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ament_cpplint ament_uncrustify --reformat Signed-off-by: finani <[email protected]>
ros-navigation · Aug 5, 2024 · d261fdf · d261fdf
1 parent 9e9cfab
commit d261fdf
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Showing 4 changed files with 16 additions and 10 deletions.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -1581,17 +1581,20 @@ AmclNode::initServices()
 {
   global_loc_srv_ = create_service<std_srvs::srv::Empty>(
     "reinitialize_global_localization",
-    std::bind(&AmclNode::globalLocalizationCallback, this, std::placeholders::_1,
+    std::bind(
+      &AmclNode::globalLocalizationCallback, this, std::placeholders::_1,
       std::placeholders::_2, std::placeholders::_3));
 
   initial_guess_srv_ = create_service<nav2_msgs::srv::SetInitialPose>(
     "set_initial_pose",
-    std::bind(&AmclNode::initialPoseReceivedSrv, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &AmclNode::initialPoseReceivedSrv, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 
   nomotion_update_srv_ = create_service<std_srvs::srv::Empty>(
     "request_nomotion_update",
-    std::bind(&AmclNode::nomotionUpdateCallback, this, std::placeholders::_1, std::placeholders::_2,
+    std::bind(
+      &AmclNode::nomotionUpdateCallback, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 }
 

diff --git a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
@@ -46,12 +46,12 @@ inline BT::NodeStatus GetPoseFromPath::tick()
   }
 
   // Account for negative indices
-  if(pose_index < 0) {
+  if (pose_index < 0) {
     pose_index = input_path.poses.size() + pose_index;
   }
 
   // out of bounds index
-  if(pose_index < 0 || static_cast<unsigned>(pose_index) >= input_path.poses.size()) {
+  if (pose_index < 0 || static_cast<unsigned>(pose_index) >= input_path.poses.size()) {
     return BT::NodeStatus::FAILURE;
   }
 
@@ -60,7 +60,7 @@ inline BT::NodeStatus GetPoseFromPath::tick()
   output_pose = input_path.poses[pose_index];
 
   // populate pose frame from path if necessary
-  if(output_pose.header.frame_id.empty()) {
+  if (output_pose.header.frame_id.empty()) {
     output_pose.header.frame_id = input_path.header.frame_id;
   }
 

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -256,7 +256,8 @@ 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::bind(
+      &Costmap2DROS::getCostCallback, this, std::placeholders::_1, std::placeholders::_2,
       std::placeholders::_3));
 
   // Add cleaning service
@@ -423,7 +424,7 @@ Costmap2DROS::getParameters()
     std::size_t first_slash = raw_namespace.find('/', 1);
     std::string robot_namespace = "";
     if (first_slash != std::string::npos) {
-        robot_namespace = raw_namespace.substr(1, first_slash - 1) + "/";
+      robot_namespace = raw_namespace.substr(1, first_slash - 1) + "/";
     }
 
     global_frame_ = robot_namespace + nav2_util::strip_leading_slash(global_frame_);

diff --git a/nav2_rviz_plugins/src/costmap_cost_tool.cpp b/nav2_rviz_plugins/src/costmap_cost_tool.cpp
@@ -92,13 +92,15 @@ void CostmapCostTool::callCostService(float x, float y)
 
   // Call local costmap service
   if (local_cost_client_->wait_for_service(std::chrono::seconds(1))) {
-    local_cost_client_->async_send_request(request,
+    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))) {
-    global_cost_client_->async_send_request(request,
+    global_cost_client_->async_send_request(
+      request,
       std::bind(&CostmapCostTool::handleGlobalCostResponse, this, std::placeholders::_1));
   }
 }