Fix formatting of the repo. (#82)

* add pre commit configuration

* Updated clang-format

* Added corrected files

* Revert to master

* Starting new CI configuration with pre-commit-hooks

* Add clang format config - copied from ament-clang-format

* Update action setup

* Update version of hooks

* Remove double pre-commit configuration

* Update deprecated hook.

* Update linters and formating configuration

* Braces are allways in the new line

* Updatd all line lengths to 100

* Add cpp lint option to ignore braces after else

* Put clang-format first to reduce cpplint and cppcheck errors

* Update build times and small error in setup

* Reformat all repo files

* Update configuration to ignore chnagelogs

* Update python line length to 99

Author: destogl

.pre-commit-config.yaml

@@ -42,7 +42,7 @@ repos:
     rev: 20.8b1
     hooks:
       - id: black
-        args: ["--line-length=100"]
+        args: ["--line-length=99"]
 
   # PEP 257
   - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
@@ -105,7 +105,7 @@ repos:
         stages: [commit]
         entry: ament_lint_cmake
         language: system
-        files: CMakeLists.txt$
+        files: CMakeLists\.txt$
 
   # Copyright
   - repo: local
@@ -123,11 +123,13 @@ repos:
     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
 

CONTRIBUTING.md

@@ -10,7 +10,7 @@ information to effectively respond to your bug report or contribution.
 ## Reporting Bugs/Feature Requests
 We welcome you to use the GitHub issue tracker to report bugs or suggest features.
 
-When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure 
+When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure
  somebody else hasn't already reported the issue.
 Please try to include as much information as you can. Details like these are incredibly useful:
 
@@ -45,7 +45,7 @@ GitHub provides additional documentation on [forking a repository](https://help.
 ## Finding contributions to work on
 Looking at the existing issues is a great way to find something to contribute on.
 As this project, by default, uses the default GitHub issue labels
-  (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues 
+  (enhancement/bug/duplicate/help wanted/invalid/question/wontfix), looking at any ['help wanted'][help-wanted] issues
   is a great place to start.
 
 

README.md

@@ -30,7 +30,7 @@ This repository demonstrates the following `ros2_control` concepts:
 
 * Creating of `*HardwareInterface` for a System, Sensor, and Actuator.
 * Creating a robot description in the form of URDF files
-* Loading the configuration and starting a robot using launch files 
+* Loading the configuration and starting a robot using launch files
 * Control of two joints of *RRBot*
 * Using simulated robots and starting `ros_control` with Gazebo simulator
 * Implementing of controller switching strategy for a robot
@@ -62,20 +62,20 @@ git clone https://github.com/ros-controls/ros2_control_demos
   ```
 
 * Build everything, e.g. with:
-  ``` 
+  ```
   colcon build --symlink-install
   ```
-  
+
 * Do not forget to source `setup.bash` from the `install` folder!
-  
-  
+
+
 # Getting Started with ros2_control
 
 Each of the described example cases from the roadmap has its own launch and URDF file.
 
 ## Starting example robots
 
-Each example is started with a single launch file which starts up the robot hardware, loads controller configurations and it also opens `rviz2`. 
+Each example is started with a single launch file which starts up the robot hardware, loads controller configurations and it also opens `rviz2`.
 
 The `rviz2` setup can be recreated following these steps:
 

doc/ros2_control_demo_robot_class_diagram.svg

@@ -12,7 +12,6 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-
 #ifndef ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
 #define ROS2_CONTROL_DEMO_HARDWARE__RRBOT_SYSTEM_POSITION_ONLY_HPP_
 
@@ -21,18 +20,18 @@
 #include <vector>
 
 #include "hardware_interface/base_interface.hpp"
-#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
+#include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
 #include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "rclcpp/macros.hpp"
 #include "ros2_control_demo_hardware/visibility_control.h"
 
 namespace ros2_control_demo_hardware
 {
-class RRBotSystemPositionOnlyHardware : public
-  hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class RRBotSystemPositionOnlyHardware
+: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);

doc/ros2_control_new_robot.svg

@@ -25,11 +25,11 @@
 
 namespace ros2_control_demo_hardware
 {
-
 hardware_interface::return_type RRBotSystemPositionOnlyHardware::configure(
   const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != hardware_interface::return_type::OK) {
+  if (configure_default(info) != hardware_interface::return_type::OK)
+  {
     return hardware_interface::return_type::ERROR;
   }
 
