Applied "ament_clang_format" and passed cpplint, with manual adjustme…

…nts made to the "include" order

include/raspimouse_ros2_examples/camera_line_follower_component.hpp

@@ -50,30 +50,29 @@ class CameraFollower : public rclcpp_lifecycle::LifecycleNode
   cv::Point2d object_normalized_point_;
   double object_normalized_area_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>> cmd_vel_pub_;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
+    cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;
   rclcpp::TimerBase::SharedPtr cmd_vel_timer_;
 
   void set_motor_power(const bool motor_on);
   std::string mat_type2encoding(const int mat_type) const;
-  void convert_frame_to_message(
-    const cv::Mat & frame,
-    sensor_msgs::msg::Image & msg) const;
+  void convert_frame_to_message(const cv::Mat & frame, sensor_msgs::msg::Image & msg) const;
 
   bool detect_line(const cv::Mat & input_frame, cv::Mat & result_frame);
 
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_cleanup(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_shutdown(const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State &);
 };
 
 }  // namespace camera_line_follower

include/raspimouse_ros2_examples/direction_controller_component.hpp

@@ -37,8 +37,7 @@ class PIDController
 {
 public:
   PIDController()
-  : p_gain_(0.0), i_gain_(0.0), d_gain_(0.0),
-    error1_(0.0), error2_(0.0), output_(0.0)
+  : p_gain_(0.0), i_gain_(0.0), d_gain_(0.0), error1_(0.0), error2_(0.0), output_(0.0)
   {
   }
 

include/raspimouse_ros2_examples/line_follower_component.hpp

@@ -72,7 +72,8 @@ class Follower : public rclcpp_lifecycle::LifecycleNode
   bool can_publish_cmdvel_;
 
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<std_msgs::msg::Int16>> buzzer_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>> cmd_vel_pub_;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
+    cmd_vel_pub_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<raspimouse_msgs::msg::Leds>> leds_pub_;
   rclcpp::Subscription<raspimouse_msgs::msg::LightSensors>::SharedPtr light_sensors_sub_;
   rclcpp::Subscription<raspimouse_msgs::msg::Switches>::SharedPtr switches_sub_;
@@ -97,16 +98,16 @@ class Follower : public rclcpp_lifecycle::LifecycleNode
   int median(const int value1, const int value2);
   void set_line_thresholds(void);
 
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_cleanup(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_shutdown(const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State &);
 };
 
 }  // namespace line_follower

include/raspimouse_ros2_examples/object_tracking_component.hpp

@@ -48,28 +48,27 @@ class Tracker : public rclcpp_lifecycle::LifecycleNode
   double object_normalized_area_;
   geometry_msgs::msg::TwistStamped cmd_vel_;
   std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::Image>> result_image_pub_;
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>> cmd_vel_pub_;
+  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<geometry_msgs::msg::TwistStamped>>
+    cmd_vel_pub_;
   std::shared_ptr<rclcpp::Client<std_srvs::srv::SetBool>> motor_power_client_;
   rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
   rclcpp::TimerBase::SharedPtr cmd_vel_timer_;
 
   std::string mat_type2encoding(int mat_type);
-  void convert_frame_to_message(
-    const cv::Mat & frame,
-    sensor_msgs::msg::Image & msg);
+  void convert_frame_to_message(const cv::Mat & frame, sensor_msgs::msg::Image & msg);
 
   void tracking(const cv::Mat & input_frame, cv::Mat & result_frame);
 
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_configure(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_activate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_deactivate(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_cleanup(const rclcpp_lifecycle::State &);
-  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-  on_shutdown(const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_activate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_deactivate(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_cleanup(
+    const rclcpp_lifecycle::State &);
+  rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_shutdown(
+    const rclcpp_lifecycle::State &);
 };
 
 }  // namespace object_tracking

include/raspimouse_ros2_examples/visibility_control.h

@@ -16,39 +16,38 @@
 #define RASPIMOUSE_ROS2_EXAMPLES__VISIBILITY_CONTROL_H_
 
 #ifdef __cplusplus
-extern "C"
-{
+extern "C" {
 #endif
 
 // This logic was borrowed (then namespaced) from the examples on the gcc wiki:
 //     https://gcc.gnu.org/wiki/Visibility
 
