Some linting on gazebo files

Author: roncapat

gazebo_ros2_control/include/gazebo_ros2_control/node.hh

@@ -15,8 +15,8 @@
  *
 */
 
-#ifndef GAZEBO_TRANSPORT_NODE_HH_
-#define GAZEBO_TRANSPORT_NODE_HH_
+#ifndef GAZEBO_ROS2_CONTROL__NODE_HH_
+#define GAZEBO_ROS2_CONTROL__NODE_HH_
 
 #undef emit
 #include <tbb/task.h>
@@ -30,12 +30,14 @@
 #define BOOST_BIND_GLOBAL_PLACEHOLDERS
 #endif
 
-#include <boost/bind.hpp>
-#include <boost/enable_shared_from_this.hpp>
 #include <map>
 #include <list>
 #include <string>
 #include <vector>
+
+#include <boost/bind.hpp>
+#include <boost/enable_shared_from_this.hpp>
+
 #if TBB_VERSION_MAJOR >= 2021
 #include "gazebo/transport/TaskGroup.hh"
 #endif
@@ -101,7 +103,7 @@ private:
 
 private:
       google::protobuf::Message * msg;
-    };
+    }
     /// \endcond
 
     /// \addtogroup gazebo_transport
@@ -328,11 +330,12 @@ public:
         ops.template Init < M > (decodedTopic, shared_from_this(), _latching);
 
         {
-          using namespace boost::placeholders;
           boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
           this->callbacks[decodedTopic].push_back(
             CallbackHelperPtr(
-              new CallbackHelperT < M > (boost::bind(_fp, _obj, _1), _latching)));
+              new CallbackHelperT < M > (boost::bind(
+                _fp, _obj,
+                boost::placeholders::_1), _latching)));
         }
 
         SubscriberPtr result =
@@ -426,11 +429,10 @@ public:
         ops.Init(decodedTopic, shared_from_this(), _latching);
 
         {
-          using namespace boost::placeholders;
           boost::recursive_mutex::scoped_lock lock(this->incomingMutex);
           this->callbacks[decodedTopic].push_back(
             CallbackHelperPtr(
-              new RawCallbackHelper(boost::bind(_fp, _obj, _1))));
+              new RawCallbackHelper(boost::bind(_fp, _obj, boost::placeholders::_1))));
         }
 
         SubscriberPtr result =
@@ -602,7 +604,7 @@ private:
 
 private:
       bool initialized;
-    };
-  }
-}
-#endif
+    }
+  }  // namespace transport
+}  // namespace gazebo
+#endif  // GAZEBO_ROS2_CONTROL__NODE_HH_

gazebo_ros2_control/src/gazebo_system.cpp

@@ -480,45 +480,41 @@ void GazeboSystem::registerGazeboTopics(
   int n_states = 0;
 
   // STEP 1
-  for (unsigned int j = 0; j < hardware_info.joints.size(); j++)
-  {
-    auto &info = hardware_info.joints[j];
+  for (unsigned int j = 0; j < hardware_info.joints.size(); j++) {
+    auto & info = hardware_info.joints[j];
 
-    for (unsigned int i = 0; i < info.command_interfaces.size(); i++)
-    {
+    for (unsigned int i = 0; i < info.command_interfaces.size(); i++) {
       std::string if_name = info.command_interfaces[i].name;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort")
-      {
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort") {
         ++n_commands;
       }
     }
 
-    for (unsigned int i = 0; i < info.state_interfaces.size(); i++)
-    {
+    for (unsigned int i = 0; i < info.state_interfaces.size(); i++) {
       std::string if_name = info.state_interfaces[i].name;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort")
-      {
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort") {
         ++n_states;
       }
     }
   }
 
-  for (unsigned int j = 0; j < hardware_info.sensors.size(); j++)
-    {
-    auto &info = hardware_info.sensors[j];
+  for (unsigned int j = 0; j < hardware_info.sensors.size(); j++) {
+    auto & info = hardware_info.sensors[j];
 
-    for (unsigned int i = 0; i < info.state_interfaces.size(); i++)
-    {
+    for (unsigned int i = 0; i < info.state_interfaces.size(); i++) {
       std::string if_name = info.state_interfaces[i].name;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort"
-      && if_name != "orientation.x" && if_name != "orientation.y" && if_name != "orientation.z"
-      && if_name != "orientation.w" && if_name != "angular_velocity.x" && if_name != "angular_velocity.y"
-      && if_name != "angular_velocity.z" && if_name != "linear_acceleration.x" && if_name != "linear_acceleration.y"
-      && if_name != "linear_acceleration.z" && if_name != "force.x" && if_name != "force.y" && if_name != "force.z"
-      && if_name != "torque.x" && if_name != "torque.y" && if_name != "torque.z")
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort" &&
+        if_name != "orientation.x" && if_name != "orientation.y" && if_name != "orientation.z" &&
+        if_name != "orientation.w" && if_name != "angular_velocity.x" &&
+        if_name != "angular_velocity.y" &&
+        if_name != "angular_velocity.z" && if_name != "linear_acceleration.x" &&
+        if_name != "linear_acceleration.y" &&
+        if_name != "linear_acceleration.z" && if_name != "force.x" && if_name != "force.y" &&
+        if_name != "force.z" &&
+        if_name != "torque.x" && if_name != "torque.y" && if_name != "torque.z")
       {
         ++n_states;
       }
@@ -533,31 +529,28 @@ void GazeboSystem::registerGazeboTopics(
   unsigned int cs = 0;
 
