Add initial pre-commit setup. (ros-controls#220)

destogl · bmagyar · web-flow · commit a86a8c24b954 · 2021-07-28T18:44:56.000+01:00
* Add initial pre-commit setup.

* ignore changelog files for codespell

* Basic whitespace and typo fixes

* Basic whitespace and typo fixes

* fix docs

Co-authored-by: Bence Magyar &lt;bence.magyar.robotics@gmail.com&gt;
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
@@ -0,0 +1,24 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10 cppcheck
+    - uses: pre-commit/action@v2.0.3
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
@@ -24,4 +24,3 @@ jobs:
       - uses: actions/checkout@v2
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master
-
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,132 @@
+
+# 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: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v2.12.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PEP 257
+  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
+    rev: v0.3.3
+    hooks:
+    - id: pep257
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 3.9.0
+    hooks:
+    - id: flake8
+      args: ["--ignore=E501"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: ament_uncrustify
+        name: ament_uncrustify
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # 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$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: 0.9.0a1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.8.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$
diff --git a/README.md b/README.md
@@ -8,21 +8,21 @@ Have a look at here: https://github.com/ros-controls/ros2_control
 
 ## Acknowledgements
 
-<!-- 
+<!--
     ROSIN acknowledgement from the ROSIN press kit
     @ https://github.com/rosin-project/press_kit
 -->
 
 <a href="http://rosin-project.eu">
-  <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" 
+  <img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png"
        alt="rosin_logo" height="60" >
 </a>
 
-Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.  
+Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
 More information: <a href="http://rosin-project.eu">rosin-project.eu</a>
 
-<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" 
-     alt="eu_flag" height="45" align="left" >  
+<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg"
+     alt="eu_flag" height="45" align="left" >
 
-This project has received funding from the European Union’s Horizon 2020  
-research and innovation programme under grant agreement no. 732287.
+This project has received funding from the European Union’s Horizon 2020
+research and innovation programme under grant agreement no. 732287.
diff --git a/diff_drive_controller/src/diff_drive_controller.cpp b/diff_drive_controller/src/diff_drive_controller.cpp
@@ -498,7 +498,7 @@ CallbackReturn DiffDriveController::on_activate(const rclcpp_lifecycle::State &)
   if (registered_left_wheel_handles_.empty() || registered_right_wheel_handles_.empty()) {
     RCLCPP_ERROR(
       node_->get_logger(),
-      "Either left wheel interfaces, right wheel interfaces are non existant");
+      "Either left wheel interfaces, right wheel interfaces are non existent");
     return CallbackReturn::ERROR;
   }
 
diff --git a/doc/writing_new_controller.rst b/doc/writing_new_controller.rst
@@ -11,7 +11,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
    If the package for the controller does not exist, then create it first.
    The package should have ``ament_cmake`` as a build type.
    The easiest way is to search online for the most recent manual.
-   A helpful command to support this process is `ros2 pkg create`.
+   A helpful command to support this process is ``ros2 pkg create``.
    Use the ``--help`` flag for more information on how to use it.
    There is also an option to create library source files and compile rules to help you in the following steps.
 
@@ -33,10 +33,10 @@ The following is a step-by-step guide to create source files, basic tests, and c
 
    4. Define the class of the controller, extending ``ControllerInterface``, e.g.,
       .. code:: c++
-         class ControllerName : public controller_interface::ControllerInterface
+      class ControllerName : public controller_interface::ControllerInterface
 
    5. Add a constructor without parameters and the following public methods overriding the ``ControllerInterface`` definition: ``init``, ``command_interface_configuration``, ``state_interface_configuration``, ``on_configure``, ``on_activate``, ``on_deactivate``, ``update``.
-      For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers> `_.
+      For exact definitions check the ``controller_interface/controller_interface.hpp`` header or one of the controllers from `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_.
 
