Fixed Styling

Signed-off-by: Jatin Patil <[email protected]>
ros-navigation · Jul 21, 2024 · c595a11 · c595a11
1 parent ad8b33f
commit c595a11
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Showing 3 changed files with 22 additions and 18 deletions.
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -253,7 +253,8 @@ Costmap2DROS::on_configure(const rclcpp_lifecycle::State & /*state*/)
   // Service to get the cost at a point
   get_cost_service_ = create_service<nav2_msgs::srv::GetCost>(
     "get_cost_" + getName(),
-    std::bind(&Costmap2DROS::getCostCallback, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+    std::bind(&Costmap2DROS::getCostCallback, this, std::placeholders::_1, std::placeholders::_2,
+      std::placeholders::_3));
 
   // Add cleaning service
   clear_costmap_service_ = std::make_unique<ClearCostmapService>(shared_from_this(), *this);
@@ -833,14 +834,11 @@ void Costmap2DROS::getCostCallback(
   auto costmap = layered_costmap_->getCostmap();
 
   unsigned int mx, my;
-  if (costmap->worldToMap(request->x, request->y, mx, my))
-  {
+  if (costmap->worldToMap(request->x, request->y, mx, my)) {
     // Get the cost at the map coordinates
     auto cost = static_cast<float>(costmap->getCost(mx, my));
     response->cost = cost;
-  }
-  else
-  {
+  } else {
     RCLCPP_WARN(get_logger(), "Point (%f, %f) is out of bounds", request->x, request->y);
     response->cost = -1.0;
   }

diff --git a/nav2_rviz_plugins/include/nav2_rviz_plugins/costmap_cost_tool.hpp b/nav2_rviz_plugins/include/nav2_rviz_plugins/costmap_cost_tool.hpp
@@ -24,7 +24,7 @@ namespace nav2_rviz_plugins
 {
 class CostmapCostTool : public rviz_common::Tool
 {
-Q_OBJECT
+  Q_OBJECT
 public:
   CostmapCostTool();
   virtual ~CostmapCostTool();
@@ -33,14 +33,14 @@ Q_OBJECT
   void activate() override;
   void deactivate() override;
 
-  int processMouseEvent( rviz_common::ViewportMouseEvent& event ) override;
+  int processMouseEvent(rviz_common::ViewportMouseEvent& event) override;
 
   void callCostService(float x, float y);
 
   void handleLocalCostResponse(rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture);
   void handleGlobalCostResponse(rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture);
 
-private Q_SLOTS:  
+private Q_SLOTS:
   void updateAutoDeactivate();
 
 private:
@@ -57,4 +57,4 @@ private Q_SLOTS:
 };
 }
 
-#endif  
+#endif
diff --git a/nav2_rviz_plugins/src/costmap_cost_tool.cpp b/nav2_rviz_plugins/src/costmap_cost_tool.cpp
@@ -25,7 +25,7 @@ namespace nav2_rviz_plugins
 CostmapCostTool::CostmapCostTool()
 : qos_profile_(5)
 {
-  shortcut_key_ = 'm'; 
+  shortcut_key_ = 'm';
 
   auto_deactivate_property_ = new rviz_common::properties::BoolProperty(
     "Single click", true,
@@ -44,14 +44,16 @@ void CostmapCostTool::onInitialize()
   setIcon(rviz_common::loadPixmap("package://rviz_default_plugins/icons/classes/PointStamped.png"));
 
   node_ = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  local_cost_client_ = node_->create_client<nav2_msgs::srv::GetCost>("/local_costmap/get_cost_local_costmap");
-  global_cost_client_ = node_->create_client<nav2_msgs::srv::GetCost>("/global_costmap/get_cost_global_costmap");
+  local_cost_client_ = 
+    node_->create_client<nav2_msgs::srv::GetCost>("/local_costmap/get_cost_local_costmap");
+  global_cost_client_ = 
+    node_->create_client<nav2_msgs::srv::GetCost>("/global_costmap/get_cost_global_costmap");
 }
 
 void CostmapCostTool::activate() {}
 void CostmapCostTool::deactivate() {}
 
-int CostmapCostTool::processMouseEvent(rviz_common::ViewportMouseEvent& event)
+int CostmapCostTool::processMouseEvent(rviz_common::ViewportMouseEvent & event)
 {
   int flags = 0;
 
@@ -95,18 +97,21 @@ void CostmapCostTool::callCostService(float x, float y)
     return;
   }
 
-  local_cost_client_->async_send_request(request, std::bind(&CostmapCostTool::handleLocalCostResponse, this, std::placeholders::_1));
+  local_cost_client_->async_send_request(request,
+    std::bind(&CostmapCostTool::handleLocalCostResponse, this, std::placeholders::_1));
 
   // Call global costmap service
   if (!global_cost_client_->wait_for_service(std::chrono::seconds(1))) {
     RCLCPP_ERROR(node_->get_logger(), "Global costmap service not available");
     return;
   }
 
-  global_cost_client_->async_send_request(request, std::bind(&CostmapCostTool::handleGlobalCostResponse, this, std::placeholders::_1));
+  global_cost_client_->async_send_request(request,
+    std::bind(&CostmapCostTool::handleGlobalCostResponse, this, std::placeholders::_1));
 }
 
-void CostmapCostTool::handleLocalCostResponse(rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture future)
+void CostmapCostTool::handleLocalCostResponse(
+  rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture future)
 {
   auto response = future.get();
   if (response->cost != -1) {
@@ -116,7 +121,8 @@ void CostmapCostTool::handleLocalCostResponse(rclcpp::Client<nav2_msgs::srv::Get
   }
 }
 
-void CostmapCostTool::handleGlobalCostResponse(rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture future)
+void CostmapCostTool::handleGlobalCostResponse(
+  rclcpp::Client<nav2_msgs::srv::GetCost>::SharedFuture future)
 {
   auto response = future.get();
   if (response->cost != -1) {