Add pre-commit and CI-format (#206)

* Add pre-commit and ci-format

Author: christophfroehlich

.github/workflows/ci-format.yaml

@@ -0,0 +1,23 @@
+# 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:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-22.04
+    steps:
+    - uses: actions/checkout@v3
+    - uses: actions/setup-python@v4
+      with:
+        python-version: 3.10.6
+    - name: Install system hooks
+      run: sudo apt install -qq cppcheck ament-cmake-uncrustify ament-cmake-pep257
+    - uses: pre-commit/[email protected]
+      with:
+        extra_args: --all-files --hook-stage manual

.pre-commit-config.yaml

@@ -0,0 +1,136 @@
+# 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: v4.1.0
+    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
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v2.31.1
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # # PEP 257
+  - repo: local
+    hooks:
+    - id: ament_pep257
+      name: ament_pep257
+      description: Format files with pep257.
+      entry: ament_pep257
+      language: system
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 4.0.1
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: ament_uncrustify
+        name: ament_uncrustify
+        description: Format files with uncrustify.
+        entry: ament_uncrustify
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ["--reformat"]
+
+  - 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: 0.10.1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.9.0
+    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: v2.1.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc)$

README.md

@@ -142,7 +142,7 @@ robot hardware interfaces between `ros2_control` and Gazebo.
 The `gazebo_ros2_control` `<plugin>` tag also has the following optional child elements:
 
  - `<robot_param>`: The location of the `robot_description` (URDF) on the parameter server, defaults to `robot_description`
- - `<robot_param_node>`: Name of the node where the `robot_param` is located, defauls to `robot_state_publisher`
+ - `<robot_param_node>`: Name of the node where the `robot_param` is located, defaults to `robot_state_publisher`
  - `<parameters>`: YAML file with the configuration of the controllers
 
 #### Default gazebo_ros2_control Behavior
@@ -229,7 +229,7 @@ ros2 launch gazebo_ros2_control_demos tricycle_drive.launch.py
 
 Send example commands:
 
-When the Gazebo world is launched you can run some of the following commads to move the cart.
+When the Gazebo world is launched you can run some of the following commands to move the cart.
 
 ```bash
 ros2 run gazebo_ros2_control_demos example_position

gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp

@@ -61,7 +61,7 @@ class GazeboSystemInterface
   : public hardware_interface::SystemInterface
 {
 public:
-  /// \brief Initilize the system interface
+  /// \brief Initialize the system interface
   /// param[in] model_nh pointer to the ros2 node
   /// param[in] parent_model pointer to the model
   /// param[in] control_hardware vector filled with information about robot's control resources

gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp

@@ -444,7 +444,7 @@ std::string GazeboRosControlPrivate::getURDF(std::string param_name) const
     usleep(100000);
   }
   RCLCPP_INFO(
-    model_nh_->get_logger(), "Recieved urdf from param server, parsing...");
+    model_nh_->get_logger(), "Received urdf from param server, parsing...");
 
   return urdf_string;
 }

gazebo_ros2_control/src/gazebo_system.cpp

@@ -207,7 +207,7 @@ void GazeboSystem::registerJoints(
       }
       RCLCPP_INFO_STREAM(
         this->nh_->get_logger(),
-        "Joint '" << joint_name << "'is mimicing joint '" << mimicked_joint <<
+        "Joint '" << joint_name << "'is mimicking joint '" << mimicked_joint <<
           "' with mutiplier: " << mimic_joint.multiplier);
       this->dataPtr->mimic_joints_.push_back(mimic_joint);
       suffix = "_mimic";

gazebo_ros2_control_demos/config/tricycle_drive_controller.yaml

@@ -13,7 +13,7 @@ joint_state_broadcaster:
   ros__parameters:
     extra_joints: ["right_wheel_joint", "left_wheel_joint"]
 
-tricycle_controller: 
+tricycle_controller:
   ros__parameters:
     # Model
     traction_joint_name: traction_joint # Name of traction joint in URDF
@@ -30,7 +30,7 @@ tricycle_controller:
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # Need to be set if fusing odom with other localization source
     velocity_rolling_window_size: 10 # Rolling window size of rcppmath::RollingMeanAccumulator applied on linear and angular speeds published on odom
-    
+
     # Rate Limiting
     traction: # All values should be positive
       # min_velocity: 0.0