remove slowdown parameter and uncrustify

Author: BorgesJVT

ros2_control_demo_hardware/include/ros2_control_demo_hardware/diffbot_system.hpp

@@ -62,7 +62,6 @@ class DiffBotSystemHardware : public
   // Parameters for the DiffBot simulation
   double hw_start_sec_;
   double hw_stop_sec_;
-  double hw_slowdown_;
 
   // Store the command for the simulated robot
   std::vector<double> hw_commands_;

ros2_control_demo_hardware/src/diffbot_system.cpp

@@ -35,7 +35,6 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
 
   hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
   hw_stop_sec_ = stod(info_.hardware_parameters["example_param_hw_stop_duration_sec"]);
-  hw_slowdown_ = stod(info_.hardware_parameters["example_param_hw_slowdown"]);
   hw_states_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
   hw_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
 
@@ -177,11 +176,11 @@ hardware_interface::return_type DiffBotSystemHardware::read()
     "Reading...");
 
   double tau = 0.2;
-  double a = tau/(tau+1);
-  double b = 1/(tau+1);
+  double a = tau / (tau + 1);
+  double b = 1 / (tau + 1);
   for (uint i = 0; i < hw_commands_.size(); i++) {
     // Simulate DiffBot wheels's movement as a first-order system
-    hw_states_[1] = a*hw_states_[1] + b*hw_commands_[i];
+    hw_states_[1] = a * hw_states_[1] + b * hw_commands_[i];
     hw_states_[0] += hw_states_[1] / 2;
     RCLCPP_INFO(
       rclcpp::get_logger("DiffBotSystemHardware"),

ros2_control_demo_robot/description/diffbot/diffbot_system.ros2_control.xacro

@@ -8,7 +8,6 @@
         <plugin>ros2_control_demo_hardware/DiffBotSystemHardware</plugin>
         <param name="example_param_hw_start_duration_sec">2.0</param>
         <param name="example_param_hw_stop_duration_sec">3.0</param>
-        <param name="example_param_hw_slowdown">2.0</param>
       </hardware>
       <joint name="left_wheel_joint">
         <command_interface name="velocity">