Codeformat from new pre-commit config

controller_manager/test/test_controller_manager_srvs.cpp

@@ -832,8 +832,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_complex_chained_controllers)
   auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
-      result->controller.begin(), result->controller.end(),
-      [controller_name](auto itf)
+      result->controller.begin(), result->controller.end(), [controller_name](auto itf)
       { return (itf.name.find(controller_name) != std::string::npos); });
     return std::distance(result->controller.begin(), it);
   };
@@ -1044,8 +1043,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_independent_chained_controllers)
   auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
-      result->controller.begin(), result->controller.end(),
-      [controller_name](auto itf)
+      result->controller.begin(), result->controller.end(), [controller_name](auto itf)
       { return (itf.name.find(controller_name) != std::string::npos); });
     return std::distance(result->controller.begin(), it);
   };
@@ -1321,8 +1319,7 @@ TEST_F(TestControllerManagerSrvs, list_large_number_of_controllers_with_chains)
   auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
-      result->controller.begin(), result->controller.end(),
-      [controller_name](auto itf)
+      result->controller.begin(), result->controller.end(), [controller_name](auto itf)
       { return (itf.name.find(controller_name) != std::string::npos); });
     return std::distance(result->controller.begin(), it);
   };
@@ -1546,8 +1543,7 @@ TEST_F(TestControllerManagerSrvs, list_sorted_large_chained_controller_tree)
   auto get_ctrl_pos = [result](const std::string & controller_name) -> int64_t
   {
     auto it = std::find_if(
-      result->controller.begin(), result->controller.end(),
-      [controller_name](auto itf)
+      result->controller.begin(), result->controller.end(), [controller_name](auto itf)
       { return (itf.name.find(controller_name) != std::string::npos); });
     return std::distance(result->controller.begin(), it);
   };

controller_manager/test/test_spawner_unspawner.cpp

@@ -264,8 +264,7 @@ TEST_F(TestLoadController, unload_on_kill)
   // Launch spawner with unload on kill
   // timeout command will kill it after the specified time with signal SIGINT
   std::stringstream ss;
-  ss << "timeout --signal=INT 5 "
-     << "ros2 run controller_manager spawner "
+  ss << "timeout --signal=INT 5 " << "ros2 run controller_manager spawner "
      << "ctrl_3 -c test_controller_manager -t "
      << std::string(test_controller::TEST_CONTROLLER_CLASS_NAME) << " --unload-on-kill";
 

hardware_interface/test/test_hardware_components/test_force_torque_sensor.cpp

@@ -43,8 +43,7 @@ class TestForceTorqueSensor : public SensorInterface
     {
       if (
         std::find_if(
-          state_interfaces.begin(), state_interfaces.end(),
-          [&ft_key](const auto & interface_info)
+          state_interfaces.begin(), state_interfaces.end(), [&ft_key](const auto & interface_info)
           { return interface_info.name == ft_key; }) == state_interfaces.end())
       {
         return CallbackReturn::ERROR;

joint_limits/include/joint_limits/joint_limits.hpp

@@ -128,14 +128,11 @@ struct SoftJointLimits
   {
     std::stringstream ss_output;
 
-    ss_output << "  soft position limits: "
-              << "[" << min_position << ", " << max_position << "]\n";
+    ss_output << "  soft position limits: " << "[" << min_position << ", " << max_position << "]\n";
 
-    ss_output << "  k-position: "
-              << "[" << k_position << "]\n";
+    ss_output << "  k-position: " << "[" << k_position << "]\n";
 
-    ss_output << "  k-velocity: "
-              << "[" << k_velocity << "]\n";
+    ss_output << "  k-velocity: " << "[" << k_velocity << "]\n";
 
     return ss_output.str();
   }

rqt_controller_manager/rqt_controller_manager/controller_manager.py

@@ -60,8 +60,7 @@ def __init__(self, context):
         # Pop-up that displays controller information
         self._popup_widget = QWidget()
         ui_file = os.path.join(
-            get_package_share_directory(
-                "rqt_controller_manager"), "resource", "controller_info.ui"
+            get_package_share_directory("rqt_controller_manager"), "resource", "controller_info.ui"
         )
         loadUi(ui_file, self._popup_widget)
         self._popup_widget.setObjectName("ControllerInfoUi")
@@ -72,8 +71,7 @@ def __init__(self, context):
         # plugin at once, these lines add number to make it easy to
         # tell from pane to pane.
         if context.serial_number() > 1:
-            self._widget.setWindowTitle(
-                f"{self._widget.windowTitle()} {context.serial_number()}")
+            self._widget.setWindowTitle(f"{self._widget.windowTitle()} {context.serial_number()}")
         # Add widget to the user interface
         context.add_widget(self._widget)
 
