CI fixes

ros-navigation · Nov 13, 2024 · b60d67a · b60d67a
1 parent 569a2b3
commit b60d67a
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
@@ -60,10 +60,10 @@ Controller::Controller(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node)
     std::bind(&Controller::dynamicParametersCallback, this, std::placeholders::_1));
 }
 
- bool Controller::computeVelocityCommand(
-    const geometry_msgs::msg::Pose & pose,
-    const geometry_msgs::msg::Pose & robot_pose,
-    geometry_msgs::msg::Twist & cmd, bool backward)
+bool Controller::computeVelocityCommand(
+  const geometry_msgs::msg::Pose & pose,
+  const geometry_msgs::msg::Pose & robot_pose,
+  geometry_msgs::msg::Twist & cmd, bool backward)
 {
   std::lock_guard<std::mutex> lock(dynamic_params_lock_);
   cmd = control_law_->calculateRegularVelocity(pose, robot_pose, backward);

diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -481,7 +481,8 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
     command->header.stamp = now();
     geometry_msgs::msg::PoseStamped robot_pose = getRobotPoseInFrame(dock_pose.header.frame_id);
     if (!controller_->computeVelocityCommand(target_pose.pose, robot_pose.pose,
-    command->twist, dock_backwards_)) {
+    command->twist, dock_backwards_))
+    {
       throw opennav_docking_core::FailedToControl("Failed to get control");
     }
     vel_publisher_->publish(std::move(command));