    6. (optional) Often, controllers accept lists of joint names and interface names as parameters.
       If so, you can add two protected string vectors to store those values.
@@ -76,7 +76,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
 5. **Writing export definition for pluginlib**
 
    1. Create the ``<controller_name>.xml`` file in the package and add a definition of the library and controller's class which has to be visible for the pluginlib.
-      The easiest way to do that is to check other controllers in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers> `_ package.
+      The easiest way to do that is to check other controllers in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_ package.
 
    2. Usually, the plugin name is defined by the package (namespace) and the class name, e.g.,
       ``<controller_name_package>/<ControllerName>``.
@@ -85,9 +85,9 @@ The following is a step-by-step guide to create source files, basic tests, and c
 
 6. **Writing simple test to check if the controller can be found and loaded**
 
-   1. Create the folder ``test`` in your package, if it does not exist already, and add a file named ``test_load_<controller_name>.cpp>.
+   1. Create the folder ``test`` in your package, if it does not exist already, and add a file named ``test_load_<controller_name>.cpp``.
 
-   2. You can safely copy the file's content for any controller defined in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers> `_ package.
+   2. You can safely copy the file's content for any controller defined in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_ package.
 
    3. Change the name of the copied test and in the last line, where controller type is specified put the name defined in ``<controller_name>.xml`` file, e.g., ``<controller_name_package>/<ControllerName>``.
 
@@ -112,7 +112,7 @@ The following is a step-by-step guide to create source files, basic tests, and c
    7. In the test section add the following dependencies: ``ament_cmake_gmock``, ``controller_manager``, ``hardware_interface``, ``ros2_control_test_assets``.
 
    8. Add compile definitions for the tests using the ``ament_add_gmock`` directive.
-      For details, see how it is done for controllers in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers> `_ package.
+      For details, see how it is done for controllers in the `ros2_controllers <https://github.com/ros-controls/ros2_controllers>`_ package.
 
    9. (optional) Add your controller`s library into ``ament_export_libraries`` before ``ament_package()``.
 
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
@@ -43,4 +43,3 @@ Changelog for package effort_controllers
 
 0.1.0 (2020-12-23)
 ------------------
-
diff --git a/effort_controllers/test/test_joint_group_effort_controller.cpp b/effort_controllers/test/test_joint_group_effort_controller.cpp
@@ -151,7 +151,7 @@ TEST_F(JointGroupEffortControllerTest, WrongCommandCheckTest)
   controller_->get_node()->set_parameter({"joints", joint_names_});
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
-  // send command with wrong numnber of joints
+  // send command with wrong number of joints
   auto command_ptr =
     std::make_shared<forward_command_controller::CmdType>();
   command_ptr->data = {10.0, 20.0};
diff --git a/effort_controllers/test/test_joint_group_effort_controller.hpp b/effort_controllers/test/test_joint_group_effort_controller.hpp
@@ -27,7 +27,7 @@
 
 using hardware_interface::HW_IF_EFFORT;
 using hardware_interface::CommandInterface;
-// subclassing and friending so we can access member varibles
+// subclassing and friending so we can access member variables
 class FriendJointGroupEffortController : public effort_controllers::JointGroupEffortController
 {
   FRIEND_TEST(JointGroupEffortControllerTest, CommandSuccessTest);
diff --git a/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp b/force_torque_sensor_broadcaster/test/test_force_torque_sensor_broadcaster.hpp
@@ -26,7 +26,7 @@
 
 #include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp"
 
-// subclassing and friending so we can access member varibles
+// subclassing and friending so we can access member variables
 class FriendForceTorqueSensorBroadcaster : public force_torque_sensor_broadcaster::
   ForceTorqueSensorBroadcaster
 {
diff --git a/forward_command_controller/test/test_forward_command_controller.cpp b/forward_command_controller/test/test_forward_command_controller.cpp
@@ -115,7 +115,7 @@ TEST_F(ForwardCommandControllerTest, InterfaceParameterEmpty)
 {
   SetUpController();
 