@@ -108,15 +106,13 @@ def __init__(self, context):
 
         # Timer for controller manager updates
         self._update_cm_list_timer = QTimer(self)
-        self._update_cm_list_timer.setInterval(
-            int(1000.0 / self._cm_update_freq))
+        self._update_cm_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
         self._update_cm_list_timer.timeout.connect(self._update_cm_list)
         self._update_cm_list_timer.start()
 
         # Timer for running controller updates
         self._update_ctrl_list_timer = QTimer(self)
-        self._update_ctrl_list_timer.setInterval(
-            int(1000.0 / self._cm_update_freq))
+        self._update_ctrl_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
         self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
         self._update_ctrl_list_timer.start()
 
@@ -145,8 +141,7 @@ def restore_settings(self, plugin_settings, instance_settings):
             pass
 
     def _update_cm_list(self):
-        update_combo(self._widget.cm_combo,
-                     _list_controller_managers(self._node))
+        update_combo(self._widget.cm_combo, _list_controller_managers(self._node))
 
     def _on_cm_change(self, cm_name):
         self._cm_name = cm_name
@@ -186,8 +181,7 @@ def _list_controllers(self):
             for name in _get_parameter_controller_names(self._node, self._cm_name):
                 add_ctrl = all(name != ctrl.name for ctrl in controllers)
                 if add_ctrl:
-                    type_str = _get_controller_type(
-                        self._node, self._cm_name, name)
+                    type_str = _get_controller_type(self._node, self._cm_name, name)
                     uninit_ctrl = ControllerState(name=name, type=type_str)
                     controllers.append(uninit_ctrl)
             return controllers
@@ -211,26 +205,19 @@ def _on_ctrl_menu(self, pos):
         # Show context menu
         menu = QMenu(self._widget.table_view)
         if ctrl.state == "active":
-            action_deactivate = menu.addAction(
-                self._icons["inactive"], "Deactivate")
-            action_kill = menu.addAction(
-                self._icons["finalized"], "Deactivate and Unload")
+            action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
+            action_kill = menu.addAction(self._icons["finalized"], "Deactivate and Unload")
         elif ctrl.state == "inactive":
             action_activate = menu.addAction(self._icons["active"], "Activate")
-            action_unload = menu.addAction(
-                self._icons["unconfigured"], "Unload")
+            action_unload = menu.addAction(self._icons["unconfigured"], "Unload")
         elif ctrl.state == "unconfigured":
-            action_configure = menu.addAction(
-                self._icons["inactive"], "Configure")
-            action_spawn = menu.addAction(
-                self._icons["active"], "Configure and Activate")
+            action_configure = menu.addAction(self._icons["inactive"], "Configure")
+            action_spawn = menu.addAction(self._icons["active"], "Configure and Activate")
         else:
             # Controller isn't loaded
             action_load = menu.addAction(self._icons["unconfigured"], "Load")
-            action_configure = menu.addAction(
-                self._icons["inactive"], "Load and Configure")
-            action_activate = menu.addAction(
-                self._icons["active"], "Load, Configure and Activate")
+            action_configure = menu.addAction(self._icons["inactive"], "Load and Configure")
+            action_activate = menu.addAction(self._icons["active"], "Load, Configure and Activate")
 
         action = menu.exec_(self._widget.table_view.mapToGlobal(pos))
 
@@ -403,8 +390,7 @@ def _get_controller_type(node, node_name, ctrl_name):
     @return Controller type
     @rtype str
     """
-    response = call_get_parameters(
-        node=node, node_name=node_name, parameter_names=[ctrl_name])
+    response = call_get_parameters(node=node, node_name=node_name, parameter_names=[ctrl_name])
     return response.values[0].string_value if response.values else ""
 
 
@@ -430,7 +416,9 @@ def _get_parameter_controller_names(node, node_name):
     suffix = ".type"
     # @note: The versions conditioning is added here to support the source-compatibility with Humble
     try:
-        return [n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)]
+        return [
+            n[: -len(suffix)] for n in parameter_names.result().result.names if n.endswith(suffix)
+        ]
     finally:
         # for humble, ros2param < 0.20.0
         return [n[: -len(suffix)] for n in parameter_names if n.endswith(suffix)]