pre-commit

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>

Author: HansOersted

control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp

@@ -22,6 +22,8 @@
 #include "autoware/trajectory_follower_base/lateral_controller_base.hpp"
 #include "rclcpp/rclcpp.hpp"
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
+
 #include "autoware_control_msgs/msg/lateral.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
@@ -31,7 +33,6 @@
 #include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "tier4_debug_msgs/msg/float32_stamped.hpp"
 
-#include <diagnostic_updater/diagnostic_updater.hpp>
 #include <deque>
 #include <memory>
 #include <string>
@@ -53,7 +54,8 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
 {
 public:
   /// \param node Reference to the node used only for the component and parameter initialization.
-  explicit MpcLateralController(rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater);
+  explicit MpcLateralController(
+    rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater);
   virtual ~MpcLateralController();
 
 private:
@@ -64,7 +66,8 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase
   rclcpp::Publisher<Float32MultiArrayStamped>::SharedPtr m_pub_debug_values;
   rclcpp::Publisher<Float32Stamped>::SharedPtr m_pub_steer_offset;
 
-  std::shared_ptr<diagnostic_updater::Updater> diag_updater_{}; // Diagnostic updater for publishing diagnostic data.
+  std::shared_ptr<diagnostic_updater::Updater>
+    diag_updater_{};  // Diagnostic updater for publishing diagnostic data.
 
   //!< @brief parameters for path smoothing
   TrajectoryFilteringParam m_trajectory_filtering_param;

control/autoware_mpc_lateral_controller/src/mpc_lateral_controller.cpp

@@ -35,7 +35,8 @@
 namespace autoware::motion::control::mpc_lateral_controller
 {
 
-MpcLateralController::MpcLateralController(rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater)
+MpcLateralController::MpcLateralController(
+  rclcpp::Node & node, std::shared_ptr<diagnostic_updater::Updater> diag_updater)
 : clock_(node.get_clock()), logger_(node.get_logger().get_child("lateral_controller"))
 {
   const auto dp_int = [&](const std::string & s) { return node.declare_parameter<int>(s); };
@@ -231,8 +232,7 @@ std::shared_ptr<SteeringOffsetEstimator> MpcLateralController::createSteerOffset
   return steering_offset_;
 }
 
-void MpcLateralController::setStatus(
-  diagnostic_updater::DiagnosticStatusWrapper & stat)
+void MpcLateralController::setStatus(diagnostic_updater::DiagnosticStatusWrapper & stat)
 {
   if (m_is_mpc_solved) {
     stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "MPC succeeded.");
@@ -247,10 +247,7 @@ void MpcLateralController::setupDiag()
   auto & d = diag_updater_;
   d->setHardwareID("mpc_lateral_controller");
 
-  d->add("MPC_solve_checker", [&](auto & stat) {
-    setStatus(
-      stat);
-  });
+  d->add("MPC_solve_checker", [&](auto & stat) { setStatus(stat); });
 }
 
 trajectory_follower::LateralOutput MpcLateralController::run(
@@ -281,7 +278,7 @@ trajectory_follower::LateralOutput MpcLateralController::run(
   const bool is_mpc_solved = m_mpc->calculateMPC(
     m_current_steering, m_current_kinematic_state, ctrl_cmd, predicted_traj, debug_values);
 
-  m_is_mpc_solved = is_mpc_solved; // for diagnostic updater
+  m_is_mpc_solved = is_mpc_solved;  // for diagnostic updater
 
   diag_updater_->force_update();
 

control/autoware_trajectory_follower_node/include/autoware/trajectory_follower_node/controller_node.hpp

@@ -74,7 +74,9 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
   double timeout_thr_sec_;
   boost::optional<LongitudinalOutput> longitudinal_output_{boost::none};
 
-  std::shared_ptr<diagnostic_updater::Updater> diag_updater_ = std::make_shared<diagnostic_updater::Updater>(this); // Diagnostic updater for publishing diagnostic data.
+  std::shared_ptr<diagnostic_updater::Updater> diag_updater_ =
+    std::make_shared<diagnostic_updater::Updater>(
+      this);  // Diagnostic updater for publishing diagnostic data.
 
   std::shared_ptr<trajectory_follower::LongitudinalControllerBase> longitudinal_controller_;
   std::shared_ptr<trajectory_follower::LateralControllerBase> lateral_controller_;

control/autoware_trajectory_follower_node/src/controller_node.cpp

@@ -39,7 +39,8 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
     getLateralControllerMode(declare_parameter<std::string>("lateral_controller_mode"));
   switch (lateral_controller_mode) {
     case LateralControllerMode::MPC: {
-      lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this, diag_updater_);
+      lateral_controller_ =
+        std::make_shared<mpc_lateral_controller::MpcLateralController>(*this, diag_updater_);
       break;
     }
     case LateralControllerMode::PURE_PURSUIT: {