-  // configure failed, 'interface_name' paremeter not set
+  // configure failed, 'interface_name' parameter not set
   controller_->get_node()->set_parameter({"joints", std::vector<std::string>{"joint1", "joint2"}});
   controller_->get_node()->set_parameter({"interface_name", ""});
 
@@ -219,7 +219,7 @@ TEST_F(ForwardCommandControllerTest, WrongCommandCheckTest)
 
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), CallbackReturn::SUCCESS);
 
-  // send command with wrong numnber of joints
+  // send command with wrong number of joints
   auto command_ptr =
     std::make_shared<forward_command_controller::CmdType>();
   command_ptr->data = {10.0, 20.0};
diff --git a/forward_command_controller/test/test_forward_command_controller.hpp b/forward_command_controller/test/test_forward_command_controller.hpp
@@ -28,7 +28,7 @@
 using hardware_interface::HW_IF_POSITION;
 using hardware_interface::CommandInterface;
 
-// subclassing and friending so we can access member varibles
+// subclassing and friending so we can access member variables
 class FriendForwardCommandController : public forward_command_controller::ForwardCommandController
 {
   FRIEND_TEST(ForwardCommandControllerTest, JointsParameterNotSet);
diff --git a/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp b/imu_sensor_broadcaster/test/test_imu_sensor_broadcaster.hpp
@@ -26,7 +26,7 @@
 
 #include "imu_sensor_broadcaster/imu_sensor_broadcaster.hpp"
 
-// subclassing and friending so we can access member varibles
+// subclassing and friending so we can access member variables
 class FriendIMUSensorBroadcaster : public imu_sensor_broadcaster::
   IMUSensorBroadcaster
 {
diff --git a/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp b/joint_state_broadcaster/test/test_joint_state_broadcaster.hpp
@@ -23,7 +23,7 @@
 
 #include "joint_state_broadcaster/joint_state_broadcaster.hpp"
 
-// subclassing and friending so we can access member varibles
+// subclassing and friending so we can access member variables
 class FriendJointStateBroadcaster : public joint_state_broadcaster::JointStateBroadcaster
 {
   FRIEND_TEST(JointStateBroadcasterTest, ConfigureErrorTest);
diff --git a/joint_trajectory_controller/doc/userdoc.rst b/joint_trajectory_controller/doc/userdoc.rst
@@ -179,6 +179,4 @@ The following version of the Joint Trajectory Controller are available mapping t
 ..     - Input: position, [velocity, [acceleration]]
 ..     - Output: effort
 
-The controller uses `common hardware interface definitions`_.
-
 (*Not implemented yet*) When using pure ``velocity`` or ``effort`` controllers a command is generated using the desired state and state error using a velocity feedforward term plus a corrective PID term. (#171)
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/joint_trajectory_controller.hpp
@@ -153,7 +153,7 @@ class JointTrajectoryController : public controller_interface::ControllerInterfa
   // https://github.com/ros-controls/ros_controllers/blob/noetic-devel/joint_trajectory_controller/include/joint_trajectory_controller/hardware_interface_adapter.h#L283
   bool use_closed_loop_pid_adapter = false;
 
-  // TODO(karsten1987): eventually activate and deactive subscriber directly when its supported
+  // TODO(karsten1987): eventually activate and deactivate subscriber directly when its supported
   bool subscriber_is_active_ = false;
   rclcpp::Subscription<trajectory_msgs::msg::JointTrajectory>::SharedPtr
     joint_command_subscriber_ = nullptr;
diff --git a/joint_trajectory_controller/src/joint_trajectory_controller.cpp b/joint_trajectory_controller/src/joint_trajectory_controller.cpp
@@ -551,7 +551,7 @@ JointTrajectoryController::on_configure(const rclcpp_lifecycle::State &)
     node_->create_subscription<trajectory_msgs::msg::JointTrajectory>(
     "~/joint_trajectory", rclcpp::SystemDefaultsQoS(), callback);
 
