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ros-perception · Nov 14, 2023 · 2484f5f · 2484f5f
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commit 2484f5f
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Showing 11 changed files with 51 additions and 78 deletions.
diff --git a/depth_image_proc/src/convert_metric.cpp b/depth_image_proc/src/convert_metric.cpp
@@ -67,23 +67,21 @@ ConvertMetricNode::ConvertMetricNode(const rclcpp::NodeOptions & options)
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo&)
+    [this](rclcpp::MatchedInfo &)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (pub_depth_.getNumSubscribers() == 0)
-      {
+      if (pub_depth_.getNumSubscribers() == 0) {
         sub_raw_.shutdown();
-      }
-      else if (!sub_raw_)
-      {
+      } else if (!sub_raw_) {
         image_transport::TransportHints hints(this, "raw");
         sub_raw_ = image_transport::create_subscription(
           this, "image_raw",
           std::bind(&ConvertMetricNode::depthCb, this, std::placeholders::_1),
           hints.getTransport());
       }
     };
-  pub_depth_ = image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
+  pub_depth_ =
+    image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
 }
 
 void ConvertMetricNode::depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)

diff --git a/depth_image_proc/src/point_cloud_xyz.cpp b/depth_image_proc/src/point_cloud_xyz.cpp
@@ -57,22 +57,21 @@ PointCloudXyzNode::PointCloudXyzNode(const rclcpp::NodeOptions & options)
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.shutdown();
-      }
-      else if (!sub_depth_)
-      {
+      } else if (!sub_depth_) {
         auto custom_qos = rmw_qos_profile_system_default;
         custom_qos.depth = queue_size_;
 
         sub_depth_ = image_transport::create_camera_subscription(
           this,
           "image_rect",
-          std::bind(&PointCloudXyzNode::depthCb, this, std::placeholders::_1, std::placeholders::_2),
+          std::bind(
+            &PointCloudXyzNode::depthCb, this, std::placeholders::_1,
+            std::placeholders::_2),
           "raw",
           custom_qos);
       }

diff --git a/depth_image_proc/src/point_cloud_xyz_radial.cpp b/depth_image_proc/src/point_cloud_xyz_radial.cpp
@@ -56,15 +56,12 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.shutdown();
-      }
-      else if (!sub_depth_)
-      {
+      } else if (!sub_depth_) {
         auto custom_qos = rmw_qos_profile_system_default;
         custom_qos.depth = queue_size_;
 
@@ -78,7 +75,8 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
           custom_qos);
           }
     };
-  pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);
+  pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(
+    "points", rclcpp::SensorDataQoS(), pub_options);
 }
 
 void PointCloudXyzRadialNode::depthCb(

diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -74,17 +74,14 @@ PointCloudXyziNode::PointCloudXyziNode(const rclcpp::NodeOptions & options)
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.unsubscribe();
         sub_intensity_.unsubscribe();
         sub_info_.unsubscribe();
-      }
-      else if (!sub_depth_.getSubscriber())
-      {
+      } else if (!sub_depth_.getSubscriber()) {
         // parameter for depth_image_transport hint
         std::string depth_image_transport_param = "depth_image_transport";
 

diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -72,17 +72,14 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.unsubscribe();
         sub_intensity_.unsubscribe();
         sub_info_.unsubscribe();
-      }
-      else if (!sub_depth_.getSubscriber())
-      {
+      } else if (!sub_depth_.getSubscriber()) {
         // parameter for depth_image_transport hint
         std::string depth_image_transport_param = "depth_image_transport";
 
@@ -96,7 +93,8 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
         sub_info_.subscribe(this, "intensity/camera_info");
       }
     };
-  pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);
+  pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(
+    "points", rclcpp::SensorDataQoS(), pub_options);
 }
 
 void PointCloudXyziRadialNode::imageCb(

diff --git a/depth_image_proc/src/point_cloud_xyzrgb.cpp b/depth_image_proc/src/point_cloud_xyzrgb.cpp
@@ -83,17 +83,14 @@ PointCloudXyzrgbNode::PointCloudXyzrgbNode(const rclcpp::NodeOptions & options)
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.unsubscribe();
         sub_rgb_.unsubscribe();
         sub_info_.unsubscribe();
-      }
-      else if (!sub_depth_.getSubscriber())
-      {
+      } else if (!sub_depth_.getSubscriber()) {
         // parameter for depth_image_transport hint
         std::string depth_image_transport_param = "depth_image_transport";
         image_transport::TransportHints depth_hints(this, "raw", depth_image_transport_param);

