linting for new lint bots

nav2_amcl/src/amcl_node.cpp

@@ -1167,7 +1167,7 @@ AmclNode::dynamicParametersCallback(
     if (param_type == ParameterType::PARAMETER_DOUBLE) {
       if (param_name == "alpha1") {
         alpha1_ = parameter.as_double();
-        //alpha restricted to be non-negative
+        // alpha restricted to be non-negative
         if (alpha1_ < 0.0) {
           RCLCPP_WARN(
             get_logger(), "You've set alpha1 to be negative,"
@@ -1177,7 +1177,7 @@ AmclNode::dynamicParametersCallback(
         reinit_odom = true;
       } else if (param_name == "alpha2") {
         alpha2_ = parameter.as_double();
-        //alpha restricted to be non-negative
+        // alpha restricted to be non-negative
         if (alpha2_ < 0.0) {
           RCLCPP_WARN(
             get_logger(), "You've set alpha2 to be negative,"
@@ -1187,7 +1187,7 @@ AmclNode::dynamicParametersCallback(
         reinit_odom = true;
       } else if (param_name == "alpha3") {
         alpha3_ = parameter.as_double();
-        //alpha restricted to be non-negative
+        // alpha restricted to be non-negative
         if (alpha3_ < 0.0) {
           RCLCPP_WARN(
             get_logger(), "You've set alpha3 to be negative,"
@@ -1197,7 +1197,7 @@ AmclNode::dynamicParametersCallback(
         reinit_odom = true;
       } else if (param_name == "alpha4") {
         alpha4_ = parameter.as_double();
-        //alpha restricted to be non-negative
+        // alpha restricted to be non-negative
         if (alpha4_ < 0.0) {
           RCLCPP_WARN(
             get_logger(), "You've set alpha4 to be negative,"
@@ -1207,7 +1207,7 @@ AmclNode::dynamicParametersCallback(
         reinit_odom = true;
       } else if (param_name == "alpha5") {
         alpha5_ = parameter.as_double();
-        //alpha restricted to be non-negative
+        // alpha restricted to be non-negative
         if (alpha5_ < 0.0) {
           RCLCPP_WARN(
             get_logger(), "You've set alpha5 to be negative,"

nav2_bringup/params/nav2_params.yaml

@@ -277,12 +277,34 @@ planner_server:
   ros__parameters:
     expected_planner_frequency: 20.0
     planner_plugins: ["GridBased"]
-    GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
-      tolerance: 0.5
-      use_astar: false
-      allow_unknown: true
 
+    GridBased:
+      plugin: "nav2_smac_planner/SmacPlannerLattice"
+      allow_unknown: true                 # Allow traveling in unknown space
+      tolerance: 0.25                     # dist-to-goal heuristic cost (distance) for valid tolerance endpoints if exact goal cannot be found.
+      max_iterations: 1000000             # Maximum total iterations to search for before failing (in case unreachable), set to -1 to disable
+      max_on_approach_iterations: 1000    # Maximum number of iterations after within tolerances to continue to try to find exact solution
+      max_planning_time: 5.0              # Max time in s for planner to plan, smooth
+      analytic_expansion_ratio: 3.5       # The ratio to attempt analytic expansions during search for final approach.
+      analytic_expansion_max_length: 3.0  # For Hybrid/Lattice nodes: The maximum length of the analytic expansion to be considered valid to prevent unsafe shortcutting
+      reverse_penalty: 2.0                # Penalty to apply if motion is reversing, must be => 1
+      change_penalty: 0.05                # Penalty to apply if motion is changing directions (L to R), must be >= 0
+      non_straight_penalty: 1.05          # Penalty to apply if motion is non-straight, must be => 1
+      cost_penalty: 2.0                   # Penalty to apply to higher cost areas when adding into the obstacle map dynamic programming distance expansion heuristic. This drives the robot more towards the center of passages. A value between 1.3 - 3.5 is reasonable.
+      rotation_penalty: 5.0               # Penalty to apply to in-place rotations, if minimum control set contains them
+      retrospective_penalty: 0.015
+      lookup_table_size: 20.0             # Size of the dubin/reeds-sheep distance window to cache, in meters.
+      cache_obstacle_heuristic: false     # Cache the obstacle map dynamic programming distance expansion heuristic between subsiquent replannings of the same goal location. Dramatically speeds up replanning performance (40x) if costmap is largely static.
+      allow_reverse_expansion: false      # If true, allows the robot to use the primitives to expand in the mirrored opposite direction of the current robot's orientation (to reverse).
+      debug_visualizations: true
+      smooth_path: True                   # If true, does a simple and quick smoothing post-processing to the path
+      smoother:
+        max_iterations: 1000
+        w_smooth: 0.3
+        w_data: 0.2
+        tolerance: 1.0e-10
+        do_refinement: true
+        refinement_num: 2
 smoother_server:
   ros__parameters:
     smoother_plugins: ["simple_smoother"]

