diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index a5ca7b6cf37fa..8e2096daac44c 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -3,7 +3,7 @@ ci:
repos:
- repo: https://github.com/pre-commit/pre-commit-hooks
- rev: v4.4.0
+ rev: v4.6.0
hooks:
- id: check-json
- id: check-merge-conflict
@@ -18,18 +18,18 @@ repos:
args: [--markdown-linebreak-ext=md]
- repo: https://github.com/igorshubovych/markdownlint-cli
- rev: v0.33.0
+ rev: v0.41.0
hooks:
- id: markdownlint
args: [-c, .markdownlint.yaml, --fix]
- repo: https://github.com/pre-commit/mirrors-prettier
- rev: v3.0.0-alpha.6
+ rev: v4.0.0-alpha.8
hooks:
- id: prettier
- repo: https://github.com/adrienverge/yamllint
- rev: v1.30.0
+ rev: v1.35.1
hooks:
- id: yamllint
@@ -44,29 +44,29 @@ repos:
- id: sort-package-xml
- repo: https://github.com/shellcheck-py/shellcheck-py
- rev: v0.9.0.2
+ rev: v0.10.0.1
hooks:
- id: shellcheck
- repo: https://github.com/scop/pre-commit-shfmt
- rev: v3.6.0-2
+ rev: v3.8.0-1
hooks:
- id: shfmt
args: [-w, -s, -i=4]
- repo: https://github.com/pycqa/isort
- rev: 5.12.0
+ rev: 5.13.2
hooks:
- id: isort
- repo: https://github.com/psf/black
- rev: 23.3.0
+ rev: 24.4.2
hooks:
- id: black
args: [--line-length=100]
- repo: https://github.com/pre-commit/mirrors-clang-format
- rev: v16.0.0
+ rev: v18.1.6
hooks:
- id: clang-format
types_or: [c++, c, cuda]
@@ -79,7 +79,7 @@ repos:
exclude: .cu
- repo: https://github.com/python-jsonschema/check-jsonschema
- rev: 0.23.2
+ rev: 0.28.4
hooks:
- id: check-metaschema
files: ^.+/schema/.*schema\.json$
diff --git a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp b/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp
index 32b6b6ca2565c..8099bea36784e 100644
--- a/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp
+++ b/common/component_interface_utils/include/component_interface_utils/rclcpp.hpp
@@ -94,8 +94,7 @@ class NodeAdaptor
C & cli, S & srv, CallbackGroup group, std::optional<double> timeout = std::nullopt) const
{
init_cli(cli);
- init_srv(
- srv, [cli, timeout](auto req, auto res) { *res = *cli->call(req, timeout); }, group);
+ init_srv(srv, [cli, timeout](auto req, auto res) { *res = *cli->call(req, timeout); }, group);
}
/// Create a subscription wrapper.
diff --git a/common/motion_utils/test/src/trajectory/test_trajectory.cpp b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
index 9ebc712b3bf1a..3789ea21a2256 100644
--- a/common/motion_utils/test/src/trajectory/test_trajectory.cpp
+++ b/common/motion_utils/test/src/trajectory/test_trajectory.cpp
@@ -5365,8 +5365,7 @@ TEST(Trajectory, removeFirstInvalidOrientationPoints)
auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 1.0);
// no invalid points
- testRemoveInvalidOrientationPoints(
- traj, [](Trajectory &) {}, traj.points.size());
+ testRemoveInvalidOrientationPoints(traj, [](Trajectory &) {}, traj.points.size());
// invalid point at the end
testRemoveInvalidOrientationPoints(
diff --git a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
index 228b0c37c5e7b..3877f7177720b 100644
--- a/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
+++ b/control/autoware_smart_mpc_trajectory_follower/autoware_smart_mpc_trajectory_follower/scripts/drive_controller.py
@@ -560,12 +560,12 @@ def update_input_queue(
np.array(time_stamp), np.array(steer_history)
)
- self.acc_input_queue[
- drive_functions.acc_ctrl_queue_size - acc_num :
- ] = acc_interpolate(time_stamp_acc)
- self.steer_input_queue[
- drive_functions.steer_ctrl_queue_size - steer_num :
- ] = steer_interpolate(time_stamp_steer)
+ self.acc_input_queue[drive_functions.acc_ctrl_queue_size - acc_num :] = (
+ acc_interpolate(time_stamp_acc)
+ )
+ self.steer_input_queue[drive_functions.steer_ctrl_queue_size - steer_num :] = (
+ steer_interpolate(time_stamp_steer)
+ )
if (
acc_num == drive_functions.acc_ctrl_queue_size
