Code formatting

Author: urfeex

ur_controllers/src/force_mode_controller.cpp

@@ -197,18 +197,12 @@ controller_interface::return_type ur_controllers::ForceModeController::update(co
       command_interfaces_[CommandInterfaces::FORCE_MODE_SELECTION_VECTOR_RZ].set_value(
           force_mode_parameters->selection_vec[5]);
 
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_X].set_value(
-          force_mode_parameters->wrench.force.x);
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Y].set_value(
-          force_mode_parameters->wrench.force.y);
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Z].set_value(
-          force_mode_parameters->wrench.force.z);
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RX].set_value(
-          force_mode_parameters->wrench.torque.x);
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RY].set_value(
-          force_mode_parameters->wrench.torque.y);
-      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RZ].set_value(
-          force_mode_parameters->wrench.torque.z);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_X].set_value(force_mode_parameters->wrench.force.x);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Y].set_value(force_mode_parameters->wrench.force.y);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_Z].set_value(force_mode_parameters->wrench.force.z);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RX].set_value(force_mode_parameters->wrench.torque.x);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RY].set_value(force_mode_parameters->wrench.torque.y);
+      command_interfaces_[CommandInterfaces::FORCE_MODE_WRENCH_RZ].set_value(force_mode_parameters->wrench.torque.z);
 
       command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_X].set_value(force_mode_parameters->limits[0]);
       command_interfaces_[CommandInterfaces::FORCE_MODE_LIMITS_Y].set_value(force_mode_parameters->limits[1]);

ur_controllers/test/test_load_force_mode_controller.cpp

@@ -35,22 +35,20 @@
 
 TEST(TestLoadForceModeController, load_controller)
 {
-  std::shared_ptr<rclcpp::Executor> executor =
-    std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+  std::shared_ptr<rclcpp::Executor> executor = std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
 
-  controller_manager::ControllerManager cm{
-    executor, ros2_control_test_assets::minimal_robot_urdf, true, "test_controller_manager"};
+  controller_manager::ControllerManager cm{ executor, ros2_control_test_assets::minimal_robot_urdf, true,
+                                            "test_controller_manager" };
 
-  const std::string test_file_path =
-    std::string{TEST_FILES_DIRECTORY} + "/force_mode_controller_params.yaml";
-  cm.set_parameter({"test_force_mode_controller.params_file", test_file_path});
+  const std::string test_file_path = std::string{ TEST_FILES_DIRECTORY } + "/force_mode_controller_params.yaml";
+  cm.set_parameter({ "test_force_mode_controller.params_file", test_file_path });
 
-  cm.set_parameter({"test_force_mode_controller.type", "ur_controllers/ForceModeController"});
+  cm.set_parameter({ "test_force_mode_controller.type", "ur_controllers/ForceModeController" });
 
   ASSERT_NE(cm.load_controller("test_force_mode_controller"), nullptr);
 }
 
-int main(int argc, char * argv[])
+int main(int argc, char* argv[])
 {
   ::testing::InitGoogleMock(&argc, argv);
   rclcpp::init(argc, argv);

ur_robot_driver/test/integration_test_force_mode.py

@@ -27,8 +27,6 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import copy
-import logging
 import os
 import sys
 import time
@@ -52,22 +50,18 @@
     Quaternion,
     Point,
     Twist,
-    WrenchStamped,
     Wrench,
     Vector3,
 )
-from ur_msgs.srv import SetForceMode
 
 sys.path.append(os.path.dirname(__file__))
 from test_common import (  # noqa: E402
-    ActionInterface,
     ControllerManagerInterface,
     DashboardInterface,
     ForceModeInterface,
     IoStatusInterface,
     ConfigurationInterface,
     generate_driver_test_description,
-    ROBOT_JOINTS,
 )
 
 TIMEOUT_EXECUTE_TRAJECTORY = 30
@@ -106,9 +100,7 @@ def init_robot(self):
     def setUp(self):
         self._dashboard_interface.start_robot()
         time.sleep(1)
-        self.assertTrue(
-            self._io_status_controller_interface.resend_robot_program().success
-        )
+        self.assertTrue(self._io_status_controller_interface.resend_robot_program().success)
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self.node)
 
@@ -155,7 +147,7 @@ def test_force_mode_controller(self, tf_prefix):
         speed_limits = Twist()
         speed_limits.linear = Vector3(x=0.0, y=0.0, z=1.0)
         speed_limits.angular = Vector3(x=0.0, y=0.0, z=1.0)
-        deviation_limits = [1.0, 1.0, 1.0, 0.5, 1.0, 1.0, 1.0]
+        deviation_limits = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
 
         # specify damping and gain scaling
         damping_factor = 0.1
@@ -168,7 +160,7 @@ def test_force_mode_controller(self, tf_prefix):
                 trans_before = self.tf_buffer.lookup_transform(
                     tf_prefix + "base", tf_prefix + "tool0", rclpy.time.Time()
                 )
-            except TransformException as ex:
+            except TransformException:
                 pass
 
         # Send request to controller
@@ -199,17 +191,15 @@ def test_force_mode_controller(self, tf_prefix):
                 trans_after = self.tf_buffer.lookup_transform(
                     tf_prefix + "base", tf_prefix + "tool0", timepoint
                 )
-            except TransformException as ex:
+            except TransformException:
                 pass
 
         # task frame and wrench determines the expected motion
         # In the example we used
         #   - a task frame rotated pi/2 deg around the base frame's x axis
         #   - a wrench with a positive z component for the force
         # => we should expect a motion in negative y of the base frame
-        self.assertTrue(
-            trans_after.transform.translation.y < trans_before.transform.translation.y
-        )
+        self.assertTrue(trans_after.transform.translation.y < trans_before.transform.translation.y)
         self.assertAlmostEqual(
             trans_after.transform.translation.x,
             trans_before.transform.translation.x,