fix(autoware_static_centerline_generator): fix clang-tidy issues

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Author: esteve

planning/static_centerline_generator/CMakeLists.txt

@@ -9,7 +9,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(
-  autoware_static_centerline_generator
+  ${PROJECT_NAME}
   "srv/LoadMap.srv"
   "srv/PlanRoute.srv"
   "srv/PlanPath.srv"
@@ -19,21 +19,25 @@ rosidl_generate_interfaces(
 
 autoware_package()
 
-ament_auto_add_executable(main
-  src/main.cpp
+ament_auto_add_library(${PROJECT_NAME}_node SHARED
   src/static_centerline_generator_node.cpp
   src/centerline_source/optimization_trajectory_based_centerline.cpp
   src/centerline_source/bag_ego_trajectory_based_centerline.cpp
   src/utils.cpp
 )
 
+rclcpp_components_register_node(${PROJECT_NAME}_node
+  PLUGIN "autoware::static_centerline_generator::StaticCenterlineGeneratorNode"
+  EXECUTABLE ${PROJECT_NAME}_exe
+)
+
 if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-    rosidl_target_interfaces(main
-    autoware_static_centerline_generator "rosidl_typesupport_cpp")
+    rosidl_target_interfaces(${PROJECT_NAME}_node
+    ${PROJECT_NAME} "rosidl_typesupport_cpp")
 else()
     rosidl_get_typesupport_target(
-            cpp_typesupport_target autoware_static_centerline_generator "rosidl_typesupport_cpp")
-    target_link_libraries(main "${cpp_typesupport_target}")
+            cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+    target_link_libraries(${PROJECT_NAME}_node "${cpp_typesupport_target}")
 endif()
 
 ament_auto_package(

planning/static_centerline_generator/include/static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp

@@ -12,8 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
-#define STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_  // NOLINT
+#ifndef \
+  STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_        // NOLINT
+#define \
+  STATIC_CENTERLINE_GENERATOR__CENTERLINE_SOURCE__OPTIMIZATION_TRAJECTORY_BASED_CENTERLINE_HPP_        // NOLINT
 
 #include "rclcpp/rclcpp.hpp"
 #include "route_handler/route_handler.hpp"

planning/static_centerline_generator/include/static_centerline_generator/static_centerline_generator_node.hpp

@@ -19,7 +19,8 @@
 #include "autoware_static_centerline_generator/srv/plan_path.hpp"
 #include "autoware_static_centerline_generator/srv/plan_route.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include \
+  "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
 #include "static_centerline_generator/type_alias.hpp"
 #include "vehicle_info_util/vehicle_info_util.hpp"
 
@@ -89,7 +90,8 @@ class StaticCenterlineGeneratorNode : public rclcpp::Node
   std::pair<int, int> traj_range_indices_{0, 0};
   std::optional<CenterlineWithRoute> centerline_with_route_{std::nullopt};
 
-  enum class CenterlineSource {
+  enum class CenterlineSource
+  {
     OptimizationTrajectoryBase = 0,
     BagEgoTrajectoryBase,
   };

planning/static_centerline_generator/launch/static_centerline_generator.launch.xml

@@ -55,7 +55,7 @@
   </node>
 
   <!-- optimize path -->
-  <node pkg="autoware_static_centerline_generator" exec="main" name="autoware_static_centerline_generator">
+  <node pkg="autoware_static_centerline_generator" exec="autoware_static_centerline_generator_exe" name="autoware_static_centerline_generator">
     <remap from="lanelet2_map_topic" to="$(var lanelet2_map_topic)"/>
     <remap from="input_centerline" to="~/input_centerline"/>
     <remap from="output_whole_centerline" to="~/output_whole_centerline"/>

planning/static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp

@@ -49,9 +49,10 @@ std::vector<TrajectoryPoint> generate_centerline_with_bag(rclcpp::Node & node)
       constexpr double epsilon = 1e-1;
       if (
         std::abs(centerline_traj_points.back().pose.position.x - ros_msg->pose.pose.position.x) <
-          epsilon &&
+        epsilon &&
         std::abs(centerline_traj_points.back().pose.position.y - ros_msg->pose.pose.position.y) <
-          epsilon) {
+        epsilon)
+      {
         continue;
       }
     }

planning/static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp

@@ -12,7 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
+#include \
+  "static_centerline_generator/centerline_source/optimization_trajectory_based_centerline.hpp"
 