nav2_collision_monitor/src/polygon.cpp

@@ -409,7 +409,6 @@ bool Polygon::getParameters(
       // Do not need to proceed further, if "points" parameter is defined.
       // Static polygon will be used.
       return getPolygonFromString(poly_string, poly_);
-
     } catch (const rclcpp::exceptions::ParameterUninitializedException &) {
       RCLCPP_INFO(
         logger_,

nav2_collision_monitor/test/collision_detector_node_test.cpp

@@ -162,9 +162,9 @@ class Tester : public ::testing::Test
   nav2_msgs::msg::CollisionDetectorState::SharedPtr state_msg_;
 
   // CollisionMonitor collision points markers
-  rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr collision_points_marker_sub_;
+  rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr
+  collision_points_marker_sub_;
   visualization_msgs::msg::MarkerArray::SharedPtr collision_points_marker_msg_;
-
 };  // Tester
 
 Tester::Tester()

nav2_collision_monitor/test/collision_monitor_node_test.cpp

@@ -195,7 +195,8 @@ class Tester : public ::testing::Test
   nav2_msgs::msg::CollisionMonitorState::SharedPtr action_state_;
 
   // CollisionMonitor collision points markers
-  rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr collision_points_marker_sub_;
+  rclcpp::Subscription<visualization_msgs::msg::MarkerArray>::SharedPtr
+  collision_points_marker_sub_;
   visualization_msgs::msg::MarkerArray::SharedPtr collision_points_marker_msg_;
 
   // Service client for setting CollisionMonitor parameters

nav2_common/nav2_common/launch/rewritten_yaml.py

@@ -20,6 +20,7 @@
 
 
 class DictItemReference:
+
     def __init__(self, dictionary, key):
         self.dictionary = dictionary
         self.dictKey = key

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp

@@ -77,7 +77,7 @@ class Costmap2DROS : public nav2_util::LifecycleNode
    * @brief  Constructor for the wrapper
    * @param options Additional options to control creation of the node.
    */
-  Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
+  explicit Costmap2DROS(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
 
   /**
    * @brief  Constructor for the wrapper, the node will
@@ -399,12 +399,12 @@ class Costmap2DROS : public nav2_util::LifecycleNode
   double resolution_{0};
   std::string robot_base_frame_;            ///< The frame_id of the robot base
   double robot_radius_;
-  bool rolling_window_{false};              ///< Whether to use a rolling window version of the costmap
+  bool rolling_window_{false};          ///< Whether to use a rolling window version of the costmap
   bool track_unknown_space_{false};
   double transform_tolerance_{0};           ///< The timeout before transform errors
   double initial_transform_timeout_{0};   ///< The timeout before activation of the node errors
 
-  bool is_lifecycle_follower_{true};     ///< whether is a child-LifecycleNode or an independent node
+  bool is_lifecycle_follower_{true};   ///< whether is a child-LifecycleNode or an independent node
 
   // Derived parameters
   bool use_radius_{false};

nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp

@@ -81,7 +81,7 @@ void morphologyOperation(
 
 using ShapeBuffer3x3 = std::array<uint8_t, 9>;  // NOLINT
 inline Image<uint8_t> createShape(ShapeBuffer3x3 & buffer, ConnectivityType connectivity);
-} // namespace imgproc_impl
+}  // namespace imgproc_impl
 
 /**
  * @brief Perform morphological dilation

nav2_costmap_2d/include/nav2_costmap_2d/footprint.hpp

@@ -40,6 +40,7 @@
 
 #include <string>
 #include <vector>
+#include <utility>
 
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/polygon.hpp"

nav2_costmap_2d/include/nav2_costmap_2d/inflation_layer.hpp

@@ -131,7 +131,7 @@ class InflationLayer : public Layer
   /**
    * @brief If clearing operations should be processed on this layer or not
    */
-  virtual bool isClearable() override {return false;}
+  bool isClearable() override {return false;}
 
