fix linting problems Signed-off-by: suifengersan123 <[email protected]>

Signed-off-by: suifengersan123 <[email protected]>

Author: suifengersan123

nav2_dwb_controller/dwb_plugins/include/dwb_plugins/kinematic_parameters.hpp

@@ -146,13 +146,12 @@ class KinematicsHandler
   void deactivate();
 
   inline KinematicParameters getKinematics() {
-        KinematicParameters* ptr = kinematics_.load();
-        // Check for nullptr before dereferencing
-        if (ptr == nullptr) {
-          throw std::runtime_error("Can't call KinematicsHandler::getKinematics()!");
-        }
-        return *ptr;
-      }
+  KinematicParameters* ptr = kinematics_.load();
+  if (ptr == nullptr) {
+    throw std::runtime_error("Can't call KinematicsHandler::getKinematics()!");
+  }
+  return *ptr;
+  }
 
   void setSpeedLimit(const double & speed_limit, const bool & percentage);
 

nav2_dwb_controller/dwb_plugins/src/kinematic_parameters.cpp

@@ -154,11 +154,11 @@ void KinematicsHandler::deactivate()
 void KinematicsHandler::setSpeedLimit(
   const double & speed_limit, const bool & percentage)
 {
-  KinematicParameters* ptr = kinematics_.load();
-  if (ptr == nullptr) {
-    return;  // Nothing to update
-  }
-  KinematicParameters kinematics(*ptr);
+   KinematicParameters* ptr = kinematics_.load();
+   if (ptr == nullptr) {
+     return;  // Nothing to update
+   }
+   KinematicParameters kinematics(*ptr);
 
   if (speed_limit == nav2_costmap_2d::NO_SPEED_LIMIT) {
     // Restore default value
@@ -239,11 +239,11 @@ void
 KinematicsHandler::updateParametersCallback(std::vector<rclcpp::Parameter> parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
-  KinematicParameters* ptr = kinematics_.load();
-  if (ptr == nullptr) {
-    return;  // Nothing to update
-  }
-  KinematicParameters kinematics(*ptr);
+   KinematicParameters* ptr = kinematics_.load();
+   if (ptr == nullptr) {
+     return;  // Nothing to update
+   }
+   KinematicParameters kinematics(*ptr);
 
   for (auto parameter : parameters) {
     const auto & param_type = parameter.get_type();