diff --git a/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp b/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp
index a2de980336e5d..dada46f44292f 100644
--- a/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp
+++ b/evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp
@@ -27,7 +27,7 @@ namespace kinematic_diagnostics
struct Parameters
{
std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{}; // default values to false
-}; // struct Parameters
+}; // struct Parameters
} // namespace kinematic_diagnostics
diff --git a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp
index 314bace43eb59..51e6113aea999 100644
--- a/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp
+++ b/evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp
@@ -67,9 +67,7 @@ class EvalTest : public ::testing::Test
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(dummy_node);
}
- ~EvalTest() override
- { /*rclcpp::shutdown();*/
- }
+ ~EvalTest() override { /*rclcpp::shutdown();*/ }
void setTargetMetric(kinematic_diagnostics::Metric metric)
{
diff --git a/evaluator/localization_evaluator/include/localization_evaluator/parameters.hpp b/evaluator/localization_evaluator/include/localization_evaluator/parameters.hpp
index 46cdf2e77bf11..d8328fe62b3ed 100644
--- a/evaluator/localization_evaluator/include/localization_evaluator/parameters.hpp
+++ b/evaluator/localization_evaluator/include/localization_evaluator/parameters.hpp
@@ -27,7 +27,7 @@ namespace localization_diagnostics
struct Parameters
{
std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{}; // default values to false
-}; // struct Parameters
+}; // struct Parameters
} // namespace localization_diagnostics
diff --git a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
index a307b192d7caa..25fb1e6ac6c4d 100644
--- a/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
+++ b/launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
@@ -501,9 +501,11 @@ def launch_setup(context, *args, **kwargs):
components.extend(
pipeline.create_single_frame_obstacle_segmentation_components(
input_topic=LaunchConfiguration("input/pointcloud"),
- output_topic=pipeline.single_frame_obstacle_seg_output
- if pipeline.use_single_frame_filter or pipeline.use_time_series_filter
- else pipeline.output_topic,
+ output_topic=(
+ pipeline.single_frame_obstacle_seg_output
+ if pipeline.use_single_frame_filter or pipeline.use_time_series_filter
+ else pipeline.output_topic
+ ),
)
)
@@ -512,18 +514,20 @@ def launch_setup(context, *args, **kwargs):
components.extend(
pipeline.create_single_frame_outlier_filter_components(
input_topic=pipeline.single_frame_obstacle_seg_output,
- output_topic=relay_topic
- if pipeline.use_time_series_filter
- else pipeline.output_topic,
+ output_topic=(
+ relay_topic if pipeline.use_time_series_filter else pipeline.output_topic
+ ),
context=context,
)
)
if pipeline.use_time_series_filter:
components.extend(
pipeline.create_time_series_outlier_filter_components(
- input_topic=relay_topic
- if pipeline.use_single_frame_filter
- else pipeline.single_frame_obstacle_seg_output,
+ input_topic=(
+ relay_topic
+ if pipeline.use_single_frame_filter
+ else pipeline.single_frame_obstacle_seg_output
+ ),
output_topic=pipeline.output_topic,
)
)
diff --git a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
index cb462e103a216..ea5c2005bdd46 100644
--- a/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
+++ b/perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp
@@ -42,14 +42,14 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt
cluster_debug_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("debug/clusters", 1);
}
-void RoiPointCloudFusionNode::preprocess(__attribute__((unused))
- sensor_msgs::msg::PointCloud2 & pointcloud_msg)
+void RoiPointCloudFusionNode::preprocess(
+ __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
{
return;
}
-void RoiPointCloudFusionNode::postprocess(__attribute__((unused))