   /**
    * @brief Reset this costmap

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -289,7 +289,9 @@ Costmap2DROS::on_activate(const rclcpp_lifecycle::State & /*state*/)
     // Check timeout
     if (now() > initial_transform_timeout_point) {
       RCLCPP_ERROR(
-        get_logger(), "Failed to activate %s because transform from %s to %s did not become available before timeout",
+        get_logger(),
+        "Failed to activate %s because "
+        "transform from %s to %s did not become available before timeout",
         get_name(), robot_base_frame_.c_str(), global_frame_.c_str());
 
       return nav2_util::CallbackReturn::FAILURE;
@@ -523,7 +525,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
         layered_costmap_->getBounds(&x0, &xn, &y0, &yn);
         costmap_publisher_->updateBounds(x0, xn, y0, yn);
 
-        for (auto & layer_pub: layer_publishers_) {
+        for (auto & layer_pub : layer_publishers_) {
           layer_pub->updateBounds(x0, xn, y0, yn);
         }
 
@@ -535,7 +537,7 @@ Costmap2DROS::mapUpdateLoop(double frequency)
           RCLCPP_DEBUG(get_logger(), "Publish costmap at %s", name_.c_str());
           costmap_publisher_->publishCostmap();
 
-          for (auto & layer_pub: layer_publishers_) {
+          for (auto & layer_pub : layer_publishers_) {
             layer_pub->publishCostmap();
           }
 

nav2_costmap_2d/test/integration/test_costmap_2d_publisher.cpp

@@ -162,7 +162,7 @@ TEST_F(CostmapRosTestFixture, costmap_pub_test)
   auto costmap_raw = future.get();
 
   // Check first 20 cells of the 10by10 map
-  ASSERT_TRUE(costmap_raw->data.size() == 100);
+  ASSERT_EQ(costmap_raw->data.size(), 100u);
   unsigned int i = 0;
   for (; i < 7; ++i) {
     EXPECT_EQ(costmap_raw->data.at(i), nav2_costmap_2d::FREE_SPACE);

nav2_costmap_2d/test/integration/test_costmap_subscriber.cpp

@@ -1,3 +1,17 @@
+// Copyright (c) 2020 Samsung Research
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include <gtest/gtest.h>
 
 #include "rclcpp/rclcpp.hpp"
@@ -119,7 +133,7 @@ TEST_F(TestCostmapSubscriberShould, handleFullCostmapMsgs)
     node, costmapToSend.get(), "", topicName, always_send_full_costmap);
   costmapPublisher->on_activate();
 
-  for (const auto & mapChange :mapChanges) {
+  for (const auto & mapChange : mapChanges) {
     for (const auto & observation : mapChange.observations) {
       costmapToSend->setCost(observation.x, observation.y, observation.cost);
     }
@@ -153,7 +167,7 @@ TEST_F(TestCostmapSubscriberShould, handleCostmapUpdateMsgs)
     node, costmapToSend.get(), "", topicName, always_send_full_costmap);
   costmapPublisher->on_activate();
 
-  for (const auto & mapChange :mapChanges) {
+  for (const auto & mapChange : mapChanges) {
     for (const auto & observation : mapChange.observations) {
       costmapToSend->setCost(observation.x, observation.y, observation.cost);
     }

nav2_costmap_2d/test/regression/order_layer.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License. Reserved.
 
-#ifndef NAV2_COSTMAP_2D__ORDER_LAYER_HPP_
-#define NAV2_COSTMAP_2D__ORDER_LAYER_HPP_
+#ifndef REGRESSION__ORDER_LAYER_HPP_
+#define REGRESSION__ORDER_LAYER_HPP_
 
 #include "nav2_costmap_2d/layer.hpp"
 
@@ -43,4 +43,4 @@ class OrderLayer : public nav2_costmap_2d::Layer
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__ORDER_LAYER_HPP_
+#endif  // REGRESSION__ORDER_LAYER_HPP_

nav2_costmap_2d/test/regression/plugin_api_order.cpp

@@ -16,8 +16,8 @@
 #include <vector>
 #include <memory>
 
-#include <nav2_costmap_2d/costmap_2d_ros.hpp>
 #include <gtest/gtest.h>
+#include <nav2_costmap_2d/costmap_2d_ros.hpp>
 
 TEST(CostmapPluginsTester, checkPluginAPIOrder)
 {

nav2_costmap_2d/test/unit/denoise_layer_test.cpp

@@ -102,9 +102,9 @@ class DenoiseLayerTester : public ::testing::Test
   nav2_costmap_2d::DenoiseLayer denoise_;
 };
 
