fixing format error

robosoft-ai · Jul 23, 2024 · b634d1f · b634d1f
1 parent 6f481a0
commit b634d1f
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Showing 15 changed files with 272 additions and 266 deletions.
diff --git a/.clang-format b/.clang-format
diff --git a/.github/workflows/ci-ros-lint.yaml b/.github/workflows/ci-ros-lint.yaml
@@ -5,7 +5,7 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
@@ -15,7 +15,7 @@ jobs:
     - uses: ros-tooling/[email protected]
     - uses: ros-tooling/[email protected]
       with:
-        distribution: galactic
+        distribution: humble
         linter: ${{ matrix.linter }}
         package-name:
           smacc2

diff --git a/smacc2_client_library/nav2z_client/nav2z_client/CMakeLists.txt b/smacc2_client_library/nav2z_client/nav2z_client/CMakeLists.txt
@@ -85,11 +85,11 @@ add_library(${PROJECT_NAME} SHARED
   src/${PROJECT_NAME}/components/amcl/cp_amcl.cpp
   src/${PROJECT_NAME}/components/slam_toolbox/cp_slam_toolbox.cpp
 
-  src/${PROJECT_NAME}/client_behaviors/cb_active_stop.cpp 
-  src/${PROJECT_NAME}/client_behaviors/cb_load_waypoints_file.cpp 
-  src/${PROJECT_NAME}/client_behaviors/cb_navigate_next_waypoint_free.cpp 
+  src/${PROJECT_NAME}/client_behaviors/cb_active_stop.cpp
+  src/${PROJECT_NAME}/client_behaviors/cb_load_waypoints_file.cpp
+  src/${PROJECT_NAME}/client_behaviors/cb_navigate_next_waypoint_free.cpp
   src/${PROJECT_NAME}/client_behaviors/cb_position_control_free_space.cpp
-  src/${PROJECT_NAME}/client_behaviors/cb_pure_spinning.cpp 
+  src/${PROJECT_NAME}/client_behaviors/cb_pure_spinning.cpp
   src/${PROJECT_NAME}/client_behaviors/cb_save_slam_map.cpp
 )
 

diff --git a/...ibrary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_active_stop.hpp b/...ibrary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_active_stop.hpp
@@ -23,8 +23,10 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
-namespace cl_nav2z {
-struct CbActiveStop : public smacc2::SmaccAsyncClientBehavior {
+namespace cl_nav2z
+{
+struct CbActiveStop : public smacc2::SmaccAsyncClientBehavior
+{
 private:
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
 
@@ -35,4 +37,4 @@ struct CbActiveStop : public smacc2::SmaccAsyncClientBehavior {
 
   void onExit() override;
 };
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...av2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_load_waypoints_file.hpp b/...av2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_load_waypoints_file.hpp
@@ -23,10 +23,12 @@
 #include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
 #include <smacc2/smacc_client_behavior.hpp>
 
-namespace cl_nav2z {
-struct CbLoadWaypointsFile : public smacc2::SmaccAsyncClientBehavior {
+namespace cl_nav2z
+{
+struct CbLoadWaypointsFile : public smacc2::SmaccAsyncClientBehavior
+{
 public:
-  CbLoadWaypointsFile(std::string filepath) ;
+  CbLoadWaypointsFile(std::string filepath);
 
   CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce);
 
@@ -39,6 +41,6 @@ struct CbLoadWaypointsFile : public smacc2::SmaccAsyncClientBehavior {
   std::optional<std::string> parameterName_;
   std::optional<std::string> packageNamespace_;
 
-  cl_nav2z::CpWaypointNavigatorBase *waypointsNavigator_;
+  cl_nav2z::CpWaypointNavigatorBase * waypointsNavigator_;
 };
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...ent/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.hpp b/...ent/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.hpp
@@ -18,13 +18,14 @@
  *
  ******************************************************************************************************************/
 #pragma once
-#include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
 #include <nav2z_client/client_behaviors/cb_position_control_free_space.hpp>
+#include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
 
