Lint

Signed-off-by: redvinaa <[email protected]>
ros-navigation · Aug 7, 2024 · 6a0b5c4 · 6a0b5c4
1 parent 32c8375
commit 6a0b5c4
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Showing 2 changed files with 13 additions and 8 deletions.
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -254,9 +254,9 @@ void DockingServer::dockRobot()
       RCLCPP_INFO(get_logger(), "Robot already within pre-staging pose tolerance for dock");
     } else {
       std::function<bool()> isPreempted = [this]() {
-        return checkAndWarnIfCancelled(docking_action_server_, "dock_robot") ||
-        checkAndWarnIfPreempted(docking_action_server_, "dock_robot");
-      };
+          return checkAndWarnIfCancelled(docking_action_server_, "dock_robot") ||
+                 checkAndWarnIfPreempted(docking_action_server_, "dock_robot");
+        };
 
       navigator_->goToPose(
         initial_staging_pose,

diff --git a/nav2_docking/opennav_docking/test/test_navigator.cpp b/nav2_docking/opennav_docking/test/test_navigator.cpp
@@ -102,28 +102,33 @@ TEST(NavigatorTests, TestNavigator)
   // Should succeed, action server set to succeed
   dummy_navigator_node->setReturn(true);
   EXPECT_NO_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));
+    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+      is_preempted_false));
 
   // Should fail, timeout exceeded
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0), is_preempted_false),
+    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(0.0, 0.0),
+      is_preempted_false),
     opennav_docking_core::FailedToStage);
 
   // Should fail, action server set to succeed
   dummy_navigator_node->setReturn(false);
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false),
+    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+      is_preempted_false),
     opennav_docking_core::FailedToStage);
 
   // First should fail, recursion should succeed
   dummy_navigator_node->setToggle();
   EXPECT_NO_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_false));
+    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+      is_preempted_false));
 
   // Should fail, preempted
   dummy_navigator_node->setReturn(true);
   EXPECT_THROW(
-    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0), is_preempted_true),
+    navigator->goToPose(geometry_msgs::msg::PoseStamped(), rclcpp::Duration(10.0, 10.0),
+      is_preempted_true),
     opennav_docking_core::FailedToStage);
 
   navigator->deactivate();