Adjust EOF position and remove unnecessary whitespace

turtlebot3_manipulation_bringup/src/turtlebot3_manipulation_bringup.cpp

@@ -21,13 +21,13 @@
 
 Turtlebot3ManipulationBringup::Turtlebot3ManipulationBringup()
 : nh_(""),
-  arm_action_server_(nh_, 
-    "arm_controller/follow_joint_trajectory", 
-    boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1), 
+  arm_action_server_(nh_,
+    "arm_controller/follow_joint_trajectory",
+    boost::bind(&Turtlebot3ManipulationBringup::armActionCallback, this, _1),
     false),
-  gripper_action_server_(nh_, 
-    "gripper_controller/follow_joint_trajectory", 
-    boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1), 
+  gripper_action_server_(nh_,
+    "gripper_controller/follow_joint_trajectory",
+    boost::bind(&Turtlebot3ManipulationBringup::gripperActionCallback, this, _1),
     false)
 {
   // Init Publisher

turtlebot3_manipulation_description/launch/turtlebot3_manipulation_view.launch

@@ -6,14 +6,14 @@
   <!-- send robot urdf to param server -->
   <include file="$(find turtlebot3_manipulation_description)/launch/turtlebot3_manipulation_upload.launch">
     <arg name="model" value="$(arg model)"/>
-  </include> 
+  </include>
 
   <!-- start joint state publisher -->
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
     <param name="/use_gui" value="$(arg use_gui)"/>
     <rosparam param="source_list">["/joint_states"]</rosparam>
   </node>
-  
+
   <!-- start robot state publisher -->
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
 

turtlebot3_manipulation_description/urdf/open_manipulator_x.transmission.xacro

@@ -46,5 +46,5 @@
 
   <!-- Transmission 6 -->
   <xacro:SimpleTransmissionEffort n="6" joint="gripper_sub" />
-  
+
 </robot>

turtlebot3_manipulation_gui/CMakeLists.txt

@@ -66,9 +66,9 @@ catkin_package(
   INCLUDE_DIRS include
   CATKIN_DEPENDS
     geometry_msgs
-    roscpp 
-    std_msgs 
-    sensor_msgs 
+    roscpp
+    std_msgs
+    sensor_msgs
     moveit_msgs
     moveit_core
     moveit_ros_planning

turtlebot3_manipulation_gui/src/main_window.cpp

@@ -38,7 +38,7 @@ using namespace Qt;
 *****************************************************************************/
 
 MainWindow::MainWindow(int argc, char** argv, QWidget *parent)
-  : QMainWindow(parent), 
+  : QMainWindow(parent),
     qnode(argc,argv)
 {
   ui.setupUi(this); // Calling this incidentally connects all ui's triggers to on_...() callbacks in this class.

turtlebot3_manipulation_gui/src/qnode.cpp

@@ -37,14 +37,14 @@ namespace turtlebot3_manipulation_gui {
 ** Implementation
 *****************************************************************************/
 
-QNode::QNode(int argc, char** argv) 
+QNode::QNode(int argc, char** argv)
     :init_argc(argc),
      init_argv(argv)
 {}
 
 QNode::~QNode()
 {
-  if(ros::isStarted()) 
+  if(ros::isStarted())
   {
     ros::shutdown(); // explicitly needed since we use ros::start();
     ros::waitForShutdown();
@@ -55,15 +55,15 @@ QNode::~QNode()
 bool QNode::init()
 {
 	ros::init(init_argc,init_argv,"turtlebot3_manipulation_gui");
-	if ( ! ros::master::check() ) 
+	if ( ! ros::master::check() )
   {
 		return false;
 	}
 	ros::start(); // explicitly needed since our nodehandle is going out of scope.
   ros::NodeHandle n("");
 
-  // Moveit 
-  ros::AsyncSpinner spinner(1); 
+  // Moveit
+  ros::AsyncSpinner spinner(1);
   spinner.start();
 
   // Move group arm
@@ -93,7 +93,7 @@ void QNode::run()
 
 void QNode::updateRobotState()
 {
-  ros::AsyncSpinner spinner(1); 
+  ros::AsyncSpinner spinner(1);
   spinner.start();
 
   std::vector<double> jointValues = move_group_->getCurrentJointValues();
@@ -106,7 +106,7 @@ void QNode::updateRobotState()
   temp_angle.push_back(jointValues2.at(0));
   present_joint_angle_ = temp_angle;
 
-  geometry_msgs::Pose current_pose = move_group_->getCurrentPose().pose;  
+  geometry_msgs::Pose current_pose = move_group_->getCurrentPose().pose;
   std::vector<double> temp_position;
   temp_position.push_back(current_pose.position.x);
   temp_position.push_back(current_pose.position.y);
@@ -126,13 +126,13 @@ std::vector<double> QNode::getPresentKinematicsPosition()
 
 bool QNode::setJointSpacePath(std::vector<double> joint_angle, double path_time)
 {
-  ros::AsyncSpinner spinner(1); 
+  ros::AsyncSpinner spinner(1);
   spinner.start();
 