@@ -39,39 +39,42 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::configure(
   hw_states_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
   hw_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
 
-  for (const hardware_interface::ComponentInfo & joint : info_.joints) {
+  for (const hardware_interface::ComponentInfo & joint : info_.joints)
+  {
     // RRBotSystemPositionOnly has exactly one state and command interface on each joint
-    if (joint.command_interfaces.size() != 1) {
+    if (joint.command_interfaces.size() != 1)
+    {
       RCLCPP_FATAL(
         rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' has %d command interfaces found. 1 expected.",
-        joint.name.c_str(), joint.command_interfaces.size());
+        "Joint '%s' has %d command interfaces found. 1 expected.", joint.name.c_str(),
+        joint.command_interfaces.size());
       return hardware_interface::return_type::ERROR;
     }
 
-    if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
+    if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION)
+    {
       RCLCPP_FATAL(
         rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' have %s command interfaces found. '%s' expected.",
-        joint.name.c_str(), joint.command_interfaces[0].name.c_str(),
-        hardware_interface::HW_IF_POSITION);
+        "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(),
+        joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
       return hardware_interface::return_type::ERROR;
     }
 
-    if (joint.state_interfaces.size() != 1) {
+    if (joint.state_interfaces.size() != 1)
+    {
       RCLCPP_FATAL(
         rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' has %d state interface. 1 expected.",
-        joint.name.c_str(), joint.state_interfaces.size());
+        "Joint '%s' has %d state interface. 1 expected.", joint.name.c_str(),
+        joint.state_interfaces.size());
       return hardware_interface::return_type::ERROR;
     }
 
-    if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION) {
+    if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION)
+    {
       RCLCPP_FATAL(
         rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-        "Joint '%s' have %s state interface. '%s' expected.",
-        joint.name.c_str(), joint.state_interfaces[0].name.c_str(),
-        hardware_interface::HW_IF_POSITION);
+        "Joint '%s' have %s state interface. '%s' expected.", joint.name.c_str(),
+        joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
       return hardware_interface::return_type::ERROR;
     }
   }
@@ -84,10 +87,10 @@ std::vector<hardware_interface::StateInterface>
 RRBotSystemPositionOnlyHardware::export_state_interfaces()
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;
-  for (uint i = 0; i < info_.joints.size(); i++) {
-    state_interfaces.emplace_back(
-      hardware_interface::StateInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i]));
+  for (uint i = 0; i < info_.joints.size(); i++)
+  {
+    state_interfaces.emplace_back(hardware_interface::StateInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i]));
   }
 
   return state_interfaces;
@@ -97,105 +100,99 @@ std::vector<hardware_interface::CommandInterface>
 RRBotSystemPositionOnlyHardware::export_command_interfaces()
 {
   std::vector<hardware_interface::CommandInterface> command_interfaces;
-  for (uint i = 0; i < info_.joints.size(); i++) {
-    command_interfaces.emplace_back(
-      hardware_interface::CommandInterface(
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i]));
+  for (uint i = 0; i < info_.joints.size(); i++)
+  {
+    command_interfaces.emplace_back(hardware_interface::CommandInterface(
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i]));
   }
 
   return command_interfaces;
 }
 
-
 hardware_interface::return_type RRBotSystemPositionOnlyHardware::start()
 {
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Starting ...please wait...");
+  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Starting ...please wait...");
 
-  for (int i = 0; i <= hw_start_sec_; i++) {
+  for (int i = 0; i <= hw_start_sec_; i++)
+  {
     rclcpp::sleep_for(std::chrono::seconds(1));
     RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-      "%.1f seconds left...", hw_start_sec_ - i);
+      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...",
+      hw_start_sec_ - i);
   }
 
