ci: add pre-commit action (#42)

Signed-off-by: Takagi, Isamu <[email protected]>

.clang-format

@@ -13,7 +13,7 @@ BraceWrapping:
   AfterStruct: true
   BeforeLambdaBody: true
 BreakBeforeBraces: Custom
-ColumnLimit: 150
+ColumnLimit: 120
 ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false

.github/workflows/pre-commit.yaml

@@ -0,0 +1,14 @@
+name: pre-commit
+
+on:
+  pull_request:
+  push:
+    branches: [main]
+
+jobs:
+  pre-commit:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v3
+      - uses: pre-commit/[email protected]

CPPLINT.cfg

@@ -1,6 +1,6 @@
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
 set noparent
-linelength=150
+linelength=120
 includeorder=standardcfirst
 filter=-build/c++17               # we do allow C++17
 filter=-build/namespaces_literals # we allow using namespace for literals

README.md

@@ -1 +1 @@
-# autoware-practice
+# autoware-practice

setup.cfg

@@ -1,5 +1,5 @@
 [flake8]
-extend-ignore = D100,D101,D102,D103,D104,D105,D106,D107,Q000,CNL100
+extend-ignore = D100,D101,D102,D103,D104,D105,D106,D107,E231,Q000,CNL100
 import-order-style = pep8
 max-line-length = 150
 show-source = true

src/autoware_practice_course/config/trajectory.csv

@@ -98,4 +98,4 @@ position_x, position_y, longitudinal_velocity_mps
 97.0,0.0,0.6
 98.0,0.0,0.4
 99.0,0.0,0.2
-100.0,0.0,0.0
+100.0,0.0,0.0

src/autoware_practice_course/config/trajectory_zigzag.csv

@@ -98,4 +98,4 @@ position_x, position_y, longitudinal_velocity_mps
 57.0,40.0,0.6
 58.0,40.0,0.4
 59.0,40.0,0.2
-60.0,40.0,0.0
+60.0,40.0,0.0

src/autoware_practice_course/package.xml

@@ -10,8 +10,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>autoware_auto_planning_msgs</depend>
+  <depend>autoware_auto_vehicle_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

src/autoware_practice_course/src/vehicle/backward.cpp

@@ -26,7 +26,8 @@ SampleNode::SampleNode() : Node("backward")
   using std::placeholders::_1;
   pub_command_ = create_publisher<AckermannControlCommand>("/control/command/control_cmd", rclcpp::QoS(1));
   pub_gear_ = create_publisher<GearCommand>("/control/command/gear_cmd", rclcpp::QoS(1));
-  sub_gear_ = create_subscription<GearReport>("/vehicle/status/gear_status", rclcpp::QoS(1), std::bind(&SampleNode::on_gear, this, _1));
+  sub_gear_ = create_subscription<GearReport>(
+    "/vehicle/status/gear_status", rclcpp::QoS(1), std::bind(&SampleNode::on_gear, this, _1));
 
   const auto period = rclcpp::Rate(10).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this] { on_timer(); });

src/autoware_practice_course/src/velocity_planning/longitudinal_controller.cpp

@@ -1,5 +1,20 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under #include <memory>the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "longitudinal_controller.hpp"
 
+#include <limits>
 #include <memory>
 
 namespace autoware_practice_course
@@ -12,8 +27,10 @@ SampleNode::SampleNode() : Node("longitudinal_controller"), kp_(0.0)
   get_parameter("kp", kp_);
 
   pub_command_ = create_publisher<AckermannControlCommand>("/control/command/control_cmd", rclcpp::QoS(1));
-  sub_trajectory_ = create_subscription<Trajectory>("/planning/scenario_planning/trajectory", rclcpp::QoS(1), std::bind(&SampleNode::update_target_velocity, this, _1));
-  sub_kinematic_state_= create_subscription<Odometry>("/localization/kinematic_state", rclcpp::QoS(1), std::bind(&SampleNode::update_current_state, this, _1));
+  sub_trajectory_ = create_subscription<Trajectory>(
+    "/planning/scenario_planning/trajectory", rclcpp::QoS(1), std::bind(&SampleNode::update_target_velocity, this, _1));
+  sub_kinematic_state_ = create_subscription<Odometry>(
+    "/localization/kinematic_state", rclcpp::QoS(1), std::bind(&SampleNode::update_current_state, this, _1));
 
   const auto period = rclcpp::Rate(10).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this] { on_timer(); });
@@ -51,17 +68,18 @@ void SampleNode::on_timer()
 
