_test_node");
 
-  auto publisher = node->create_publisher<geometry_msgs::msg::Twist>(
-    "/tricycle_controller/cmd_vel", 10);
+  auto publisher =
+    node->create_publisher<geometry_msgs::msg::Twist>("/tricycle_controller/cmd_vel", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");
 
@@ -42,7 +41,8 @@ int main(int argc, char * argv[])
   command.angular.y = 0.0;
   command.angular.z = 0.1;
 
-  while (1) {
+  while (1)
+  {
     publisher->publish(command);
     std::this_thread::sleep_for(50ms);
     rclcpp::spin_some(node);

chaining_controller/examples/example_velocity.cpp

@@ -28,8 +28,8 @@ int main(int argc, char * argv[])
 
   node = std::make_shared<rclcpp::Node>("velocity_test_node");
 
-  auto publisher = node->create_publisher<std_msgs::msg::Float64MultiArray>(
-    "/velocity_controller/commands", 10);
+  auto publisher =
+    node->create_publisher<std_msgs::msg::Float64MultiArray>("/velocity_controller/commands", 10);
 
   RCLCPP_INFO(node->get_logger(), "node created");