-namespace cl_nav2z {
+namespace cl_nav2z
+{
 
-class CbNavigateNextWaypointFree
-    : public cl_nav2z::CbPositionControlFreeSpace {
+class CbNavigateNextWaypointFree : public cl_nav2z::CbPositionControlFreeSpace
+{
 public:
   CbNavigateNextWaypointFree();
 
@@ -37,7 +38,7 @@ class CbNavigateNextWaypointFree
   void onExit() override;
 
 protected:
-  cl_nav2z::CpWaypointNavigatorBase *waypointsNavigator_;
+  cl_nav2z::CpWaypointNavigatorBase * waypointsNavigator_;
 };
 
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...ent/nav2z_client/include/nav2z_client/client_behaviors/cb_position_control_free_space.hpp b/...ent/nav2z_client/include/nav2z_client/client_behaviors/cb_position_control_free_space.hpp
@@ -24,8 +24,10 @@
 #include <nav2z_client/components/pose/cp_pose.hpp>
 #include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
-namespace cl_nav2z {
-struct CbPositionControlFreeSpace : public smacc2::SmaccAsyncClientBehavior {
+namespace cl_nav2z
+{
+struct CbPositionControlFreeSpace : public smacc2::SmaccAsyncClientBehavior
+{
 private:
   double targetYaw_;
   bool goalReached_;
@@ -39,9 +41,8 @@ struct CbPositionControlFreeSpace : public smacc2::SmaccAsyncClientBehavior {
 
   // Limit the maximum linear velocity and angular velocity to avoid sudden
   // movements
-  double max_linear_velocity = 1.0; // Adjust this value according to your needs
-  double max_angular_velocity =
-      1.0; // Adjust this value according to your needs
+  double max_linear_velocity = 1.0;   // Adjust this value according to your needs
+  double max_angular_velocity = 1.0;  // Adjust this value according to your needs
 
   rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
 
@@ -60,4 +61,4 @@ struct CbPositionControlFreeSpace : public smacc2::SmaccAsyncClientBehavior {
 
   void onExit() override;
 };
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...rary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_pure_spinning.hpp b/...rary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_pure_spinning.hpp
@@ -23,8 +23,10 @@
 #include <geometry_msgs/msg/twist.hpp>
 #include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
-namespace cl_nav2z {
-struct CbPureSpinning : public smacc2::SmaccAsyncClientBehavior {
+namespace cl_nav2z
+{
+struct CbPureSpinning : public smacc2::SmaccAsyncClientBehavior
+{
 private:
   double targetYaw__rads;
   bool goalReached_;
@@ -43,4 +45,4 @@ struct CbPureSpinning : public smacc2::SmaccAsyncClientBehavior {
 
   void onExit() override;
 };
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...rary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_save_slam_map.hpp b/...rary/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_save_slam_map.hpp
@@ -23,25 +23,24 @@
 #include <memory>
 #include <nav2_msgs/srv/save_map.hpp>
 #include <slam_toolbox/srv/save_map.hpp>
-#include <slam_toolbox/srv/save_map.hpp>
 #include <smacc2/client_behaviors/cb_call_service.hpp>
 #include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
-
-namespace cl_nav2z {
+namespace cl_nav2z
+{
 using namespace std::chrono_literals;
 template <typename TService>
 using CbServiceCall = smacc2::client_behaviors::CbServiceCall<TService>;
 
-
-struct CbSaveSlamMap : public CbServiceCall<nav2_msgs::srv::SaveMap> {
-
-public:  
+struct CbSaveSlamMap : public CbServiceCall<nav2_msgs::srv::SaveMap>
+{
+public:
   CbSaveSlamMap();
   // void onEntry() override {}
 
   void onExit() override;
 