   AckermannControlCommand command;
   command.stamp = stamp;
-  
+
   double velocity_error = target_velocity_ - current_velocity_;
   command.longitudinal.acceleration = kp_ * velocity_error;
-  command.longitudinal.speed = target_velocity_; // メッセージ型としてはspeedがあるが、vehiclle interface側では加速度しか受け取っていない。
-
+  command.longitudinal.speed = target_velocity_;  // メッセージ型としてはspeedがあるが、vehiclle
+                                                  // interface側では加速度しか受け取っていない。
+
   command.lateral.steering_tire_angle = 0.0;
-  
+
   pub_command_->publish(command);
 }
 
-} 
+}  // namespace autoware_practice_course
 
 int main(int argc, char ** argv)
 {
@@ -70,4 +88,4 @@ int main(int argc, char ** argv)
   rclcpp::spin(node);
   rclcpp::shutdown();
   return 0;
-}
+}

src/autoware_practice_course/src/velocity_planning/longitudinal_controller.hpp

@@ -1,11 +1,25 @@
-#ifndef TRAJECTORY_PLANNER_HPP_
-#define TRAJECTORY_PLANNER_HPP_
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under #include <memory>the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef VELOCITY_PLANNING__LONGITUDINAL_CONTROLLER_HPP_
+#define VELOCITY_PLANNING__LONGITUDINAL_CONTROLLER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
-#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 #include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
+#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
+#include <geometry_msgs/msg/point.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <geometry_msgs/msg/point.hpp> 
 namespace autoware_practice_course
 {
 
@@ -33,6 +47,6 @@ class SampleNode : public rclcpp::Node
   double kp_;
 };
 
-} 
+}  // namespace autoware_practice_course
 
-#endif
+#endif  // VELOCITY_PLANNING__LONGITUDINAL_CONTROLLER_HPP_

src/autoware_practice_course/src/velocity_planning/p_controller.cpp

@@ -1,3 +1,17 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under #include <memory>the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "p_controller.hpp"
 
 #include <memory>
@@ -14,11 +28,10 @@ SampleNode::SampleNode() : Node("p_controller")
   get_parameter("target_velocity", target_velocity_);
 
   pub_command_ = create_publisher<AckermannControlCommand>("/control/command/control_cmd", rclcpp::QoS(1));
-  
+
   velocity_subscriber_ = create_subscription<VelocityReport>(
-    "/vehicle/status/velocity_status", 10, [this](const VelocityReport::SharedPtr msg) {
-      current_velocity_ = msg->longitudinal_velocity; 
-  });
+    "/vehicle/status/velocity_status", 10,
+    [this](const VelocityReport::SharedPtr msg) { current_velocity_ = msg->longitudinal_velocity; });
 
   const auto period = rclcpp::Rate(10).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this] { on_timer(); });
@@ -30,17 +43,17 @@ void SampleNode::on_timer()
 
   AckermannControlCommand command;
   command.stamp = stamp;
-  
+
   double velocity_error = target_velocity_ - current_velocity_;
   command.longitudinal.acceleration = kp_ * velocity_error;
   command.longitudinal.speed = target_velocity_;
-  
+
   command.lateral.steering_tire_angle = 0.0;
-  
+
   pub_command_->publish(command);
 }
 
-} 
+}  // namespace autoware_practice_course
 
 int main(int argc, char ** argv)
 {

src/autoware_practice_course/src/velocity_planning/p_controller.hpp

@@ -1,5 +1,19 @@
-#ifndef P_CONTROLLER_HPP_
-#define P_CONTROLLER_HPP_
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under #include <memory>the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef VELOCITY_PLANNING__P_CONTROLLER_HPP_
+#define VELOCITY_PLANNING__P_CONTROLLER_HPP_
 
