Fix formatting and typos.

ros-controls · Jun 17, 2024 · 50cd77c · 50cd77c
1 parent b2605a1
commit 50cd77c
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Showing 5 changed files with 35 additions and 23 deletions.
diff --git a/mecanum_drive_controller/doc/userdoc.rst b/mecanum_drive_controller/doc/userdoc.rst
@@ -37,7 +37,7 @@ States
 ,,,,,,,
 - <joint_names[i]>/<interface_name>  [double]  # in [rad] or [rad/s]
   ..note ::
-  
+
   ``joint_names[i]`` can be of ``state_joint_names`` parameter (if used), ``command_joint_names`` otherwise.
 
 

diff --git a/mecanum_drive_controller/src/mecanum_drive_controller.cpp b/mecanum_drive_controller/src/mecanum_drive_controller.cpp
@@ -74,7 +74,9 @@ controller_interface::CallbackReturn MecanumDriveController::on_configure(
 {
   params_ = param_listener_->get_params();
 
-  auto prepare_lists_with_joint_names = [&command_joints = this->command_joint_names_, &state_joints = this->state_joint_names_](const std::string & command_joint_name, const std::string & state_joint_name)
+  auto prepare_lists_with_joint_names =
+    [&command_joints = this->command_joint_names_, &state_joints = this->state_joint_names_](
+      const std::string & command_joint_name, const std::string & state_joint_name)
   {
     command_joints.push_back(command_joint_name);
     if (state_joint_name.empty())
@@ -87,11 +89,15 @@ controller_interface::CallbackReturn MecanumDriveController::on_configure(
     }
   };
 
-  // The joint names are sorted accoring to the order documented in the header file!
-  prepare_lists_with_joint_names(params_.front_left_wheel_command_joint_name, params_.front_left_wheel_state_joint_name);
-  prepare_lists_with_joint_names(params_.front_right_wheel_command_joint_name, params_.front_right_wheel_state_joint_name);
-  prepare_lists_with_joint_names(params_.rear_right_wheel_command_joint_name, params_.rear_right_wheel_state_joint_name);
-  prepare_lists_with_joint_names(params_.rear_left_wheel_command_joint_name, params_.rear_left_wheel_state_joint_name);
+  // The joint names are sorted according to the order documented in the header file!
+  prepare_lists_with_joint_names(
+    params_.front_left_wheel_command_joint_name, params_.front_left_wheel_state_joint_name);
+  prepare_lists_with_joint_names(
+    params_.front_right_wheel_command_joint_name, params_.front_right_wheel_state_joint_name);
+  prepare_lists_with_joint_names(
+    params_.rear_right_wheel_command_joint_name, params_.rear_right_wheel_state_joint_name);
+  prepare_lists_with_joint_names(
+    params_.rear_left_wheel_command_joint_name, params_.rear_left_wheel_state_joint_name);
 
   // Set wheel params for the odometry computation
   odometry_.setWheelsParams(

diff --git a/mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp b/mecanum_drive_controller/test/test_load_mecanum_drive_controller.cpp
@@ -36,8 +36,7 @@ TEST(TestLoadMecanumDriveController, when_loading_controller_expect_no_exception
 
   ASSERT_NE(
     cm.load_controller(
-      "test_mecanum_drive_controller",
-      "mecanum_drive_controller/MecanumDriveController"),
+      "test_mecanum_drive_controller", "mecanum_drive_controller/MecanumDriveController"),
     nullptr);
 
   rclcpp::shutdown();

diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller.cpp b/mecanum_drive_controller/test/test_mecanum_drive_controller.cpp
@@ -68,9 +68,12 @@ TEST_F(MecanumDriveControllerTest, when_controller_is_configured_expect_all_para
   ASSERT_EQ(controller_->params_.kinematics.base_frame_offset.y, 0.0);
   ASSERT_EQ(controller_->params_.kinematics.base_frame_offset.theta, 0.0);
 
-  ASSERT_EQ(controller_->params_.front_left_wheel_command_joint_name, TEST_FRONT_LEFT_CMD_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.front_right_wheel_command_joint_name, TEST_FRONT_RIGHT_CMD_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.rear_right_wheel_command_joint_name, TEST_REAR_RIGHT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.front_left_wheel_command_joint_name, TEST_FRONT_LEFT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.front_right_wheel_command_joint_name, TEST_FRONT_RIGHT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.rear_right_wheel_command_joint_name, TEST_REAR_RIGHT_CMD_JOINT_NAME);
   ASSERT_EQ(controller_->params_.rear_left_wheel_command_joint_name, TEST_REAR_LEFT_CMD_JOINT_NAME);
   ASSERT_THAT(controller_->command_joint_names_, testing::ElementsAreArray(command_joint_names_));
 

diff --git a/mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp b/mecanum_drive_controller/test/test_mecanum_drive_controller_preceeding.cpp
@@ -48,19 +48,23 @@ TEST_F(MecanumDriveControllerTest, when_controller_is_configured_expect_all_para
 
   ASSERT_EQ(controller_->params_.reference_timeout, 0.1);
 
-  ASSERT_EQ(controller_->params_.front_left_wheel_command_joint_name, TEST_FRONT_LEFT_CMD_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.front_right_wheel_command_joint_name, TEST_FRONT_RIGHT_CMD_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.rear_right_wheel_command_joint_name, TEST_REAR_RIGHT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.front_left_wheel_command_joint_name, TEST_FRONT_LEFT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.front_right_wheel_command_joint_name, TEST_FRONT_RIGHT_CMD_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.rear_right_wheel_command_joint_name, TEST_REAR_RIGHT_CMD_JOINT_NAME);
   ASSERT_EQ(controller_->params_.rear_left_wheel_command_joint_name, TEST_REAR_LEFT_CMD_JOINT_NAME);
-  ASSERT_THAT(
-    controller_->command_joint_names_, testing::ElementsAreArray(command_joint_names_));
-
-  ASSERT_EQ(controller_->params_.front_left_wheel_state_joint_name, TEST_FRONT_LEFT_STATE_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.front_right_wheel_state_joint_name, TEST_FRONT_RIGHT_STATE_JOINT_NAME);
-  ASSERT_EQ(controller_->params_.rear_right_wheel_state_joint_name, TEST_REAR_RIGHT_STATE_JOINT_NAME);
+  ASSERT_THAT(controller_->command_joint_names_, testing::ElementsAreArray(command_joint_names_));
+
+  ASSERT_EQ(
+    controller_->params_.front_left_wheel_state_joint_name, TEST_FRONT_LEFT_STATE_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.front_right_wheel_state_joint_name, TEST_FRONT_RIGHT_STATE_JOINT_NAME);
+  ASSERT_EQ(
+    controller_->params_.rear_right_wheel_state_joint_name, TEST_REAR_RIGHT_STATE_JOINT_NAME);
   ASSERT_EQ(controller_->params_.rear_left_wheel_state_joint_name, TEST_REAR_LEFT_STATE_JOINT_NAME);
-  ASSERT_THAT(
-    controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_));
+  ASSERT_THAT(controller_->state_joint_names_, testing::ElementsAreArray(state_joint_names_));
 }
 
 // checking if all interfaces, command and state interfaces are exported as expected
-Original file line number
+Diff line change
@@ Expand Up / @@ -37,7 +37,7 @@ States @@
     ,,,,,,,
     - <joint_names[i]>/<interface_name>  [double]  # in [rad] or [rad/s]
       ..note ::
       ``joint_names[i]`` can be of ``state_joint_names`` parameter (if used), ``command_joint_names`` otherwise.
@@ Expand Down @@