   // STEP 2
-  for (unsigned int j = 0; j < hardware_info.joints.size(); j++)
-  {
-    auto &info = hardware_info.joints[j];
+  for (unsigned int j = 0; j < hardware_info.joints.size(); j++) {
+    auto & info = hardware_info.joints[j];
     std::string joint_name = this->dataPtr->joint_names_[j] = info.name;
 
-    RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Registering gazebo topics for joint: " << joint_name);
+    RCLCPP_INFO_STREAM(
+      this->nh_->get_logger(), "Registering gazebo topics for joint: " << joint_name);
 
     RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tCommand:");
 
-    for (unsigned int i = 0; i < info.command_interfaces.size(); i++)
-    {
+    for (unsigned int i = 0; i < info.command_interfaces.size(); i++) {
       std::string if_name = info.command_interfaces[i].name;
       std::string initial_v = info.command_interfaces[i].initial_value;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort")
-      {
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort") {
         RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << if_name);
 
         this->dataPtr->command_interfaces_.emplace_back(
-            joint_name,
-            if_name,
-            &(this->dataPtr->gazebo_topic_cmd_[cc]));
+          joint_name,
+          if_name,
+          &(this->dataPtr->gazebo_topic_cmd_[cc]));
 
-        if (!initial_v.empty())
-        {
+        if (!initial_v.empty()) {
           this->dataPtr->gazebo_topic_cmd_[cc] = std::stod(initial_v);
         }
 
@@ -575,17 +568,17 @@ void GazeboSystem::registerGazeboTopics(
     for (unsigned int i = 0; i < info.state_interfaces.size(); i++) {
       std::string if_name = info.state_interfaces[i].name;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort"){
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort") {
         RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << if_name);
 
         this->dataPtr->state_interfaces_.emplace_back(
-            joint_name,
-            if_name,
-            &(this->dataPtr->gazebo_topic_fbk_[cs]));
-        
+          joint_name,
+          if_name,
+          &(this->dataPtr->gazebo_topic_fbk_[cs]));
+
         dataPtr->gz_subs_.push_back(
           this->dataPtr->transport_nh_->Subscribe<gazebo::msgs::Any>(
-            "~/" + joint_name + "/" + if_name, 
+            "~/" + joint_name + "/" + if_name,
             [this, cs](ConstAnyPtr & msg) mutable -> void {
               this->dataPtr->gazebo_topic_fbk_[cs] = msg->double_value();
             }
@@ -600,31 +593,34 @@ void GazeboSystem::registerGazeboTopics(
     auto & info = hardware_info.sensors[j];
     std::string sensor_name = info.name;
 
-    RCLCPP_INFO_STREAM(this->nh_->get_logger(), "Registering gazebo topics for sensor: " << sensor_name);
+    RCLCPP_INFO_STREAM(
+      this->nh_->get_logger(), "Registering gazebo topics for sensor: " << sensor_name);
 
     RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\tState:");
 
-    for (unsigned int i = 0; i < info.state_interfaces.size(); i++)
-    {
+    for (unsigned int i = 0; i < info.state_interfaces.size(); i++) {
       std::string if_name = info.state_interfaces[i].name;
 
-      if (if_name != "position" && if_name != "velocity" && if_name != "effort"
-      && if_name != "orientation.x" && if_name != "orientation.y" && if_name != "orientation.z"
-      && if_name != "orientation.w" && if_name != "angular_velocity.x" && if_name != "angular_velocity.y"
-      && if_name != "angular_velocity.z" && if_name != "linear_acceleration.x" && if_name != "linear_acceleration.y"
-      && if_name != "linear_acceleration.z" && if_name != "force.x" && if_name != "force.y" && if_name != "force.z"
-      && if_name != "torque.x" && if_name != "torque.y" && if_name != "torque.z")
+      if (if_name != "position" && if_name != "velocity" && if_name != "effort" &&
+        if_name != "orientation.x" && if_name != "orientation.y" && if_name != "orientation.z" &&
+        if_name != "orientation.w" && if_name != "angular_velocity.x" &&
+        if_name != "angular_velocity.y" &&
+        if_name != "angular_velocity.z" && if_name != "linear_acceleration.x" &&
+        if_name != "linear_acceleration.y" &&
+        if_name != "linear_acceleration.z" && if_name != "force.x" && if_name != "force.y" &&
+        if_name != "force.z" &&
+        if_name != "torque.x" && if_name != "torque.y" && if_name != "torque.z")
       {
         RCLCPP_INFO_STREAM(this->nh_->get_logger(), "\t\t " << if_name);
 
         this->dataPtr->state_interfaces_.emplace_back(
-            sensor_name,
-            if_name,
-            &(this->dataPtr->gazebo_topic_fbk_[cs]));
-        
+          sensor_name,
+          if_name,
+          &(this->dataPtr->gazebo_topic_fbk_[cs]));
+
         dataPtr->gz_subs_.push_back(
           this->dataPtr->transport_nh_->Subscribe<gazebo::msgs::Any>(
-            "~/" + sensor_name + "/" + if_name, 
+            "~/" + sensor_name + "/" + if_name,
             [this, cs](ConstAnyPtr & msg) mutable -> void {
               this->dataPtr->gazebo_topic_fbk_[cs] = msg->double_value();
             }