fix some lint issues for humble branch (#5253)

Plumezz · web-flow · commit 623636cef3c6 · 2025-06-11T19:55:22.000-07:00
Signed-off-by: Guanxiao Qi &lt;944843236@qq.com&gt;
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -212,7 +212,8 @@ class BtActionNode : public BT::ActionNodeBase
       // if new goal was sent and action server has not yet responded
       // check the future goal handle
       if (future_goal_handle_) {
-        auto elapsed = (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
+        auto elapsed =
+          (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
         if (!is_future_goal_handle_complete(elapsed)) {
           // return RUNNING if there is still some time before timeout happens
           if (elapsed < server_timeout_) {
@@ -242,7 +243,8 @@ class BtActionNode : public BT::ActionNodeBase
         {
           goal_updated_ = false;
           send_new_goal();
-          auto elapsed = (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
+          auto elapsed =
+            (node_->now() - time_goal_sent_).template to_chrono<std::chrono::milliseconds>();
           if (!is_future_goal_handle_complete(elapsed)) {
             if (elapsed < server_timeout_) {
               return BT::NodeStatus::RUNNING;
@@ -472,7 +474,7 @@ class BtActionNode : public BT::ActionNodeBase
   std::shared_ptr<std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>
   future_goal_handle_;
   rclcpp::Time time_goal_sent_;
-  
+
   // Can be set in on_tick or on_wait_for_result to indicate if a goal should be sent.
   bool should_send_goal_;
 };
diff --git a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
@@ -46,12 +46,12 @@ inline BT::NodeStatus GetPoseFromPath::tick()
   }
 
   // Account for negative indices
-  if(pose_index < 0) {
+  if (pose_index < 0) {
     pose_index = input_path.poses.size() + pose_index;
   }
 
   // out of bounds index
-  if(pose_index < 0 || static_cast<unsigned>(pose_index) >= input_path.poses.size()) {
+  if (pose_index < 0 || static_cast<unsigned>(pose_index) >= input_path.poses.size()) {
     return BT::NodeStatus::FAILURE;
   }
 
@@ -60,7 +60,7 @@ inline BT::NodeStatus GetPoseFromPath::tick()
   output_pose = input_path.poses[pose_index];
 
   // populate pose frame from path if necessary
-  if(output_pose.header.frame_id.empty()) {
+  if (output_pose.header.frame_id.empty()) {
     output_pose.header.frame_id = input_path.header.frame_id;
   }
 
diff --git a/nav2_behavior_tree/plugins/decorator/speed_controller.cpp b/nav2_behavior_tree/plugins/decorator/speed_controller.cpp
@@ -43,7 +43,7 @@ SpeedController::SpeedController(
 
   if (min_rate_ <= 0.0 || max_rate_ <= 0.0) {
     std::string err_msg = "SpeedController node cannot have rate <= 0.0";
-    RCLCPP_FATAL(node_->get_logger(), "%s" ,err_msg.c_str());
+    RCLCPP_FATAL(node_->get_logger(), "%s", err_msg.c_str());
     throw BT::BehaviorTreeException(err_msg);
   }
 
diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -248,7 +248,8 @@ class DriveOnHeading : public TimedBehavior<ActionT>
     node->get_parameter(this->behavior_name_ + ".deceleration_limit", deceleration_limit_);
     node->get_parameter(this->behavior_name_ + ".minimum_speed", minimum_speed_);
     if (acceleration_limit_ < 0.0 || deceleration_limit_ > 0.0) {
-      RCLCPP_ERROR(this->logger_,
+      RCLCPP_ERROR(
+        this->logger_,
         "DriveOnHeading: acceleration_limit and deceleration_limit must be "
         "positive and negative respectively");
       acceleration_limit_ = std::abs(acceleration_limit_);
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
@@ -25,7 +25,7 @@
 from launch_ros.actions import Node
 from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ParameterFile
-from nav2_common.launch import RewrittenYaml, ReplaceString
+from nav2_common.launch import ReplaceString, RewrittenYaml
 
 
 def generate_launch_description():
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -14,13 +14,15 @@
 
 
 import os
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import (DeclareLaunchArgument, ExecuteProcess, GroupAction,
                             IncludeLaunchDescription, LogInfo)
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
+
 from nav2_common.launch import ParseMultiRobotPose
 
 
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/polygon.hpp
@@ -86,10 +86,10 @@ class Polygon
    * @return Action type for current polygon
    */
   ActionType getActionType() const;
-   /**
-   * @brief Obtains polygon enabled state
-   * @return Whether polygon is enabled
-   */
+  /**
+  * @brief Obtains polygon enabled state
+  * @return Whether polygon is enabled
+  */
   bool getEnabled() const;
   /**
    * @brief Obtains polygon maximum points to enter inside polygon causing no action
@@ -184,7 +184,7 @@ class Polygon
   rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
   /// @brief Dynamic parameters handler
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr dyn_params_handler_;
-  
+
   // Basic parameters
   /// @brief Name of polygon
   std::string polygon_name_;
diff --git a/nav2_collision_monitor/src/polygon.cpp b/nav2_collision_monitor/src/polygon.cpp
@@ -86,7 +86,7 @@ bool Polygon::configure()
   // Add callback for dynamic parameters
   dyn_params_handler_ = node->add_on_set_parameters_callback(
     std::bind(&Polygon::dynamicParametersCallback, this, std::placeholders::_1));
-  
+
   return true;
 }
 