diff --git a/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp b/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
@@ -87,17 +87,14 @@ PointCloudXyzrgbRadialNode::PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo& s)
+    [this](rclcpp::MatchedInfo & s)
     {
       std::lock_guard<std::mutex> lock(connect_mutex_);
-      if (s.current_count == 0)
-      {
+      if (s.current_count == 0) {
         sub_depth_.unsubscribe();
         sub_rgb_.unsubscribe();
         sub_info_.unsubscribe();
-      }
-      else if (!sub_depth_.getSubscriber())
-      {
+      } else if (!sub_depth_.getSubscriber()) {
         // parameter for depth_image_transport hint
         std::string depth_image_transport_param = "depth_image_transport";
         image_transport::TransportHints depth_hints(this, "raw", depth_image_transport_param);

diff --git a/image_proc/src/crop_decimate.cpp b/image_proc/src/crop_decimate.cpp
@@ -130,17 +130,14 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
   // Create image pub with connection callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo&)
+    [this](rclcpp::MatchedInfo &)
     {
-      if (pub_.getNumSubscribers() == 0)
-      {
+      if (pub_.getNumSubscribers() == 0) {
         sub_.shutdown();
-      }
-      else if (!sub_)
-      {
+      } else if (!sub_) {
         auto qos_profile = getTopicQosProfile(this, "in/image_raw");
         sub_ = image_transport::create_camera_subscription(
-            this, "in/image_raw", std::bind(
+          this, "in/image_raw", std::bind(
             &CropDecimateNode::imageCb, this,
             std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
       }

diff --git a/image_proc/src/debayer.cpp b/image_proc/src/debayer.cpp
@@ -56,20 +56,17 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
   // Create publisher options to setup callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo&)
+    [this](rclcpp::MatchedInfo &)
     {
-      if (pub_mono_.getNumSubscribers() == 0 && pub_color_.getNumSubscribers() == 0)
-      {
+      if (pub_mono_.getNumSubscribers() == 0 && pub_color_.getNumSubscribers() == 0) {
         sub_raw_.shutdown();
-      }
-      else if (!sub_raw_)
-      {
+      } else if (!sub_raw_) {
         auto qos_profile = getTopicQosProfile(this, "image_raw");
         sub_raw_ = image_transport::create_subscription(
-            this, "image_raw",
-            std::bind(
-              &DebayerNode::imageCb, this,
-              std::placeholders::_1), "raw", qos_profile);
+          this, "image_raw",
+          std::bind(
+            &DebayerNode::imageCb, this,
+            std::placeholders::_1), "raw", qos_profile);
       }
     };
   pub_mono_ = image_transport::create_publisher(this, "image_mono", qos_profile, pub_options);

diff --git a/image_proc/src/rectify.cpp b/image_proc/src/rectify.cpp
@@ -58,19 +58,16 @@ RectifyNode::RectifyNode(const rclcpp::NodeOptions & options)
   // Create publisher with connect callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo&)
+    [this](rclcpp::MatchedInfo &)
     {
-      if (pub_rect_.getNumSubscribers() == 0)
-      {
+      if (pub_rect_.getNumSubscribers() == 0) {
         sub_camera_.shutdown();
-      }
-      else if (!sub_camera_)
-      {
+      } else if (!sub_camera_) {
         auto qos_profile = getTopicQosProfile(this, "image");
         sub_camera_ = image_transport::create_camera_subscription(
           this, "image", std::bind(
-          &RectifyNode::imageCb,
-          this, std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
+            &RectifyNode::imageCb,
+            this, std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
       }
     };
   pub_rect_ = image_transport::create_publisher(this, "image_rect", qos_profile, pub_options);

diff --git a/image_proc/src/resize.cpp b/image_proc/src/resize.cpp
@@ -55,14 +55,11 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
   // Create image pub with connection callback
   rclcpp::PublisherOptions pub_options;
   pub_options.event_callbacks.matched_callback =
-    [this](rclcpp::MatchedInfo&)
+    [this](rclcpp::MatchedInfo &)
     {
-      if (pub_image_.getNumSubscribers() == 0)
-      {
+      if (pub_image_.getNumSubscribers() == 0) {
         sub_image_.shutdown();
-      }
-      else if (!sub_image_)
-      {
+      } else if (!sub_image_) {
         auto qos_profile = getTopicQosProfile(this, "image/image_raw");
         sub_image_ = image_transport::create_camera_subscription(
           this, "image/image_raw",
@@ -72,7 +69,8 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
             std::placeholders::_2), "raw", qos_profile);
       }
     };
-  pub_image_ = image_transport::create_camera_publisher(this, "resize/image_raw", qos_profile, pub_options);
+  pub_image_ = image_transport::create_camera_publisher(
+    this, "resize/image_raw", qos_profile, pub_options);
 
   interpolation_ = this->declare_parameter("interpolation", 1);
   use_scale_ = this->declare_parameter("use_scale", true);