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pre-commit-ci[bot] committed Apr 26, 2024
1 parent 2e60bef commit 0012714
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2 changes: 1 addition & 1 deletion localization/ndt_scan_matcher/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -267,7 +267,7 @@ initial_pose_offset_model_x & initial_pose_offset_model_y must have the same num
| `topic_time_stamp` | the time stamp of input topic | none | none | no |
| `sensor_points_size` | the size of sensor points | the size is 0 | none | yes |
| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `validation.lidar_topic_timeout_sec` | none | yes |
| `is_succeed_transform_sensor_points` | whether transform sensor points is succeed or not | none | faild | yes |
| `is_succeed_transform_sensor_points` | whether transform sensor points is succeed or not | none | faild | yes |

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Unknown word (faild)
| `sensor_points_max_distance` | the max distance of sensor points | the max distance is **shorter** than `sensor_points.required_distance` | none | yes |
| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | yes |
| `is_succeed_interpolate_initial_pose` | whether the interpolate of initial pose is succeed or not | failed. <br> (1) the size of `initial_pose_buffer_` is **smaller** than 2. <br> (2) the timestamp difference between initial_pose and sensor pointcloud is **longer** than `validation.initial_pose_timeout_sec`. <br> (3) distance difference between two initial poses used for linear interpolation is **longer** than `validation.initial_pose_distance_tolerance_m` | none | yes |
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3 changes: 2 additions & 1 deletion localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -491,7 +491,8 @@ bool NDTScanMatcher::callback_sensor_points_main(
bool is_ok_score = (score > score_threshold);
if (!is_ok_score) {
std::stringstream message;
message << "Score is below the threshold. Score: " << score << ", Threshold: " << score_threshold;
message << "Score is below the threshold. Score: " << score
<< ", Threshold: " << score_threshold;
diagnostics_scan_points_->updateLevelAndMessage(
diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
RCLCPP_WARN_STREAM(this->get_logger(), message.str());
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