style(pre-commit): autofix

Author: pre-commit-ci[bot]

localization/aw_pose_covariance_modifier_node/CMakeLists.txt

@@ -29,4 +29,4 @@ include_directories(src/include/)
 
 
 ament_auto_package(INSTALL_TO_SHARE
-        launch)
+        launch)

localization/aw_pose_covariance_modifier_node/package.xml

@@ -15,11 +15,11 @@
   <build_depend>rosidl_default_generators</build_depend>
 
   <depend>geometry_msgs</depend>
+  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>rcl_interfaces</depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

localization/aw_pose_covariance_modifier_node/src/aw_pose_covariance_modifier_node.cpp

@@ -28,27 +28,23 @@ AWPoseCovarianceModifierNode::AWPoseCovarianceModifierNode() : Node("AWPoseCovar
   new_pose_estimator_pub_ = this->create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "output_pose_with_covariance_topic", 10);
 
-  client_ =
-    this->create_client<rcl_interfaces::srv::SetParameters>("/localization/pose_estimator/ndt_scan_matcher/set_parameters");
+  client_ = this->create_client<rcl_interfaces::srv::SetParameters>(
+    "/localization/pose_estimator/ndt_scan_matcher/set_parameters");
 
   while (!client_->wait_for_service(std::chrono::seconds(1)) && rclcpp::ok()) {
-    RCLCPP_INFO(
-      this->get_logger(),
-      "Waiting for aw_pose_covariance_modifier_node service...");
+    RCLCPP_INFO(this->get_logger(), "Waiting for aw_pose_covariance_modifier_node service...");
   }
 
   activateNDTCovModifier = AWPoseCovarianceModifierNode::callNDTCovarianceModifier();
   if (activateNDTCovModifier == 1) {
     RCLCPP_INFO(get_logger(), "NDT pose covariance modifier activated ...");
-  }
-  else{
+  } else {
     RCLCPP_WARN(get_logger(), "Failed to enable NDT pose covariance modifier ...");
   }
 }
 
 bool AWPoseCovarianceModifierNode::callNDTCovarianceModifier()
 {
-
   auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();
 
   rcl_interfaces::msg::Parameter parameter;
@@ -66,14 +62,18 @@ bool AWPoseCovarianceModifierNode::callNDTCovarianceModifier()
         auto response = result_.get();
 
         if (response && response->results.data()) {
-          RCLCPP_INFO(this->get_logger(), "aw_pose_covariance_modifier.enable parameter set successfully.");
+          RCLCPP_INFO(
+            this->get_logger(), "aw_pose_covariance_modifier.enable parameter set successfully.");
           return true;
         } else {
-          RCLCPP_ERROR(this->get_logger(), "An error occurred while setting the aw_pose_covariance_modifier.enable parameter.");
+          RCLCPP_ERROR(
+            this->get_logger(),
+            "An error occurred while setting the aw_pose_covariance_modifier.enable parameter.");
           return false;
         }
       } else {
-        RCLCPP_ERROR(this->get_logger(), "The request was not completed within the specified time.");
+        RCLCPP_ERROR(
+          this->get_logger(), "The request was not completed within the specified time.");
         return false;
       }
     });
@@ -109,4 +109,4 @@ int main(int argc, char * argv[])
   rclcpp::spin(std::make_shared<AWPoseCovarianceModifierNode>());
   rclcpp::shutdown();
   return 0;
-}
+}

localization/aw_pose_covariance_modifier_node/src/include/aw_pose_covariance_modifier_node.hpp

@@ -14,10 +14,11 @@
 #ifndef AW_POSE_COVARIANCE_MODIFIER_NODE_HPP_
 #define AW_POSE_COVARIANCE_MODIFIER_NODE_HPP_
 
+#include <rcl_interfaces/srv/set_parameters.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
-#include <rcl_interfaces/srv/set_parameters.hpp>
+
 #include <string>
 
 class AWPoseCovarianceModifierNode : public rclcpp::Node
@@ -41,4 +42,4 @@ class AWPoseCovarianceModifierNode : public rclcpp::Node
   bool activateNDTCovModifier = 0;
 };
 
-#endif  // AW_POSE_COVARIANCE_MODIFIER_NODE_HPP_
+#endif  // AW_POSE_COVARIANCE_MODIFIER_NODE_HPP_

localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp

@@ -20,6 +20,7 @@
 #include "localization_util/smart_pose_buffer.hpp"
 #include "ndt_scan_matcher/hyper_parameters.hpp"
 #include "ndt_scan_matcher/map_update_module.hpp"
+#include "rcl_interfaces/srv/set_parameters.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <tier4_autoware_utils/ros/logger_level_configure.hpp>
@@ -42,7 +43,6 @@
 #include <tf2/transform_datatypes.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include "rcl_interfaces/srv/set_parameters.hpp"
 
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>

localization/ndt_scan_matcher/package.xml

@@ -28,6 +28,7 @@
   <depend>nav_msgs</depend>
   <depend>ndt_omp</depend>
   <depend>pcl_conversions</depend>
+  <depend>rcl_interfaces</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
   <depend>std_msgs</depend>
@@ -42,7 +43,6 @@
   <depend>tier4_localization_msgs</depend>
   <depend>tree_structured_parzen_estimator</depend>
   <depend>visualization_msgs</depend>
-  <depend>rcl_interfaces</depend>
 
   <test_depend>ament_cmake_cppcheck</test_depend>
   <test_depend>ament_lint_auto</test_depend>

localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp

@@ -198,12 +198,12 @@ void NDTScanMatcher::setParametersCallback(
 {
   std::lock_guard<std::mutex> lock(mutex_cov_modifier_);
 
-  for (const auto &param : request->parameters) {
-
-    if(param.name  == "aw_pose_covariance_modifier.enable"){
-
+  for (const auto & param : request->parameters) {
+    if (param.name == "aw_pose_covariance_modifier.enable") {
       activate_pose_covariance_modifier_ = param.value.bool_value;
-      RCLCPP_INFO(this->get_logger(), "aw_pose_covariance_modifier.enable set to : %d", activate_pose_covariance_modifier_);
+      RCLCPP_INFO(
+        this->get_logger(), "aw_pose_covariance_modifier.enable set to : %d",
+        activate_pose_covariance_modifier_);
 
       rcl_interfaces::msg::SetParametersResult result;
       result.successful = true;
@@ -213,11 +213,12 @@ void NDTScanMatcher::setParametersCallback(
     }
   }
 
-  if(activate_pose_covariance_modifier_ == 1){
+  if (activate_pose_covariance_modifier_ == 1) {
     NDTScanMatcher::createTrustedSourcePoseSubscriber();
   }
 }
-void NDTScanMatcher::createTrustedSourcePoseSubscriber(){
+void NDTScanMatcher::createTrustedSourcePoseSubscriber()
+{
   trusted_source_pose_sub_ =
     this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
       "input_trusted_pose_topic", 100,