-  std::shared_ptr<nav2_msgs::srv::SaveMap::Request> getRequest(/*slam_toolbox::srv::SaveMap_Request_<std::allocator<void> >::_name_type saved_map_name*/) ;
+  std::shared_ptr<nav2_msgs::srv::SaveMap::Request> getRequest(
+    /*slam_toolbox::srv::SaveMap_Request_<std::allocator<void> >::_name_type saved_map_name*/);
 };
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...nt_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_active_stop.cpp b/...nt_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_active_stop.cpp
@@ -24,29 +24,30 @@
 
 #include <nav2z_client/client_behaviors/cb_active_stop.hpp>
 
-namespace cl_nav2z {
+namespace cl_nav2z
+{
 CbActiveStop::CbActiveStop() {}
 
-void CbActiveStop::onEntry() {
+void CbActiveStop::onEntry()
+{
   auto nh = this->getNode();
-  cmd_vel_pub_ = nh->create_publisher<geometry_msgs::msg::Twist>(
-      "/cmd_vel", rclcpp::QoS(1));
+  cmd_vel_pub_ = nh->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", rclcpp::QoS(1));
 
   rclcpp::Rate loop_rate(5);
   geometry_msgs::msg::Twist cmd_vel_msg;
-  while (!this->isShutdownRequested()) {
+  while (!this->isShutdownRequested())
+  {
     cmd_vel_msg.linear.x = 0;
     cmd_vel_msg.angular.z = 0;
 
     cmd_vel_pub_->publish(cmd_vel_msg);
     loop_rate.sleep();
   }
-  RCLCPP_INFO_STREAM(getLogger(),
-                     "[" << getName() << "] Finished behavior execution");
+  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Finished behavior execution");
 
   this->postSuccessEvent();
 }
 
 void CbActiveStop::onExit() {}
 
-} // namespace cl_nav2z
+}  // namespace cl_nav2z
diff --git a/...ry/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_load_waypoints_file.cpp b/...ry/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_load_waypoints_file.cpp
@@ -18,34 +18,40 @@
  *
  ******************************************************************************************************************/
 
-#include <smacc2/smacc_client_behavior.hpp>
+#include <nav2z_client/client_behaviors/cb_load_waypoints_file.hpp>
 #include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
-#include <nav2z_client/client_behaviors/cb_load_waypoints_file.hpp>           
-
-namespace cl_nav2z {
+#include <smacc2/smacc_client_behavior.hpp>
 
-  CbLoadWaypointsFile::CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {}
+namespace cl_nav2z
+{
 
-  CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce)
-      : parameterName_(parameter_name), packageNamespace_(packagenamesapce) {}
+CbLoadWaypointsFile::CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {}
 
-  void CbLoadWaypointsFile::onEntry() {
-    requiresComponent(waypointsNavigator_); // this is a component from the
-                                            // nav2z_client library
+CbLoadWaypointsFile::CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce)
+: parameterName_(parameter_name), packageNamespace_(packagenamesapce)
+{
+}
 
-    if (filepath_) {
-      this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value());
-    } else {
-      RCLCPP_INFO(getLogger(), "Loading waypoints from parameter %s",
-                  parameterName_.value().c_str());
-      this->waypointsNavigator_->loadWaypointsFromYamlParameter(
-          parameterName_.value(), packageNamespace_.value());
-    }
+void CbLoadWaypointsFile::onEntry()
+{
+  requiresComponent(waypointsNavigator_);  // this is a component from the
+                                           // nav2z_client library
 
-    // change this to skip some points of the yaml file, default = 0
-    waypointsNavigator_->currentWaypoint_ = 0;
-    this->postSuccessEvent();
+  if (filepath_)
+  {
+    this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value());
   }
+  else
+  {
+    RCLCPP_INFO(getLogger(), "Loading waypoints from parameter %s", parameterName_.value().c_str());
+    this->waypointsNavigator_->loadWaypointsFromYamlParameter(
+      parameterName_.value(), packageNamespace_.value());
+  }
+
+  // change this to skip some points of the yaml file, default = 0
+  waypointsNavigator_->currentWaypoint_ = 0;
+  this->postSuccessEvent();
+}
 
