add pre-commit

Author: KmakD

.github/workflows/pre-commit.yaml

@@ -0,0 +1,11 @@
+---
+name: Pre-commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: jazzy

.gitignore

@@ -1 +1 @@
-.vscode/*
+.vscode/*

.pre-commit-config.yaml

@@ -0,0 +1,98 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+        # mesh files has to be taken into account
+        args: ["--maxkb=3000"]
+      - id: check-ast
+      - id: check-json
+        # vscode .json files do not follow the standard JSON format
+        exclude: ^.vscode/
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: name-tests-test
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: ["--profile", "black"]
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.3
+    hooks:
+      - id: clang-format
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        name: codespell
+        description: Checks for common misspellings in text files.
+        entry: codespell
+        args:
+          [
+            "--ignore-words-list",
+            "ned" # north, east, down (NED)
+          ]
+        exclude_types: [rst, svg]
+        language: python
+        types: [text]
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^.github|./\.yaml
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+  - repo: https://github.com/psf/black
+    rev: 24.10.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 7.1.1
+    hooks:
+      - id: flake8
+        args:
+          ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+          # black checks it
+
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+
+    # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ["--max-line-length=100", "--ignore=D001"]
+        exclude: ^.*\/CHANGELOG\.rst$
+
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.10.0
+    hooks:
+      - id: prettier-package-xml
+      - id: sort-package-xml

README.md

@@ -1,2 +1,3 @@
 # husarion_controllers
+
 Robotic controllers to accompany ros2_control for Husarion robots.

mecanum_drive_controller/CMakeLists.txt

@@ -1,4 +1,5 @@
-# Copied and adapted from diff_drive_controller (https://github.com/ros-controls/ros2_controllers)
+# Copied and adapted from diff_drive_controller
+# (https://github.com/ros-controls/ros2_controllers)
 
 cmake_minimum_required(VERSION 3.11)
 project(mecanum_drive_controller)
@@ -25,45 +26,42 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     rcpputils
     realtime_tools
     tf2
-    tf2_msgs
-)
+    tf2_msgs)
 
 find_package(ament_cmake REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
 
 generate_parameter_library(mecanum_drive_controller_parameters
-  src/mecanum_drive_controller_parameter.yaml
-)
+                           src/mecanum_drive_controller_parameter.yaml)
 
-add_library(mecanum_drive_controller SHARED
-  src/mecanum_drive_controller.cpp
-  src/odometry.cpp
-  src/speed_limiter.cpp
-)
-target_include_directories(mecanum_drive_controller PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/mecanum_drive_controller>
-)
-target_link_libraries(mecanum_drive_controller PUBLIC mecanum_drive_controller_parameters)
-ament_target_dependencies(mecanum_drive_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-# Causes the visibility macros to use dllexport rather than dllimport,
-# which is appropriate when building the dll but not consuming it.
-target_compile_definitions(mecanum_drive_controller PRIVATE "MECANUM_DRIVE_CONTROLLER_BUILDING_DLL")
-pluginlib_export_plugin_description_file(controller_interface mecanum_drive_plugin.xml)
+add_library(
+  mecanum_drive_controller SHARED src/mecanum_drive_controller.cpp
+                                  src/odometry.cpp src/speed_limiter.cpp)
+target_include_directories(
+  mecanum_drive_controller
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include/mecanum_drive_controller>)
+target_link_libraries(mecanum_drive_controller
+                      PUBLIC mecanum_drive_controller_parameters)
+ament_target_dependencies(mecanum_drive_controller PUBLIC
+                          ${THIS_PACKAGE_INCLUDE_DEPENDS})
+# Causes the visibility macros to use dllexport rather than dllimport, which is
+# appropriate when building the dll but not consuming it.
+target_compile_definitions(mecanum_drive_controller
+                           PRIVATE "MECANUM_DRIVE_CONTROLLER_BUILDING_DLL")
+pluginlib_export_plugin_description_file(controller_interface
+                                         mecanum_drive_plugin.xml)
 
-install(
-  DIRECTORY include/
-  DESTINATION include/mecanum_drive_controller
-)
+install(DIRECTORY include/ DESTINATION include/mecanum_drive_controller)
 
-install(TARGETS mecanum_drive_controller mecanum_drive_controller_parameters
+install(
+  TARGETS mecanum_drive_controller mecanum_drive_controller_parameters
   EXPORT export_mecanum_drive_controller
   RUNTIME DESTINATION bin
   ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-)
+  LIBRARY DESTINATION lib)
 
 ament_export_targets(export_mecanum_drive_controller HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})

mecanum_drive_controller/doc/userdoc.rst

@@ -3,7 +3,7 @@
 .. Copied and adapted from diff_drive_controller (https://github.com/ros-controls/ros2_controllers)
 
 mecanum_drive_controller
-=====================
+========================
 
 Controller for mobile robots with mecanum drive based on diff_drive_controller (https://github.com/ros-controls/ros2_controllers).
 Input for control are robot body velocity commands which are translated to wheel commands for the mecanum drive base.

