Fix clang tidy errors

Robotic-Decision-Making-Lab · Sep 15, 2024 · bde0c33 · bde0c33
1 parent 56ddca9
commit bde0c33
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Showing 3 changed files with 16 additions and 10 deletions.
diff --git a/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp b/thruster_allocation_matrix_controller/src/thruster_allocation_matrix_controller.cpp
@@ -128,9 +128,11 @@ auto ThrusterAllocationMatrixController::on_configure(const rclcpp_lifecycle::St
  command_interfaces_.reserve(num_thrusters_);
 
  reference_sub_ = get_node()->create_subscription<geometry_msgs::msg::Wrench>(
- "~/reference", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<geometry_msgs::msg::Wrench> msg) {
+ "~/reference",
+ rclcpp::SystemDefaultsQoS(),
+ [this](const std::shared_ptr<geometry_msgs::msg::Wrench> msg) { // NOLINT
  reference_.writeFromNonRT(msg);
- }); // NOLINT
+ });
 
  controller_state_pub_ = get_node()->create_publisher<auv_control_msgs::msg::MultiActuatorStateStamped>(
  "~/status", rclcpp::SystemDefaultsQoS());

diff --git a/thruster_controllers/src/polynomial_thrust_curve_controller.cpp b/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
@@ -87,9 +87,9 @@ auto PolynomialThrustCurveController::on_configure(const rclcpp_lifecycle::State
  command_interfaces_.reserve(1);
 
  reference_sub_ = get_node()->create_subscription<std_msgs::msg::Float64>(
- "~/reference", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<std_msgs::msg::Float64> msg) {
+ "~/reference", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<std_msgs::msg::Float64> msg) { // NOLINT
  reference_.writeFromNonRT(msg);
- }); // NOLINT
+ });
 
  controller_state_pub_ =
  get_node()->create_publisher<control_msgs::msg::SingleDOFStateStamped>("~/status", rclcpp::SystemDefaultsQoS());

diff --git a/velocity_controllers/src/integral_sliding_mode_controller.cpp b/velocity_controllers/src/integral_sliding_mode_controller.cpp
@@ -72,7 +72,7 @@ auto IntegralSlidingModeController::command_interface_configuration() const
  command_interface_configuration.type = controller_interface::interface_configuration_type::INDIVIDUAL;
 
  for (const auto & dof : dof_names_) {
- if (params_.reference_controller.length() <= 0) {
+ if (params_.reference_controller.empty()) {
  command_interface_configuration.names.emplace_back(dof + "/" + hardware_interface::HW_IF_EFFORT);
  } else {
  command_interface_configuration.names.emplace_back(
@@ -188,16 +188,20 @@ auto IntegralSlidingModeController::on_configure(const rclcpp_lifecycle::State &
  system_state_values_.resize(DOF, std::numeric_limits<double>::quiet_NaN());
 
  reference_sub_ = get_node()->create_subscription<geometry_msgs::msg::Twist>(
- "~/reference", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) {
+ "~/reference",
+ rclcpp::SystemDefaultsQoS(),
+ [this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) { // NOLINT
  reference_.writeFromNonRT(msg);
  }); // NOLINT
 
  // If we aren't reading from the state interfaces, subscribe to the system state topic
  if (params_.use_external_measured_states) {
  system_state_sub_ = get_node()->create_subscription<geometry_msgs::msg::Twist>(
- "~/system_state", rclcpp::SystemDefaultsQoS(), [this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) {
+ "~/system_state",
+ rclcpp::SystemDefaultsQoS(),
+ [this](const std::shared_ptr<geometry_msgs::msg::Twist> msg) { // NOLINT
  system_state_.writeFromNonRT(msg);
- }); // NOLINT
+ });
  }
 
  // Configure the TF buffer and listener
@@ -248,9 +252,9 @@ auto IntegralSlidingModeController::on_deactivate(const rclcpp_lifecycle::State
 
 auto IntegralSlidingModeController::on_set_chained_mode(bool /*chained_mode*/) -> bool { return true; }
 
-controller_interface::return_type IntegralSlidingModeController::update_reference_from_subscribers(
+auto IntegralSlidingModeController::update_reference_from_subscribers(
  const rclcpp::Time & /*time*/,
- const rclcpp::Duration & /*period*/)
+ const rclcpp::Duration & /*period*/) -> controller_interface::return_type
 {
  auto * current_reference = reference_.readFromNonRT();