@@ -257,7 +257,7 @@ bool Polygon::getCommonParameters(std::string & polygon_pub_topic)
     nav2_util::declare_parameter_if_not_declared(
       node, polygon_name_ + ".enabled", rclcpp::ParameterValue(true));
     enabled_ = node->get_parameter(polygon_name_ + ".enabled").as_bool();
-    
+
     nav2_util::declare_parameter_if_not_declared(
       node, polygon_name_ + ".max_points", rclcpp::ParameterValue(3));
     max_points_ = node->get_parameter(polygon_name_ + ".max_points").as_int();
diff --git a/nav2_collision_monitor/test/collision_monitor_node_test.cpp b/nav2_collision_monitor/test/collision_monitor_node_test.cpp
@@ -182,11 +182,11 @@ class Tester : public ::testing::Test
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_out_sub_;
 
   geometry_msgs::msg::Twist::SharedPtr cmd_vel_out_;
-  
+
   // CollisionMonitor Action state
   rclcpp::Subscription<nav2_msgs::msg::CollisionMonitorState>::SharedPtr action_state_sub_;
   nav2_msgs::msg::CollisionMonitorState::SharedPtr action_state_;
-  
+
   // Service client for setting CollisionMonitor parameters
   rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr parameters_client_;
 };  // Tester
@@ -210,7 +210,7 @@ Tester::Tester()
   cmd_vel_out_sub_ = cm_->create_subscription<geometry_msgs::msg::Twist>(
     CMD_VEL_OUT_TOPIC, rclcpp::SystemDefaultsQoS(),
     std::bind(&Tester::cmdVelOutCallback, this, std::placeholders::_1));
-  
+
   action_state_sub_ = cm_->create_subscription<nav2_msgs::msg::CollisionMonitorState>(
     STATE_TOPIC, rclcpp::SystemDefaultsQoS(),
     std::bind(&Tester::actionStateCallback, this, std::placeholders::_1));
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/denoise/image_processing.hpp
@@ -987,8 +987,9 @@ class GroupsRemover
   {
     // Creates an image labels in which each obstacles group is labeled with a unique code
     Label groups_count;
-    auto labels = connectedComponents<connectivity>(image, buffer, label_trees,
-        is_background, groups_count);
+    auto labels = connectedComponents<connectivity>(
+      image, buffer, label_trees,
+      is_background, groups_count);
 
     // Calculates the size of each group.
     // Group size is equal to the number of pixels with the same label
diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -71,7 +71,7 @@ Costmap2DROS::Costmap2DROS(const rclcpp::NodeOptions & options)
     "nav2_costmap_2d::InflationLayer"}
 {
   is_lifecycle_follower_ = false;
-  
+
   RCLCPP_INFO(get_logger(), "Creating Costmap");
 
   declare_parameter("always_send_full_costmap", rclcpp::ParameterValue(false));
diff --git a/nav2_costmap_2d/test/unit/denoise_layer_test.cpp b/nav2_costmap_2d/test/unit/denoise_layer_test.cpp
@@ -408,9 +408,9 @@ TEST_F(DenoiseLayerTester, denoiseNothing) {
 TEST_F(DenoiseLayerTester, constructorAndDestructor) {
   ASSERT_NO_THROW(
     // []()
-    {
-      nav2_costmap_2d::DenoiseLayer layer;
-    });
+  {
+    nav2_costmap_2d::DenoiseLayer layer;
+  });
 }
 
 TEST_F(DenoiseLayerTester, reset) {
diff --git a/nav2_costmap_2d/test/unit/image_processing_test.cpp b/nav2_costmap_2d/test/unit/image_processing_test.cpp
@@ -230,8 +230,9 @@ TEST_F(ConnectedComponentsTester, way4LabelsOverflowTest) {
   uint8_t total_labels;
 
   ASSERT_THROW(
-    (connectedComponents<ConnectivityType::Way4>(input, buffer_, label_trees_,
-        isBackground, total_labels)),
+    (connectedComponents<ConnectivityType::Way4>(
+      input, buffer_, label_trees_,
+      isBackground, total_labels)),
     LabelOverflow);
 }
 
@@ -364,8 +365,9 @@ bool ConnectedComponentsTester::fingerTest()
     "a.b.c", image_buffer_bytes2_, makeLabelsMap('c'));
   uint8_t total_labels;
 