   // Next get the current set of joint values for the group.
   const robot_state::JointModelGroup* joint_model_group =
     move_group_->getCurrentState()->getJointModelGroup("arm");
-      
+
   moveit::core::RobotStatePtr current_state = move_group_->getCurrentState();
 
   std::vector<double> joint_group_positions;
@@ -158,7 +158,7 @@ bool QNode::setJointSpacePath(std::vector<double> joint_angle, double path_time)
 
 bool QNode::setTaskSpacePath(std::vector<double> kinematics_pose, double path_time)
 {
-  ros::AsyncSpinner spinner(1); 
+  ros::AsyncSpinner spinner(1);
   spinner.start();
 
   // Uncomment below to keep the end-effector parallel to the ground
@@ -199,13 +199,13 @@ bool QNode::setTaskSpacePath(std::vector<double> kinematics_pose, double path_ti
 
 bool QNode::setToolControl(std::vector<double> joint_angle)
 {
-  ros::AsyncSpinner spinner(1); 
+  ros::AsyncSpinner spinner(1);
   spinner.start();
 
   // Next get the current set of joint values for the group.
   const robot_state::JointModelGroup* joint_model_group =
     move_group2_->getCurrentState()->getJointModelGroup("gripper");
-      
+
   moveit::core::RobotStatePtr current_state = move_group2_->getCurrentState();
 
   std::vector<double> joint_group_positions;
@@ -223,6 +223,6 @@ bool QNode::setToolControl(std::vector<double> joint_angle)
   move_group2_->move();
 
   spinner.stop();
-  return true;  
+  return true;
 }
 }  // namespace turtlebot3_manipulation_gui

turtlebot3_manipulation_moveit_config/config/chomp_planning.yaml

@@ -15,4 +15,4 @@ collision_clearence: 0.2
 collision_threshold: 0.07
 use_stochastic_descent: true
 enable_failure_recovery: true
-max_recovery_attempts: 5
+max_recovery_attempts: 5

turtlebot3_manipulation_moveit_config/config/fake_controllers.yaml

@@ -7,4 +7,4 @@ controller_list:
       - joint4
   - name: fake_gripper_controller
     joints:
-      - gripper
+      - gripper

turtlebot3_manipulation_moveit_config/config/joint_limits.yaml

@@ -31,4 +31,4 @@ joint_limits:
     has_velocity_limits: true
     max_velocity: 4.8
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 0

turtlebot3_manipulation_moveit_config/config/ompl_planning.yaml

@@ -175,4 +175,4 @@ gripper:
     - SPARS
     - SPARStwo
   projection_evaluator: joints(gripper,gripper_sub)
-  longest_valid_segment_fraction: 0.005
+  longest_valid_segment_fraction: 0.005

turtlebot3_manipulation_moveit_config/config/sensors_3d.yaml

@@ -1,3 +1,3 @@
 # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
 sensors:
-  - {}
+  - {}

turtlebot3_manipulation_moveit_config/launch/demo.launch

@@ -27,7 +27,7 @@
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+
 
   <!-- We do not have a robot connected, so publish fake joint states -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">

turtlebot3_manipulation_moveit_config/launch/demo_gazebo.launch

@@ -37,7 +37,7 @@
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+
 
   <!-- We do not have a robot connected, so publish fake joint states -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
@@ -54,7 +54,7 @@
     <arg name="fake_execution" value="false"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
-  </include>  
+  </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find turtlebot3_manipulation_moveit_config)/launch/moveit_rviz.launch">

turtlebot3_manipulation_navigation/launch/navigation.launch

@@ -15,7 +15,7 @@
 
   <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter" output="screen" >
     <rosparam command="load" file="$(find turtlebot3_manipulation_slam)/config/scan_data_filter.yaml" />
-  </node>  
+  </node>
 
   <!-- Map server -->
   <node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/>
@@ -34,7 +34,7 @@
   </include>
 
   <!-- rviz -->
-  <group if="$(arg open_rviz)"> 
+  <group if="$(arg open_rviz)">
     <node pkg="rviz" type="rviz" name="rviz" required="true"
           args="-d $(find turtlebot3_manipulation_navigation)/rviz/turtlebot3_manipulation_navigation.rviz" output="screen"/>
   </group>

turtlebot3_manipulation_slam/config/scan_data_filter.yaml

@@ -3,4 +3,4 @@ scan_filter_chain:
   type: laser_filters/LaserScanAngularBoundsFilterInPlace
   params:
     lower_angle: 2.0944
-    upper_angle: 4.18879
+    upper_angle: 4.18879

turtlebot3_manipulation_slam/launch/slam.launch

@@ -17,13 +17,13 @@
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="50.0" />
   </node>
-  
+
   <!-- <group ns="$(arg use_robot_name)"> -->
   <!-- Gmapping -->
   <node pkg="laser_filters" type="scan_to_scan_filter_chain" name="laser_filter" output="screen" >
     <rosparam command="load" file="$(find turtlebot3_manipulation_slam)/config/scan_data_filter.yaml" />
   </node>
-  
+
   <node pkg="gmapping" type="slam_gmapping" name="turtlebot3_slam_gmapping" output="screen">
     <!-- <remap from="scan"  to="$(arg scan_topic)"/> -->
 
@@ -63,9 +63,9 @@
   <!-- </group> -->
 
   <!-- rviz -->
-  <group if="$(arg open_rviz)"> 
+  <group if="$(arg open_rviz)">
     <node pkg="rviz" type="rviz" name="rviz" required="true"
           args="-d $(find turtlebot3_manipulation_slam)/rviz/turtlebot3_manipulation_slam.rviz"/>
   </group>
 
-</launch>
+</launch>