-  // TODO(karsten1987): no lifecyle for subscriber yet
+  // TODO(karsten1987): no lifecycle for subscriber yet
   // joint_command_subscriber_->on_activate();
 
   // State publisher
diff --git a/joint_trajectory_controller/test/config/test_joint_trajectory_controller.yaml b/joint_trajectory_controller/test/config/test_joint_trajectory_controller.yaml
@@ -10,5 +10,3 @@ test_joint_trajectory_controller:
   state_interfaces:
     - position
     - velocity
-
-
diff --git a/joint_trajectory_controller/test/test_trajectory_actions.cpp b/joint_trajectory_controller/test/test_trajectory_actions.cpp
@@ -104,7 +104,7 @@ class TestTrajectoryActions : public TrajectoryControllerTest
       });
 
     // common_goal_response and common_result_response
-    // sometimes doesnt receive calls when we dont sleep
+    // sometimes doesn't receive calls when we don't sleep
     std::this_thread::sleep_for(std::chrono::milliseconds(300));
   }
 
diff --git a/joint_trajectory_controller/test/test_trajectory_controller.cpp b/joint_trajectory_controller/test/test_trajectory_controller.cpp
diff --git a/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp b/joint_trajectory_controller/test/test_trajectory_controller_utils.hpp
diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
diff --git a/position_controllers/test/test_joint_group_position_controller.cpp b/position_controllers/test/test_joint_group_position_controller.cpp
diff --git a/position_controllers/test/test_joint_group_position_controller.hpp b/position_controllers/test/test_joint_group_position_controller.hpp
diff --git a/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.cpp b/velocity_controllers/test/test_joint_group_velocity_controller.cpp
diff --git a/velocity_controllers/test/test_joint_group_velocity_controller.hpp b/velocity_controllers/test/test_joint_group_velocity_controller.hpp

Original file line number	Diff line number	Diff line change
`@@ -498,7 +498,7 @@ CallbackReturn DiffDriveController::on_activate(const rclcpp_lifecycle::State &)`
`498`	`498`	`if (registered_left_wheel_handles_.empty() \|\| registered_right_wheel_handles_.empty()) {`
`499`	`499`	`RCLCPP_ERROR(`
`500`	`500`	`node_->get_logger(),`
`501`		`- "Either left wheel interfaces, right wheel interfaces are non existant");`
	`501`	`+ "Either left wheel interfaces, right wheel interfaces are non existent");`
`502`	`502`	`return CallbackReturn::ERROR;`
`503`	`503`	`}`
`504`	`504`
Original file line number	Diff line number	Diff line change
`@@ -43,4 +43,3 @@ Changelog for package effort_controllers`
`43`	`43`
`44`	`44`	`0.1.0 (2020-12-23)`
`45`	`45`	`------------------`
`46`		`-`
Original file line number	Diff line number	Diff line change
`@@ -27,7 +27,7 @@`
`27`	`27`
`28`	`28`	`using hardware_interface::HW_IF_EFFORT;`
`29`	`29`	`using hardware_interface::CommandInterface;`
`30`		`-// subclassing and friending so we can access member varibles`
	`30`	`+// subclassing and friending so we can access member variables`
`31`	`31`	`class FriendJointGroupEffortController : public effort_controllers::JointGroupEffortController`
`32`	`32`	`{`
`33`	`33`	`FRIEND_TEST(JointGroupEffortControllerTest, CommandSuccessTest);`
Original file line number	Diff line number	Diff line change
`@@ -26,7 +26,7 @@`
`26`	`26`
`27`	`27`	`#include "force_torque_sensor_broadcaster/force_torque_sensor_broadcaster.hpp"`
`28`	`28`
`29`		`-// subclassing and friending so we can access member varibles`
	`29`	`+// subclassing and friending so we can access member variables`
`30`	`30`	`class FriendForceTorqueSensorBroadcaster : public force_torque_sensor_broadcaster::`
`31`	`31`	`ForceTorqueSensorBroadcaster`
`32`	`32`	`{`