- sensor_msgs::msg::PointCloud2 & pointcloud_msg)
+void RoiPointCloudFusionNode::postprocess(
+ __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
{
const auto objects_sub_count = pub_objects_ptr_->get_subscription_count() +
pub_objects_ptr_->get_intra_process_subscription_count();
diff --git a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
index c58e747f84af2..0e84e4860fdf3 100644
--- a/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
+++ b/perception/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py
@@ -101,15 +101,19 @@ def launch_setup(context, *args, **kwargs):
remappings=[
(
"~/input/obstacle_pointcloud",
- LaunchConfiguration("input/obstacle_pointcloud")
- if not downsample_input_pointcloud
- else "obstacle/downsample/pointcloud",
+ (
+ LaunchConfiguration("input/obstacle_pointcloud")
+ if not downsample_input_pointcloud
+ else "obstacle/downsample/pointcloud"
+ ),
),
(
"~/input/raw_pointcloud",
- LaunchConfiguration("input/raw_pointcloud")
- if not downsample_input_pointcloud
- else "raw/downsample/pointcloud",
+ (
+ LaunchConfiguration("input/raw_pointcloud")
+ if not downsample_input_pointcloud
+ else "raw/downsample/pointcloud"
+ ),
),
("~/output/occupancy_grid_map", LaunchConfiguration("output")),
],
diff --git a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp
index ea7857c3768aa..11f68f580acc2 100644
--- a/perception/tensorrt_yolox/src/tensorrt_yolox.cpp
+++ b/perception/tensorrt_yolox/src/tensorrt_yolox.cpp
@@ -956,7 +956,7 @@ void TrtYoloX::generateYoloxProposals(
objects.push_back(obj);
}
} // class loop
- } // point anchor loop
+ } // point anchor loop
}
void TrtYoloX::qsortDescentInplace(ObjectArray & face_objects, int left, int right) const
diff --git a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
index 9a828d23af5cb..0843c3cade26e 100644
--- a/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
+++ b/planning/sampling_based_planner/autoware_path_sampler/src/node.cpp
@@ -425,8 +425,7 @@ std::vector<autoware::sampler_common::Path> PathSampler::generateCandidatesFromP
size_t reuse_idx = 0;
for (reuse_idx = 0; reuse_idx + 1 < prev_path_->lengths.size() &&
prev_path_->lengths[reuse_idx] < reuse_length;
- ++reuse_idx)
- ;
+ ++reuse_idx);
if (reuse_idx == 0UL) continue;
const auto reused_path = *prev_path_->subset(0UL, reuse_idx);
reuse_state.curvature = reused_path.curvatures.back();
diff --git a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp
index 3a40408bcd8de..d68ba32282351 100644
--- a/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp
+++ b/sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp
@@ -242,7 +242,7 @@ void pcl::PassThroughUInt16<pcl::PCLPointCloud2>::applyFilter(PCLPointCloud2 & o
nr_p++;
}
output.width = nr_p;
- } // !keep_organized_
+ } // !keep_organized_
} else { // No distance filtering, process all data.
// No need to check for is_organized here as we did it above
for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) {
diff --git a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
index a42b43b448080..db36befb69237 100644
--- a/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
+++ b/sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp
@@ -221,7 +221,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)
&rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
centroid[centroid_size - 3] = static_cast<float>((rgb >> 16) & 0x0000ff);
centroid[centroid_size - 2] = static_cast<float>((rgb >> 8) & 0x0000ff);
- centroid[centroid_size - 1] = static_cast<float>((rgb)&0x0000ff);
+ centroid[centroid_size - 1] = static_cast<float>((rgb) & 0x0000ff);
}
pcl::for_each_type<FieldList>(
NdCopyPointEigenFunctor<PointT>(input_->points[cp], centroid));
@@ -272,7 +272,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)
&rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