 #include "motion_utils/resample/resample.hpp"
 #include "motion_utils/trajectory/conversion.hpp"
@@ -90,19 +91,19 @@ OptimizationTrajectoryBasedCenterline::generate_centerline_with_optimization(
 
   // extract path with lane id from lanelets
   const auto raw_path_with_lane_id = [&]() {
-    const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id(
-      route_handler, route_lanelets, start_center_pose, ego_nearest_dist_threshold,
-      ego_nearest_yaw_threshold);
-    return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval);
-  }();
+      const auto non_resampled_path_with_lane_id = utils::get_path_with_lane_id(
+        route_handler, route_lanelets, start_center_pose, ego_nearest_dist_threshold,
+        ego_nearest_yaw_threshold);
+      return motion_utils::resamplePath(non_resampled_path_with_lane_id, behavior_path_interval);
+    }();
   pub_raw_path_with_lane_id_->publish(raw_path_with_lane_id);
   RCLCPP_INFO(node.get_logger(), "Calculated raw path with lane id and published.");
 
   // convert path with lane id to path
   const auto raw_path = [&]() {
-    const auto non_resampled_path = convert_to_path(raw_path_with_lane_id);
-    return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval);
-  }();
+      const auto non_resampled_path = convert_to_path(raw_path_with_lane_id);
+      return motion_utils::resamplePath(non_resampled_path, behavior_vel_interval);
+    }();
   pub_raw_path_->publish(raw_path);
   RCLCPP_INFO(node.get_logger(), "Converted to path and published.");
 
@@ -120,9 +121,9 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 {
   // convert to trajectory points
   const auto raw_traj_points = [&]() {
-    const auto raw_traj = convert_to_trajectory(raw_path);
-    return motion_utils::convertToTrajectoryPointArray(raw_traj);
-  }();
+      const auto raw_traj = convert_to_trajectory(raw_path);
+      return motion_utils::convertToTrajectoryPointArray(raw_traj);
+    }();
 
   // create an instance of elastic band and model predictive trajectory.
   const auto eb_path_smoother_ptr =
@@ -132,23 +133,25 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
 
   // NOTE: The optimization is executed every valid_optimized_traj_points_num points.
   constexpr int valid_optimized_traj_points_num = 10;
-  const int traj_segment_num = raw_traj_points.size() / valid_optimized_traj_points_num;
+  const int traj_segment_num = static_cast<int>(raw_traj_points.size()) /
+    valid_optimized_traj_points_num;
 
   // NOTE: num_initial_optimization exists to make the both optimizations stable since they may use
   // warm start.
   constexpr int num_initial_optimization = 2;
 
   std::vector<TrajectoryPoint> whole_optimized_traj_points;
   for (int virtual_ego_pose_idx = -num_initial_optimization;
-       virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx) {
+    virtual_ego_pose_idx < traj_segment_num; ++virtual_ego_pose_idx)
+  {
     // calculate virtual ego pose for the optimization
     constexpr int virtual_ego_pose_offset_idx = 1;
     const auto virtual_ego_pose =
       raw_traj_points
-        .at(
-          valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) +
-          virtual_ego_pose_offset_idx)
-        .pose;
+      .at(
+      valid_optimized_traj_points_num * std::max(virtual_ego_pose_idx, 0) +
+      virtual_ego_pose_offset_idx)
+      .pose;
 
     // smooth trajectory by elastic band in the path_smoother package
     const auto smoothed_traj_points =
@@ -168,7 +171,7 @@ std::vector<TrajectoryPoint> OptimizationTrajectoryBasedCenterline::optimize_tra
       if (dist < 0.5) {
         const std::vector<TrajectoryPoint> extracted_whole_optimized_traj_points{
           whole_optimized_traj_points.begin(),
-          whole_optimized_traj_points.begin() + std::max(j, 1UL) - 1};
+          whole_optimized_traj_points.begin() + static_cast<long>(std::max(j, 1UL)) - 1};
         whole_optimized_traj_points = extracted_whole_optimized_traj_points;
         break;
       }