style(pre-commit): autofix

launch/tier4_control_launch/launch/control.launch.py

@@ -30,13 +30,15 @@
 from launch_ros.substitutions import FindPackageShare
 import yaml
 
+
 def get_control_cmd_topic(context):
-    is_redundant = LaunchConfiguration('launch_redundancy_system_components').perform(context)
-    system_run_mode = LaunchConfiguration('system_run_mode').perform(context)
+    is_redundant = LaunchConfiguration("launch_redundancy_system_components").perform(context)
+    system_run_mode = LaunchConfiguration("system_run_mode").perform(context)
+
+    if is_redundant.lower() == "true" and system_run_mode.lower() == "planning_simulation":
+        return "/main/control/command/control_cmd"
+    return "/control/command/control_cmd"
 
-    if is_redundant.lower() == 'true' and system_run_mode.lower() == 'planning_simulation':
-        return '/main/control/command/control_cmd'
-    return '/control/command/control_cmd'
 
 def launch_setup(context, *args, **kwargs):
     with open(LaunchConfiguration("vehicle_param_file").perform(context), "r") as f:

system/dummy_diag_publisher/include/dummy_diag_publisher/dummy_diag_publisher_core.hpp

@@ -63,7 +63,8 @@ class DummyDiagPublisher : public rclcpp::Node
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
 
   void loadRequiredDiags();
-  rcl_interfaces::msg::SetParametersResult onSetParams(const std::vector<rclcpp::Parameter> & parameters);
+  rcl_interfaces::msg::SetParametersResult onSetParams(
+    const std::vector<rclcpp::Parameter> & parameters);
 
   std::optional<Status> convertStrToStatus(const std::string & status_str);
   std::string convertStatusToStr(const Status & status);

system/dummy_diag_publisher/src/dummy_diag_publisher_core.cpp

@@ -16,6 +16,7 @@
 
 #define FMT_HEADER_ONLY
 #include <fmt/format.h>
+
 #include <sstream>
 #include <unordered_map>
 
@@ -141,8 +142,8 @@ rclcpp::NodeOptions override_options(rclcpp::NodeOptions options)
     true);
 }
 
-rcl_interfaces::msg::SetParametersResult 
-  DummyDiagPublisher::onSetParams(const std::vector<rclcpp::Parameter> & parameters)
+rcl_interfaces::msg::SetParametersResult DummyDiagPublisher::onSetParams(
+  const std::vector<rclcpp::Parameter> & parameters)
 {
   rcl_interfaces::msg::SetParametersResult result;
   result.successful = true;
@@ -157,34 +158,39 @@ rcl_interfaces::msg::SetParametersResult
         auto new_status = convertStrToStatus(parameter.as_string());
         if (new_status) {
           diag.status = *new_status;
-          RCLCPP_INFO(this->get_logger(), "Updated %s status to: %s",
-                      diag.name.c_str(), parameter.as_string().c_str());
+          RCLCPP_INFO(
+            this->get_logger(), "Updated %s status to: %s", diag.name.c_str(),
+            parameter.as_string().c_str());
         } else {
           result.successful = false;
           result.reason = "Invalid status value for: " + parameter.as_string();
-          RCLCPP_WARN(this->get_logger(), "Invalid status value for %s: %s",
-                      diag.name.c_str(), parameter.as_string().c_str());
+          RCLCPP_WARN(
+            this->get_logger(), "Invalid status value for %s: %s", diag.name.c_str(),
+            parameter.as_string().c_str());
         }
       } else if (param_name == diag.name + std::string(".is_active")) {
         param_found = true;
         try {
           diag.is_active = parameter.as_bool();
-          RCLCPP_INFO(this->get_logger(), "Updated %s is_active to: %s",
-            diag.name.c_str(), diag.is_active ? "true" : "false");
+          RCLCPP_INFO(
+            this->get_logger(), "Updated %s is_active to: %s", diag.name.c_str(),
+            diag.is_active ? "true" : "false");
         } catch (const rclcpp::ParameterTypeException & e) {
           result.successful = false;
           result.reason = "Invalid is_active value for: " + parameter.as_string();
-          RCLCPP_WARN(this->get_logger(), "Invalid is_active value for %s: %s",
-                      diag.name.c_str(), parameter.as_string().c_str());
+          RCLCPP_WARN(
+            this->get_logger(), "Invalid is_active value for %s: %s", diag.name.c_str(),
+            parameter.as_string().c_str());
         }
       }
     }
 
     if (!param_found) {
       result.successful = false;
       result.reason = "Parameter not registered: " + parameter.get_name();
-      RCLCPP_WARN(this->get_logger(), "Attempted to set unregistered parameter: %s",
-                  parameter.get_name().c_str());
+      RCLCPP_WARN(
+        this->get_logger(), "Attempted to set unregistered parameter: %s",
+        parameter.get_name().c_str());
     }
   }
 
@@ -214,8 +220,7 @@ DummyDiagPublisher::DummyDiagPublisher(const rclcpp::NodeOptions & options)
 
   // Parameter Callback Handle
   param_callback_handle_ = this->add_on_set_parameters_callback(
-    std::bind(&DummyDiagPublisher::onSetParams, this, std::placeholders::_1)
-  );
+    std::bind(&DummyDiagPublisher::onSetParams, this, std::placeholders::_1));
 }
 
 #include <rclcpp_components/register_node_macro.hpp>