centroid[centroid_size - 3] = static_cast<float>((rgb >> 16) & 0x0000ff);
centroid[centroid_size - 2] = static_cast<float>((rgb >> 8) & 0x0000ff);
- centroid[centroid_size - 1] = static_cast<float>((rgb)&0x0000ff);
+ centroid[centroid_size - 1] = static_cast<float>((rgb) & 0x0000ff);
}
pcl::for_each_type<FieldList>(
NdCopyPointEigenFunctor<PointT>(input_->points[cp], centroid));
diff --git a/system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp b/system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp
index b0456cf34963e..b1dbc358bc858 100644
--- a/system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp
+++ b/system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp
@@ -35,16 +35,16 @@
#define raspiThermalThrottlingMask (raspiCurrentlyThrottled | raspiSoftTemperatureLimitActive)
-#define throttledToString(X) \
- (((X)&raspiUnderVoltageDetected) ? "Under-voltage detected" \
- : ((X)&raspiArmFrequencyCapped) ? "Arm frequency capped" \
- : ((X)&raspiCurrentlyThrottled) ? "Currently throttled" \
- : ((X)&raspiSoftTemperatureLimitActive) ? "Soft temperature limit active" \
- : ((X)&raspiUnderVoltageHasOccurred) ? "Under-voltage has occurred" \
- : ((X)&raspiArmFrequencyCappedHasOccurred) ? "Arm frequency capped has occurred" \
- : ((X)&raspiThrottlingHasOccurred) ? "Throttling has occurred" \
- : ((X)&raspiSoftTemperatureLimitHasOccurred) ? "Soft temperature limit has occurred" \
- : "UNKNOWN")
+#define throttledToString(X) \
+ (((X) & raspiUnderVoltageDetected) ? "Under-voltage detected" \
+ : ((X) & raspiArmFrequencyCapped) ? "Arm frequency capped" \
+ : ((X) & raspiCurrentlyThrottled) ? "Currently throttled" \
+ : ((X) & raspiSoftTemperatureLimitActive) ? "Soft temperature limit active" \
+ : ((X) & raspiUnderVoltageHasOccurred) ? "Under-voltage has occurred" \
+ : ((X) & raspiArmFrequencyCappedHasOccurred) ? "Arm frequency capped has occurred" \
+ : ((X) & raspiThrottlingHasOccurred) ? "Throttling has occurred" \
+ : ((X) & raspiSoftTemperatureLimitHasOccurred) ? "Soft temperature limit has occurred" \
+ : "UNKNOWN")
class CPUMonitor : public CPUMonitorBase
{
diff --git a/system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp b/system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp
index 3a1df49027d4a..c21b5dc3b1878 100644
--- a/system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp
+++ b/system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp
@@ -29,17 +29,17 @@
#include <string>
#include <vector>
-#define reasonToString(X) \
- (((X)&nvmlClocksThrottleReasonGpuIdle) ? "GpuIdle" \
- : ((X)&nvmlClocksThrottleReasonApplicationsClocksSetting) ? "ApplicationsClocksSetting" \
- : ((X)&nvmlClocksThrottleReasonSwPowerCap) ? "SwPowerCap" \
- : ((X)&nvmlClocksThrottleReasonHwSlowdown) ? "HwSlowdown" \
- : ((X)&nvmlClocksThrottleReasonSyncBoost) ? "SyncBoost" \
- : ((X)&nvmlClocksThrottleReasonSwThermalSlowdown) ? "SwThermalSlowdown" \
- : ((X)&nvmlClocksThrottleReasonHwThermalSlowdown) ? "HwThermalSlowdown" \
- : ((X)&nvmlClocksThrottleReasonHwPowerBrakeSlowdown) ? "HwPowerBrakeSlowdown" \
- : ((X)&nvmlClocksThrottleReasonDisplayClockSetting) ? "DisplayClockSetting" \
- : "UNKNOWN")
+#define reasonToString(X) \
+ (((X) & nvmlClocksThrottleReasonGpuIdle) ? "GpuIdle" \
+ : ((X) & nvmlClocksThrottleReasonApplicationsClocksSetting) ? "ApplicationsClocksSetting" \
+ : ((X) & nvmlClocksThrottleReasonSwPowerCap) ? "SwPowerCap" \
+ : ((X) & nvmlClocksThrottleReasonHwSlowdown) ? "HwSlowdown" \
+ : ((X) & nvmlClocksThrottleReasonSyncBoost) ? "SyncBoost" \
+ : ((X) & nvmlClocksThrottleReasonSwThermalSlowdown) ? "SwThermalSlowdown" \
+ : ((X) & nvmlClocksThrottleReasonHwThermalSlowdown) ? "HwThermalSlowdown" \
+ : ((X) & nvmlClocksThrottleReasonHwPowerBrakeSlowdown) ? "HwPowerBrakeSlowdown" \
+ : ((X) & nvmlClocksThrottleReasonDisplayClockSetting) ? "DisplayClockSetting" \
+ : "UNKNOWN")
/**
* @brief GPU information