   // set some default values when starting the first time
-  for (uint i = 0; i < hw_states_.size(); i++) {
-    if (std::isnan(hw_states_[i])) {
+  for (uint i = 0; i < hw_states_.size(); i++)
+  {
+    if (std::isnan(hw_states_[i]))
+    {
       hw_states_[i] = 0;
       hw_commands_[i] = 0;
-    } else {
+    }
+    else
+    {
       hw_commands_[i] = hw_states_[i];
     }
   }
 
   status_ = hardware_interface::status::STARTED;
 
   RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "System Sucessfully started!");
+    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "System Successfully started!");
 
   return hardware_interface::return_type::OK;
 }
 
 hardware_interface::return_type RRBotSystemPositionOnlyHardware::stop()
 {
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Stopping ...please wait...");
+  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Stopping ...please wait...");
 
-  for (int i = 0; i <= hw_stop_sec_; i++) {
+  for (int i = 0; i <= hw_stop_sec_; i++)
+  {
     rclcpp::sleep_for(std::chrono::seconds(1));
     RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-      "%.1f seconds left...", hw_stop_sec_ - i);
+      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "%.1f seconds left...",
+      hw_stop_sec_ - i);
   }
 
   status_ = hardware_interface::status::STOPPED;
 
   RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "System sucessfully stopped!");
+    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "System successfully stopped!");
 
   return hardware_interface::return_type::OK;
 }
 
 hardware_interface::return_type RRBotSystemPositionOnlyHardware::read()
 {
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Reading...");
+  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Reading...");
 
-  for (uint i = 0; i < hw_states_.size(); i++) {
+  for (uint i = 0; i < hw_states_.size(); i++)
+  {
     // Simulate RRBot's movement
     hw_states_[i] = hw_states_[i] + (hw_commands_[i] - hw_states_[i]) / hw_slowdown_;
     RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-      "Got state %.5f for joint %d!", hw_states_[i], i);
+      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got state %.5f for joint %d!",
+      hw_states_[i], i);
   }
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Joints sucessfully read!");
+  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully read!");
 
   return hardware_interface::return_type::OK;
 }
 
 hardware_interface::return_type RRBotSystemPositionOnlyHardware::write()
 {
-  RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Writing...");
+  RCLCPP_INFO(rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Writing...");
 
-  for (uint i = 0; i < hw_commands_.size(); i++) {
+  for (uint i = 0; i < hw_commands_.size(); i++)
+  {
     // Simulate sending commands to the hardware
     RCLCPP_INFO(
-      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-      "Got command %.5f for joint %d!", hw_commands_[i], i);
+      rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Got command %.5f for joint %d!",
+      hw_commands_[i], i);
   }
   RCLCPP_INFO(
-    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"),
-    "Joints sucessfully written!");
+    rclcpp::get_logger("RRBotSystemPositionOnlyHardware"), "Joints successfully written!");
 
   return hardware_interface::return_type::OK;
 }
@@ -205,6 +202,4 @@ hardware_interface::return_type RRBotSystemPositionOnlyHardware::write()
 #include "pluginlib/class_list_macros.hpp"
 
 PLUGINLIB_EXPORT_CLASS(
-  ros2_control_demo_hardware::RRBotSystemPositionOnlyHardware,
-  hardware_interface::SystemInterface
-)
+  ros2_control_demo_hardware::RRBotSystemPositionOnlyHardware, hardware_interface::SystemInterface)

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp

@@ -42,4 +42,3 @@ https://github.com/ros-simulation/gazebo_ros_demos/blob/kinetic-devel/rrbot_desc
   </material>
 
 </robot>
-

ros2_control_demo_hardware/src/rrbot_system_position_only.cpp

@@ -202,4 +202,3 @@
   </xacro:macro>
 
 </robot>
-

ros2_control_demo_robot/description/rrbot/rrbot.materials.xacro

@@ -29,4 +29,3 @@
   </xacro:macro>
 
 </robot>
-