 #if defined _WIN32 || defined __CYGWIN__
-  #ifdef __GNUC__
-    #define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __attribute__ ((dllexport))
-    #define RASPIMOUSE_ROS2_EXAMPLES_IMPORT __attribute__ ((dllimport))
-  #else
-    #define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __declspec(dllexport)
-    #define RASPIMOUSE_ROS2_EXAMPLES_IMPORT __declspec(dllimport)
-  #endif
-  #ifdef RASPIMOUSE_ROS2_EXAMPLES_BUILDING_DLL
-    #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC RASPIMOUSE_ROS2_EXAMPLES_EXPORT
-  #else
-    #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC RASPIMOUSE_ROS2_EXAMPLES_IMPORT
-  #endif
-  #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC_TYPE RASPIMOUSE_ROS2_EXAMPLES_PUBLIC
-  #define RASPIMOUSE_ROS2_EXAMPLES_LOCAL
+#ifdef __GNUC__
+#define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __attribute__((dllexport))
+#define RASPIMOUSE_ROS2_EXAMPLES_IMPORT __attribute__((dllimport))
 #else
-  #define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __attribute__ ((visibility("default")))
-  #define RASPIMOUSE_ROS2_EXAMPLES_IMPORT
-  #if __GNUC__ >= 4
-    #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC __attribute__ ((visibility("default")))
-    #define RASPIMOUSE_ROS2_EXAMPLES_LOCAL  __attribute__ ((visibility("hidden")))
-  #else
-    #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC
-    #define RASPIMOUSE_ROS2_EXAMPLES_LOCAL
-  #endif
-  #define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC_TYPE
+#define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __declspec(dllexport)
+#define RASPIMOUSE_ROS2_EXAMPLES_IMPORT __declspec(dllimport)
+#endif
+#ifdef RASPIMOUSE_ROS2_EXAMPLES_BUILDING_DLL
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC RASPIMOUSE_ROS2_EXAMPLES_EXPORT
+#else
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC RASPIMOUSE_ROS2_EXAMPLES_IMPORT
+#endif
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC_TYPE RASPIMOUSE_ROS2_EXAMPLES_PUBLIC
+#define RASPIMOUSE_ROS2_EXAMPLES_LOCAL
+#else
+#define RASPIMOUSE_ROS2_EXAMPLES_EXPORT __attribute__((visibility("default")))
+#define RASPIMOUSE_ROS2_EXAMPLES_IMPORT
+#if __GNUC__ >= 4
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC __attribute__((visibility("default")))
+#define RASPIMOUSE_ROS2_EXAMPLES_LOCAL __attribute__((visibility("hidden")))
+#else
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC
+#define RASPIMOUSE_ROS2_EXAMPLES_LOCAL
+#endif
+#define RASPIMOUSE_ROS2_EXAMPLES_PUBLIC_TYPE
 #endif
 
 #ifdef __cplusplus

src/camera_line_follower_component.cpp

@@ -41,8 +41,7 @@ using namespace std::chrono_literals;
 using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
 CameraFollower::CameraFollower(const rclcpp::NodeOptions & options)
-: rclcpp_lifecycle::LifecycleNode("camera_follower", options),
-  object_is_detected_(false)
+: rclcpp_lifecycle::LifecycleNode("camera_follower", options), object_is_detected_(false)
 {
 }
 
@@ -80,11 +79,12 @@ void CameraFollower::on_cmd_vel_timer()
 
   // Follow the line
   // when the number of pixels of the object is greater than the threshold.
-  if (object_is_detected_ &&
-    object_normalized_area_ > get_parameter(AREA_THRESHOLD_PARAM).as_double())
-  {
+  if (
+    object_is_detected_ &&
+    object_normalized_area_ > get_parameter(AREA_THRESHOLD_PARAM).as_double()) {
     cmd_vel.twist.linear.x = get_parameter(LINEAR_VEL_PARAM).as_double();
-    cmd_vel.twist.angular.z = -get_parameter(ANGULAR_VEL_PARAM).as_double() * object_normalized_point_.x;
+    cmd_vel.twist.angular.z =
+      -get_parameter(ANGULAR_VEL_PARAM).as_double() * object_normalized_point_.x;
   } else {
     cmd_vel.twist.linear.x = 0.0;
     cmd_vel.twist.angular.z = 0.0;
@@ -102,9 +102,7 @@ void CameraFollower::on_cmd_vel_timer()
 void CameraFollower::set_motor_power(const bool motor_on)
 {
   if (motor_power_client_ == nullptr) {
-    RCLCPP_ERROR(
-      this->get_logger(),
-      "Service motor_power is not avaliable.");
+    RCLCPP_ERROR(this->get_logger(), "Service motor_power is not avaliable.");
     return;
   }
   auto request = std::make_shared<std_srvs::srv::SetBool::Request>();
@@ -151,10 +149,8 @@ bool CameraFollower::detect_line(const cv::Mat & input_frame, cv::Mat & result_f
   cv::cvtColor(input_frame, gray, cv::COLOR_BGR2GRAY);
   cv::Mat extracted_bin;
   cv::inRange(
-    gray,
-    get_parameter(MIN_BRIGHTNESS_PARAM).as_int(),
-    get_parameter(MAX_BRIGHTNESS_PARAM).as_int(),
-    extracted_bin);
+    gray, get_parameter(MIN_BRIGHTNESS_PARAM).as_int(),
+    get_parameter(MAX_BRIGHTNESS_PARAM).as_int(), extracted_bin);
   input_frame.copyTo(result_frame, extracted_bin);
 
   // Remove noise with morphology transformation
@@ -184,20 +180,17 @@ bool CameraFollower::detect_line(const cv::Mat & input_frame, cv::Mat & result_f
 