-  const auto result = connectedComponents<connectivity>(input, buffer_,
-      label_trees_, isBackground, total_labels);
+  const auto result = connectedComponents<connectivity>(
+    input, buffer_,
+    label_trees_, isBackground, total_labels);
 
   return total_labels == 4 && isEqualLabels(result, expected_labels);
 }
@@ -399,8 +401,9 @@ bool ConnectedComponentsTester::spiralTest()
     ".xxxxxx", image_buffer_bytes2_);
   uint8_t total_labels;
 
-  const auto result = connectedComponents<connectivity>(input, buffer_,
-      label_trees_, isBackground, total_labels);
+  const auto result = connectedComponents<connectivity>(
+    input, buffer_,
+    label_trees_, isBackground, total_labels);
   return total_labels == 2 && isEqualLabels(result, expected_labels);
 }
 
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp
@@ -46,12 +46,12 @@ class CriticManager
     * @brief Constructor for mppi::CriticManager
     */
   CriticManager() = default;
-  
+
   /**
     * @brief Virtual Destructor for mppi::CriticManager
     */
   virtual ~CriticManager() = default;
-  
+
   /**
     * @brief Configure critic manager on bringup and load plugins
     * @param parent WeakPtr to node
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
@@ -16,6 +16,7 @@
 #define NAV2_MPPI_CONTROLLER__MOTION_MODELS_HPP_
 
 #include <cstdint>
+#include <string>
 
 #include "nav2_mppi_controller/models/control_sequence.hpp"
 #include "nav2_mppi_controller/models/state.hpp"
diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -123,7 +123,7 @@ void RotationShimController::activate()
     std::bind(
       &RotationShimController::dynamicParametersCallback,
       this, std::placeholders::_1));
-    position_goal_checker_->reset();
+  position_goal_checker_->reset();
 }
 
 void RotationShimController::deactivate()
diff --git a/nav2_smac_planner/src/a_star.cpp b/nav2_smac_planner/src/a_star.cpp
@@ -68,7 +68,7 @@ void AStarAlgorithm<NodeT>::initialize(
   _max_iterations = max_iterations;
   _max_on_approach_iterations = max_on_approach_iterations;
   _max_planning_time = max_planning_time;
-  if(!_is_initialized) {
+  if (!_is_initialized) {
     NodeT::precomputeDistanceHeuristic(lookup_table_size, _motion_model, dim_3_size, _search_info);
   }
   _is_initialized = true;
diff --git a/nav2_util/include/nav2_util/robot_utils.hpp b/nav2_util/include/nav2_util/robot_utils.hpp
@@ -18,6 +18,7 @@
 #define NAV2_UTIL__ROBOT_UTILS_HPP_
 
 #include <string>
+#include <memory>
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/twist.hpp"

Original file line number	Diff line number	Diff line change
`@@ -46,12 +46,12 @@ inline BT::NodeStatus GetPoseFromPath::tick()`
`46`	`46`	`}`
`47`	`47`
`48`	`48`	`// Account for negative indices`
`49`		`- if(pose_index < 0) {`
	`49`	`+ if (pose_index < 0) {`
`50`	`50`	`pose_index = input_path.poses.size() + pose_index;`
`51`	`51`	`}`
`52`	`52`
`53`	`53`	`// out of bounds index`
`54`		`- if(pose_index < 0 \|\| static_cast<unsigned>(pose_index) >= input_path.poses.size()) {`
	`54`	`+ if (pose_index < 0 \|\| static_cast<unsigned>(pose_index) >= input_path.poses.size()) {`
`55`	`55`	`return BT::NodeStatus::FAILURE;`
`56`	`56`	`}`
`57`	`57`
`@@ -60,7 +60,7 @@ inline BT::NodeStatus GetPoseFromPath::tick()`
`60`	`60`	`output_pose = input_path.poses[pose_index];`
`61`	`61`
`62`	`62`	`// populate pose frame from path if necessary`
`63`		`- if(output_pose.header.frame_id.empty()) {`
	`63`	`+ if (output_pose.header.frame_id.empty()) {`
`64`	`64`	`output_pose.header.frame_id = input_path.header.frame_id;`
`65`	`65`	`}`
`66`	`66`
Original file line number	Diff line number	Diff line change
`@@ -43,7 +43,7 @@ SpeedController::SpeedController(`
`43`	`43`
`44`	`44`	`if (min_rate_ <= 0.0 \|\| max_rate_ <= 0.0) {`
`45`	`45`	`std::string err_msg = "SpeedController node cannot have rate <= 0.0";`
`46`		`- RCLCPP_FATAL(node_->get_logger(), "%s" ,err_msg.c_str());`
	`46`	`+ RCLCPP_FATAL(node_->get_logger(), "%s", err_msg.c_str());`
`47`	`47`	`throw BT::BehaviorTreeException(err_msg);`
`48`	`48`	`}`
`49`	`49`