apply pre-commit

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

control/autoware_simple_pure_pursuit/README.md

@@ -8,10 +8,10 @@ The `simple_pure_pursuit` node receives a reference trajectory from `motion_velo
 
 ## Input topics
 
-| Name                 | Type                                        | Description                      |
-| :------------------- | :------------------------------------------ | :------------------------------- |
-| `~/input/odometry`   | `nav_msgs::msg::Odometry`                   | ego odometry                     |
-| `~/input/trajectory` | `autoware_planning_msgs::msg::Trajectory`   | reference trajectory             |
+| Name                 | Type                                      | Description          |
+| :------------------- | :---------------------------------------- | :------------------- |
+| `~/input/odometry`   | `nav_msgs::msg::Odometry`                 | ego odometry         |
+| `~/input/trajectory` | `autoware_planning_msgs::msg::Trajectory` | reference trajectory |
 
 ## Output topics
 
@@ -21,4 +21,4 @@ The `simple_pure_pursuit` node receives a reference trajectory from `motion_velo
 
 ## Parameters
 
-{{ json_to_markdown("control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json") }}
+{{ json_to_markdown("control/autoware_simple_pure_pursuit/schema/simple_pure_pursuit.schema.json") }}

control/autoware_simple_pure_pursuit/package.xml

@@ -17,6 +17,7 @@
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_test_utils</depend>
+  <depend>autoware_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp

@@ -15,7 +15,7 @@
 #include "simple_pure_pursuit.hpp"
 
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
-#include <autoware/universe_utils/geometry/pose_deviation.hpp>
+#include <autoware_utils/geometry/pose_deviation.hpp>
 
 #include <tf2/utils.h>
 
@@ -24,8 +24,8 @@
 namespace autoware::control::simple_pure_pursuit
 {
 using autoware::motion_utils::findNearestIndex;
-using autoware::universe_utils::calcLateralDeviation;
-using autoware::universe_utils::calcYawDeviation;
+using autoware_utils::calcLateralDeviation;
+using autoware_utils::calcYawDeviation;
 
 SimplePurePursuitNode::SimplePurePursuitNode(const rclcpp::NodeOptions & node_options)
 : Node("simple_pure_pursuit", node_options),

control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.hpp

@@ -15,7 +15,7 @@
 #ifndef SIMPLE_PURE_PURSUIT_HPP_
 #define SIMPLE_PURE_PURSUIT_HPP_
 
-#include <autoware/universe_utils/ros/polling_subscriber.hpp>
+#include <autoware_utils/ros/polling_subscriber.hpp>
 #include <autoware_vehicle_info_utils/vehicle_info_utils.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -37,10 +37,8 @@ class SimplePurePursuitNode : public rclcpp::Node
 
 private:
   // subscribers
-  autoware::universe_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{
-    this, "input/odometry"};
-  autoware::universe_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{
-    this, "input/odometry"};
+  autoware_utils::InterProcessPollingSubscriber<Odometry> odom_sub_{this, "input/odometry"};
+  autoware_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{this, "input/odometry"};
 
   // publishers
   rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_command_;

control/autoware_simple_pure_pursuit/test/test_simple_pure_pursuit.cpp

@@ -19,6 +19,8 @@
 
 #include <gtest/gtest.h>
 
+#include <memory>
+
 namespace autoware::control::simple_pure_pursuit
 {
 Odometry makeOdometry(const double x, const double y, const double yaw)
@@ -150,4 +152,4 @@ TEST_F(SimplePurePursuitNodeTest, calc_lateral_control)
     EXPECT_DOUBLE_EQ(result.steering_tire_angle, 0.0f);
   }
 }
-}  // namespace autoware::control::simple_pure_pursuit
+}  // namespace autoware::control::simple_pure_pursuit