     // Normalize the centroid coordinates to [-1.0, 1.0].
     object_normalized_point_ = cv::Point2d(
-      2.0 * mt_point.x / input_frame.cols - 1.0,
-      2.0 * mt_point.y / input_frame.rows - 1.0
-    );
+      2.0 * mt_point.x / input_frame.cols - 1.0, 2.0 * mt_point.y / input_frame.rows - 1.0);
     // Normalize the the contour area to [0.0, 1.0].
     object_normalized_area_ = max_area / (input_frame.rows * input_frame.cols);
 
     std::string text = "Area:" + std::to_string(object_normalized_area_ * 100) + "%";
     cv::drawContours(
-      result_frame, contours, max_area_index,
-      cv::Scalar(0, 255, 0), 2, cv::LINE_4, hierarchy);
+      result_frame, contours, max_area_index, cv::Scalar(0, 255, 0), 2, cv::LINE_4, hierarchy);
     cv::circle(result_frame, mt_point, 30, cv::Scalar(0, 0, 255), 2, cv::LINE_4);
     cv::putText(
-      result_frame, text, cv::Point(0, 30),
-      cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 255, 255), 2);
+      result_frame, text, cv::Point(0, 30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(255, 255, 255),
+      2);
     return true;
   } else {
     return false;
@@ -214,9 +207,7 @@ CallbackReturn CameraFollower::on_configure(const rclcpp_lifecycle::State &)
 
   motor_power_client_ = create_client<std_srvs::srv::SetBool>("motor_power");
   if (!motor_power_client_->wait_for_service(5s)) {
-    RCLCPP_ERROR(
-      this->get_logger(),
-      "Service motor_power is not avaliable.");
+    RCLCPP_ERROR(this->get_logger(), "Service motor_power is not avaliable.");
     return CallbackReturn::FAILURE;
   }
 

src/direction_controller_component.cpp

@@ -35,8 +35,7 @@ enum CONTROL_MODE
   MODE_ROTATION = 3
 };
 
-Controller::Controller(const rclcpp::NodeOptions & options)
-: Node("direction_controller", options)
+Controller::Controller(const rclcpp::NodeOptions & options) : Node("direction_controller", options)
 {
   using namespace std::placeholders;  // for _1, _2, _3...
 
@@ -73,8 +72,7 @@ Controller::Controller(const rclcpp::NodeOptions & options)
   this->declare_parameter("d_gain", 20.0, descriptor);
 
   omega_pid_controller_.set_gain(
-    this->get_parameter("p_gain").as_double(),
-    this->get_parameter("i_gain").as_double(),
+    this->get_parameter("p_gain").as_double(), this->get_parameter("i_gain").as_double(),
     this->get_parameter("d_gain").as_double());
 
   pressed_switch_number_ = -1;
@@ -104,8 +102,7 @@ void Controller::on_cmd_vel_timer()
   }
 
   omega_pid_controller_.set_gain(
-    this->get_parameter("p_gain").as_double(),
-    this->get_parameter("i_gain").as_double(),
+    this->get_parameter("p_gain").as_double(), this->get_parameter("i_gain").as_double(),
     this->get_parameter("d_gain").as_double());
 
   if (released_switch_number != -1 || filtered_acc_.z > 0.0) {
@@ -170,9 +167,7 @@ void Controller::callback_imu_data_raw(const sensor_msgs::msg::Imu::SharedPtr ms
 bool Controller::set_motor_power(const bool motor_on)
 {
   if (!motor_power_client_->wait_for_service(5s)) {
-    RCLCPP_ERROR(
-      this->get_logger(),
-      "Service motor_power is not avaliable.");
+    RCLCPP_ERROR(this->get_logger(), "Service motor_power is not avaliable.");
     return false;
   }
   auto request = std::make_shared<std_srvs::srv::SetBool::Request>();
@@ -189,9 +184,8 @@ bool Controller::omega_calibration(const double omega)
   omega_samples_.push_back(omega);
 
   if (omega_samples_.size() >= SAMPLE_NUM) {
-    omega_bias_ = std::accumulate(
-      std::begin(omega_samples_),
-      std::end(omega_samples_), 0.0) / omega_samples_.size();
+    omega_bias_ = std::accumulate(std::begin(omega_samples_), std::end(omega_samples_), 0.0) /
+                  omega_samples_.size();
     omega_samples_.clear();
     complete = true;
   }
@@ -267,10 +261,7 @@ void Controller::beep_buzzer(const int freq, const std::chrono::nanoseconds & be
   buzzer_pub_->publish(std::move(msg));
 }
 
-void Controller::beep_start(void)
-{
-  beep_buzzer(1000, 500ms);
-}
+void Controller::beep_start(void) { beep_buzzer(1000, 500ms); }
 
 void Controller::beep_success(void)
 {
@@ -287,7 +278,6 @@ void Controller::beep_failure(void)
   }
 }
 
-
 }  // namespace direction_controller
 
 #include "rclcpp_components/register_node_macro.hpp"