 #include <rclcpp/rclcpp.hpp>
 #include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
@@ -34,6 +48,6 @@ class SampleNode : public rclcpp::Node
   void velocity_callback(const VelocityReport::SharedPtr msg);
 };
 
-} 
+}  // namespace autoware_practice_course
 
-#endif
+#endif  // VELOCITY_PLANNING__P_CONTROLLER_HPP_

src/autoware_practice_course/src/velocity_planning/trajectory_follower.cpp

@@ -1,5 +1,21 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under #include <memory>the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "trajectory_follower.hpp"
+
 #include <fstream>
+#include <limits>
 
 namespace autoware_practice_course
 {
@@ -17,8 +33,10 @@ SampleNode::SampleNode() : Node("trajectory_follower"), kp_(0.0), lookahead_dist
   RCLCPP_INFO(this->get_logger(), "Wheel base: %f", wheel_base_);
 
   pub_command_ = create_publisher<AckermannControlCommand>("/control/command/control_cmd", rclcpp::QoS(1));
-  sub_trajectory_ = create_subscription<Trajectory>("/planning/scenario_planning/trajectory", rclcpp::QoS(1), std::bind(&SampleNode::update_target_velocity, this, _1));
-  sub_kinematic_state_= create_subscription<Odometry>("/localization/kinematic_state", rclcpp::QoS(1), std::bind(&SampleNode::update_current_state, this, _1));
+  sub_trajectory_ = create_subscription<Trajectory>(
+    "/planning/scenario_planning/trajectory", rclcpp::QoS(1), std::bind(&SampleNode::update_target_velocity, this, _1));
+  sub_kinematic_state_ = create_subscription<Odometry>(
+    "/localization/kinematic_state", rclcpp::QoS(1), std::bind(&SampleNode::update_current_state, this, _1));
 
   const auto period = rclcpp::Rate(10).period();
   timer_ = rclcpp::create_timer(this, get_clock(), period, [this] { on_timer(); });
@@ -27,7 +45,6 @@ SampleNode::SampleNode() : Node("trajectory_follower"), kp_(0.0), lookahead_dist
 void SampleNode::update_target_velocity(const Trajectory & msg)
 {
   double min_distance = std::numeric_limits<double>::max();
-
 
   for (size_t i = 0; i < msg.points.size(); ++i) {
     double dx = msg.points[i].pose.position.x - current_position_.x;
@@ -68,7 +85,6 @@ double SampleNode::load_parameters(const std::string & param_file, const std::st
   return -1.0;
 }
 
-
 void SampleNode::update_current_state(const Odometry & msg)
 {
   current_velocity_ = msg.twist.twist.linear.x;
@@ -82,13 +98,13 @@ void SampleNode::on_timer()
 
   AckermannControlCommand command;
   command.stamp = stamp;
-  
+
   double velocity_error = target_velocity_ - current_velocity_;
   command.longitudinal.acceleration = longitudinal_controller(velocity_error);
   command.longitudinal.speed = target_velocity_;
-  
+
   command.lateral.steering_tire_angle = lateral_controller();
-  
+
   pub_command_->publish(command);
 }
 
@@ -125,16 +141,17 @@ double SampleNode::lateral_controller()
   return steering_angle;
 }
 
-double SampleNode::calculate_yaw_from_quaternion(const geometry_msgs::msg::Quaternion& q) {
-    // Convert quaternion to Euler angles
-    double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
-    double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
-    double yaw = std::atan2(siny_cosp, cosy_cosp);
+double SampleNode::calculate_yaw_from_quaternion(const geometry_msgs::msg::Quaternion & q)
+{
+  // Convert quaternion to Euler angles
+  double siny_cosp = 2 * (q.w * q.z + q.x * q.y);
+  double cosy_cosp = 1 - 2 * (q.y * q.y + q.z * q.z);
+  double yaw = std::atan2(siny_cosp, cosy_cosp);
 
-    return yaw;
+  return yaw;
 }
 
-} 
+}  // namespace autoware_practice_course
 
 int main(int argc, char ** argv)
 {
@@ -143,4 +160,4 @@ int main(int argc, char ** argv)
   rclcpp::spin(node);
   rclcpp::shutdown();
   return 0;
-}
+}