-}
+}  // namespace nav2_costmap_2d
 
-using namespace nav2_costmap_2d;
+using namespace nav2_costmap_2d;  // NOLINT
 
 TEST_F(DenoiseLayerTester, removeSinglePixels4way) {
   const auto in = imageFromString<uint8_t>(

nav2_costmap_2d/test/unit/image_processing_test.cpp

@@ -18,8 +18,8 @@
 #include "nav2_costmap_2d/denoise/image_processing.hpp"
 #include "image_tests_helper.hpp"
 
-using namespace nav2_costmap_2d;
-using namespace imgproc_impl;
+using namespace nav2_costmap_2d;  // NOLINT
+using namespace imgproc_impl;  // NOLINT
 
 struct ImageProcTester : public ::testing::Test
 {

nav2_costmap_2d/test/unit/image_test.cpp

@@ -17,7 +17,7 @@
 #include "nav2_costmap_2d/denoise/image.hpp"
 #include "image_tests_helper.hpp"
 
-using namespace nav2_costmap_2d;
+using namespace nav2_costmap_2d;  // NOLINT
 
 struct ImageTester : public ::testing::Test
 {

nav2_costmap_2d/test/unit/image_tests_helper.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef NAV2_COSTMAP_2D__IMAGE_TESTS_HELPER_HPP_
-#define NAV2_COSTMAP_2D__IMAGE_TESTS_HELPER_HPP_
+#ifndef UNIT__IMAGE_TESTS_HELPER_HPP_
+#define UNIT__IMAGE_TESTS_HELPER_HPP_
 
 #include "nav2_costmap_2d/denoise/image.hpp"
 #include <cmath>
@@ -121,4 +121,4 @@ std::ostream & operator<<(std::ostream & out, const Image<T> & image)
 
 }  // namespace nav2_costmap_2d
 
-#endif  // NAV2_COSTMAP_2D__IMAGE_TESTS_HELPER_HPP_
+#endif  // UNIT__IMAGE_TESTS_HELPER_HPP_

nav2_costmap_2d/test/unit/lifecycle_test.cpp

@@ -1,3 +1,5 @@
+// Copyright (c) 2020 Samsung Research
+//
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
 // You may obtain a copy of the License at
@@ -8,7 +10,7 @@
 // distributed under the License is distributed on an "AS IS" BASIS,
 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 // See the License for the specific language governing permissions and
-// limitations under the License.
+// limitations under the License. Reserved.
 
 #include <memory>
 

nav2_simple_commander/nav2_simple_commander/costmap_2d.py

@@ -37,7 +37,7 @@ def __init__(self, occupancy_map):
         """
         Initialize costmap2D.
 
-        Args:
+        Args
         ----
             occupancy_map (OccupancyGrid): 2D OccupancyGrid Map
 

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -51,6 +51,7 @@ class TaskResult(Enum):
 
 
 class BasicNavigator(Node):
+
     def __init__(self, node_name='basic_navigator', namespace=''):
         super().__init__(node_name=node_name, namespace=namespace)
         self.initial_pose = PoseStamped()

nav2_simple_commander/test/test_footprint_collision_checker.py

@@ -23,6 +23,7 @@
 
 
 class TestFootprintCollisionChecker(unittest.TestCase):
+
     def test_no_costmap(self):
         # Test if a type error raised when costmap is not specified yet
         fcc_ = FootprintCollisionChecker()

nav2_simple_commander/test/test_line_iterator.py

@@ -19,6 +19,7 @@
 
 
 class TestLineIterator(unittest.TestCase):
+
     def test_type_error(self):
         # Test if a type error raised when passing invalid arguements types
         self.assertRaises(TypeError, LineIterator, 0, 0, '10', 10, '1')

nav2_system_tests/src/costmap_filters/tester_node.py

@@ -47,6 +47,7 @@ class TestType(Enum):
 
 
 class FilterMask:
+
     def __init__(self, filter_mask: OccupancyGrid):
         self.filter_mask = filter_mask
 

nav2_system_tests/src/gps_navigation/tester.py

@@ -30,6 +30,7 @@
 
 
 class GpsWaypointFollowerTest(Node):
+
     def __init__(self):
         super().__init__(node_name='nav2_gps_waypoint_tester', namespace='')
         self.waypoints = None

nav2_system_tests/src/system/nav_through_poses_tester_node.py

@@ -37,6 +37,7 @@
 
 
 class NavTester(Node):
+
     def __init__(self, initial_pose: Pose, goal_pose: Pose, namespace: str = ''):
         super().__init__(node_name='nav2_tester', namespace=namespace)
         self.initial_pose_pub = self.create_publisher(