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ros-controls · Oct 3, 2023 · 9d37c17 · 9d37c17
1 parent eb66756
commit 9d37c17
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Showing 2 changed files with 12 additions and 18 deletions.
diff --git a/example_11/hardware/carlikebot_system.cpp b/example_11/hardware/carlikebot_system.cpp
@@ -146,14 +146,10 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
   // // END: This part here is for exemplary purposes - Please do not copy to your production code
 
   // joint name, state, command
-  hw_interfaces_.resize(4, std::make_tuple(
-    std::string(), 
-    std::numeric_limits<double>::quiet_NaN(),
-    std::numeric_limits<double>::quiet_NaN()
-    )
-  );
-
-
+  hw_interfaces_.resize(
+    4, std::make_tuple(
+         std::string(), std::numeric_limits<double>::quiet_NaN(),
+         std::numeric_limits<double>::quiet_NaN()));
 
   // hw_positions_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
   // hw_velocities_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
@@ -165,7 +161,6 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
   // hw_position_states_.resize(2, std::numeric_limits<double>::queit_NaN());
   // hw_velocity_states_.resize(2, std::numeric_limits<double>::queit_NaN());
 
-
   return hardware_interface::CallbackReturn::SUCCESS;
 }
 
@@ -186,9 +181,8 @@ std::vector<hardware_interface::StateInterface> CarlikeBotSystemHardware::export
     // get the index of the joint name in hw_interfaces_
     auto it = std::find_if(
       hw_interfaces_.begin(), hw_interfaces_.end(),
-      [this, i](const std::tuple<std::string, double, double> & element) {
-        return std::get<0>(element) == info_.joints[i].name;
-      });
+      [this, i](const std::tuple<std::string, double, double> & element)
+      { return std::get<0>(element) == info_.joints[i].name; });
 
     if (joint_is_steering)
     {
@@ -234,9 +228,8 @@ CarlikeBotSystemHardware::export_command_interfaces()
     // get the index of the joint name in hw_interfaces_
     auto it = std::find_if(
       hw_interfaces_.begin(), hw_interfaces_.end(),
-      [this, i](const std::tuple<std::string, double, double> & element) {
-        return std::get<0>(element) == info_.joints[i].name;
-      });
+      [this, i](const std::tuple<std::string, double, double> & element)
+      { return std::get<0>(element) == info_.joints[i].name; });
 
     if (joint_is_steering)
     {
@@ -346,8 +339,8 @@ hardware_interface::return_type ros2_control_demo_example_11 ::CarlikeBotSystemH
     std::get<2>(hw_interfaces_[i]) = std::get<2>(hw_interfaces_[i]);
 
     // RCLCPP_INFO(
-    //   rclcpp::get_logger("CarlikeBotSystemHardware"), "Got command %.5f for '%s'", hw_commands_[i],
-    //   info_.joints[i].name.c_str());
+    //   rclcpp::get_logger("CarlikeBotSystemHardware"), "Got command %.5f for '%s'",
+    //   hw_commands_[i], info_.joints[i].name.c_str());
   }
 
   return hardware_interface::return_type::OK;

diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -82,7 +82,8 @@ class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
   // std::vector<double> hw_commands_;
   // std::vector<double> hw_states_;
 
-  std::vector<std::tuple<std::string, double, double>> hw_interfaces_; // name of joint, state, command
+  std::vector<std::tuple<std::string, double, double>>
+    hw_interfaces_;  // name of joint, state, command
 
   // std::vector<std::tuple<unsigned int, std::string, int>> commands_counterpart_;