mecanum_drive_controller/include/mecanum_drive_controller/odometry.hpp

@@ -39,38 +39,22 @@ class Odometry
 public:
   explicit Odometry(size_t velocity_rolling_window_size = 10);
 
-  void init(const rclcpp::Time& time);
-  bool update(double front_left_pos, double front_right_pos, double rear_left_pos, double rear_right_pos,
-              const rclcpp::Time& time);
-  bool updateFromVelocity(double front_left_vel, double front_right_vel, double rear_left_vel, double rear_right_vel,
-                          const rclcpp::Time& time);
-  void updateOpenLoop(double linear_x, double linear_y, double angular, const rclcpp::Time& time);
+  void init(const rclcpp::Time & time);
+  bool update(
+    double front_left_pos, double front_right_pos, double rear_left_pos, double rear_right_pos,
+    const rclcpp::Time & time);
+  bool updateFromVelocity(
+    double front_left_vel, double front_right_vel, double rear_left_vel, double rear_right_vel,
+    const rclcpp::Time & time);
+  void updateOpenLoop(double linear_x, double linear_y, double angular, const rclcpp::Time & time);
   void resetOdometry();
 
-  double getX() const
-  {
-    return x_;
-  }
-  double getY() const
-  {
-    return y_;
-  }
-  double getHeading() const
-  {
-    return heading_;
-  }
-  double getLinearX() const
-  {
-    return linear_x_;
-  }
-  double getLinearY() const
-  {
-    return linear_y_;
-  }
-  double getAngular() const
-  {
-    return angular_;
-  }
+  double getX() const { return x_; }
+  double getY() const { return y_; }
+  double getHeading() const { return heading_; }
+  double getLinearX() const { return linear_x_; }
+  double getLinearY() const { return linear_y_; }
+  double getAngular() const { return angular_; }
 
   void setWheelParams(double wheel_separation_x, double wheel_separation_y, double wheel_radius);
   void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);

mecanum_drive_controller/include/mecanum_drive_controller/speed_limiter.hpp

@@ -42,9 +42,11 @@ class SpeedLimiter
    * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
    * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
    */
-  SpeedLimiter(bool has_velocity_limits = false, bool has_acceleration_limits = false, bool has_jerk_limits = false,
-               double min_velocity = NAN, double max_velocity = NAN, double min_acceleration = NAN,
-               double max_acceleration = NAN, double min_jerk = NAN, double max_jerk = NAN);
+  SpeedLimiter(
+    bool has_velocity_limits = false, bool has_acceleration_limits = false,
+    bool has_jerk_limits = false, double min_velocity = NAN, double max_velocity = NAN,
+    double min_acceleration = NAN, double max_acceleration = NAN, double min_jerk = NAN,
+    double max_jerk = NAN);
 
   /**
    * \brief Limit the velocity and acceleration
@@ -54,14 +56,14 @@ class SpeedLimiter
    * \param [in]      dt Time step [s]
    * \return Limiting factor (1.0 if none)
    */
-  double limit(double& v, double v0, double v1, double dt);
+  double limit(double & v, double v0, double v1, double dt);
 
   /**
    * \brief Limit the velocity
    * \param [in, out] v Velocity [m/s]
    * \return Limiting factor (1.0 if none)
    */
-  double limit_velocity(double& v);
+  double limit_velocity(double & v);
 
   /**
    * \brief Limit the acceleration
@@ -70,7 +72,7 @@ class SpeedLimiter
    * \param [in]      dt Time step [s]
    * \return Limiting factor (1.0 if none)
    */
-  double limit_acceleration(double& v, double v0, double dt);
+  double limit_acceleration(double & v, double v0, double dt);
 
   /**
    * \brief Limit the jerk
@@ -81,7 +83,7 @@ class SpeedLimiter
    * \return Limiting factor (1.0 if none)
    * \see http://en.wikipedia.org/wiki/Jerk_%28physics%29#Motion_control
    */
-  double limit_jerk(double& v, double v0, double v1, double dt);
+  double limit_jerk(double & v, double v0, double v1, double dt);
 
 private:
   // Enable/Disable velocity/acceleration/jerk limits:

mecanum_drive_controller/src/mecanum_drive_controller.cpp

@@ -404,7 +404,7 @@ controller_interface::CallbackReturn MecanumDriveController::on_configure(
       received_velocity_msg_ptr_.writeFromNonRT(std::move(msg));
     });
 
-  // initialize odometry publisher and messasge
+  // initialize odometry publisher and message
   odometry_publisher_ = get_node()->create_publisher<nav_msgs::msg::Odometry>(
     DEFAULT_ODOMETRY_TOPIC, rclcpp::SystemDefaultsQoS());
   realtime_odometry_publisher_ =