-  void CbLoadWaypointsFile::onExit() {}
-} // namespace cl_nav2z
+void CbLoadWaypointsFile::onExit() {}
+}  // namespace cl_nav2z
diff --git a/..._client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.cpp b/..._client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.cpp
@@ -19,40 +19,36 @@
  ******************************************************************************************************************/
 #include <nav2z_client/client_behaviors/cb_navigate_next_waypoint_free.hpp>
 
-
-  namespace cl_nav2z {
-
-  CbNavigateNextWaypointFree::CbNavigateNextWaypointFree() {}
-
-  CbNavigateNextWaypointFree::~CbNavigateNextWaypointFree() {}
-
-  void CbNavigateNextWaypointFree::onEntry() {
-    requiresComponent(this->waypointsNavigator_);
-    this->target_pose_ = this->waypointsNavigator_->getCurrentPose();
-
-    this->onSuccess(&CbNavigateNextWaypointFree::CbNavigateNextWaypointFree::onSucessCallback, this);
-    RCLCPP_INFO_STREAM(
-        getLogger(),
-        "[CbNavigateNextWaypoint] initial load file target pose: x: "
-            << this->target_pose_.position.x
-            << ", y: " << this->target_pose_.position.y);
-    CbPositionControlFreeSpace::onEntry();
-  }
-
-  void CbNavigateNextWaypointFree::onSucessCallback() {
-    RCLCPP_INFO_STREAM(
-        getLogger(),
-        "[CbNavigateNextWaypoint] Success on planning to next waypoint");
-    this->waypointsNavigator_->notifyGoalReached();
-    this->waypointsNavigator_->forward(1);
-    RCLCPP_INFO_STREAM(
-        getLogger(), "[CbNavigateNextWaypoint] next position index: "
-                         << this->waypointsNavigator_->getCurrentWaypointIndex()
-                         << "/"
-                         << this->waypointsNavigator_->getWaypoints().size());
-  }
-
-  void CbNavigateNextWaypointFree::onExit() {}
-
-
-} // namespace cl_nav2z
+namespace cl_nav2z
+{
+
+CbNavigateNextWaypointFree::CbNavigateNextWaypointFree() {}
+
+CbNavigateNextWaypointFree::~CbNavigateNextWaypointFree() {}
+
+void CbNavigateNextWaypointFree::onEntry()
+{
+  requiresComponent(this->waypointsNavigator_);
+  this->target_pose_ = this->waypointsNavigator_->getCurrentPose();
+
+  this->onSuccess(&CbNavigateNextWaypointFree::CbNavigateNextWaypointFree::onSucessCallback, this);
+  RCLCPP_INFO_STREAM(
+    getLogger(), "[CbNavigateNextWaypoint] initial load file target pose: x: "
+                   << this->target_pose_.position.x << ", y: " << this->target_pose_.position.y);
+  CbPositionControlFreeSpace::onEntry();
+}
+
+void CbNavigateNextWaypointFree::onSucessCallback()
+{
+  RCLCPP_INFO_STREAM(getLogger(), "[CbNavigateNextWaypoint] Success on planning to next waypoint");
+  this->waypointsNavigator_->notifyGoalReached();
+  this->waypointsNavigator_->forward(1);
+  RCLCPP_INFO_STREAM(
+    getLogger(), "[CbNavigateNextWaypoint] next position index: "
+                   << this->waypointsNavigator_->getCurrentWaypointIndex() << "/"
+                   << this->waypointsNavigator_->getWaypoints().size());
+}
+
+void CbNavigateNextWaypointFree::onExit() {}
+
+}  // namespace cl_nav2z