ROS2 Styling / Linting (SteveMacenski#176)

* linting python

* cmake lint

* linting cpplint

* linting cpplint part 2

* uncrustify part 2

* adding specific linting packages relevent here

CMake/FindCSparse.cmake

@@ -10,15 +10,15 @@ FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h
   /opt/local/include/ufsparse
   /usr/local/include/ufsparse
   /sw/include/ufsparse
-  )
+)
 
 FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse
   PATHS
   /usr/lib
   /usr/local/lib
   /opt/local/lib
   /sw/lib
-  )
+)
 
 include(FindPackageHandleStandardArgs)
 find_package_handle_standard_args(CSPARSE DEFAULT_MSG

CMakeLists.txt

@@ -53,7 +53,7 @@ set(dependencies
   #interactive_markers
 )
 
-set(libraries 
+set(libraries
     lifelong_slam_toolbox
     localization_slam_toolbox
     sync_slam_toolbox
@@ -75,7 +75,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 add_definitions(-DQT_NO_KEYWORDS)
 find_package(Boost REQUIRED system serialization filesystem thread)
 
-include_directories(include ${EIGEN3_INCLUDE_DIRS} 
+include_directories(include ${EIGEN3_INCLUDE_DIRS}
                             ${CHOLMOD_INCLUDE_DIR}
                             ${Boost_INCLUDE_DIR}
                             ${BOOST_INCLUDE_DIRS}
@@ -144,22 +144,22 @@ rosidl_target_interfaces(toolbox_common ${PROJECT_NAME} "rosidl_typesupport_cpp"
 #### Mapping executibles
 add_library(async_slam_toolbox src/slam_toolbox_async.cpp)
 target_link_libraries(async_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
-add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp )
+add_executable(async_slam_toolbox_node src/slam_toolbox_async_node.cpp)
 target_link_libraries(async_slam_toolbox_node async_slam_toolbox)
 
 add_library(sync_slam_toolbox src/slam_toolbox_sync.cpp)
 target_link_libraries(sync_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
-add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp )
+add_executable(sync_slam_toolbox_node src/slam_toolbox_sync_node.cpp)
 target_link_libraries(sync_slam_toolbox_node sync_slam_toolbox)
 
 add_library(localization_slam_toolbox src/slam_toolbox_localization.cpp)
 target_link_libraries(localization_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
-add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp )
+add_executable(localization_slam_toolbox_node src/slam_toolbox_localization_node.cpp)
 target_link_libraries(localization_slam_toolbox_node localization_slam_toolbox)
 
 add_library(lifelong_slam_toolbox src/experimental/slam_toolbox_lifelong.cpp)
 target_link_libraries(lifelong_slam_toolbox toolbox_common kartoSlamToolbox ${Boost_LIBRARIES})
-add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp )
+add_executable(lifelong_slam_toolbox_node src/experimental/slam_toolbox_lifelong_node.cpp)
 target_link_libraries(lifelong_slam_toolbox_node lifelong_slam_toolbox)
 
 #### Merging maps tool
@@ -169,6 +169,8 @@ target_link_libraries(merge_maps_kinematic kartoSlamToolbox toolbox_common)
 #### testing
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
   include_directories(test)
   ament_add_gtest(lifelong_metrics_test test/lifelong_metrics_test.cpp)
   target_link_libraries(lifelong_metrics_test lifelong_slam_toolbox)
@@ -190,11 +192,11 @@ install(DIRECTORY include/
   DESTINATION include
 )
 
-install(DIRECTORY launch 
+install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(DIRECTORY config 
+install(DIRECTORY config
   DESTINATION share/${PROJECT_NAME}
 )
 

include/slam_toolbox/experimental/slam_toolbox_lifelong.hpp

@@ -16,9 +16,10 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_SLAM_TOOLBOX_LIFELONG_H_
-#define SLAM_TOOLBOX_SLAM_TOOLBOX_LIFELONG_H_
+#ifndef SLAM_TOOLBOX__EXPERIMENTAL__SLAM_TOOLBOX_LIFELONG_HPP_
+#define SLAM_TOOLBOX__EXPERIMENTAL__SLAM_TOOLBOX_LIFELONG_HPP_
 
+#include <memory>
 #include "slam_toolbox/slam_toolbox_common.hpp"
 
 namespace slam_toolbox
@@ -27,7 +28,7 @@ namespace slam_toolbox
 class LifelongSlamToolbox : public SlamToolbox
 {
 public:
-  LifelongSlamToolbox(rclcpp::NodeOptions options);
+  explicit LifelongSlamToolbox(rclcpp::NodeOptions options);
   ~LifelongSlamToolbox() {}
 
   // computation metrics
@@ -48,12 +49,12 @@ class LifelongSlamToolbox : public SlamToolbox
     double & x_u, double & y_l, double & y_u);
 
 protected:
-  virtual void laserCallback(
-    sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override final;
-  virtual bool deserializePoseGraphCallback(
+  void laserCallback(
+    sensor_msgs::msg::LaserScan::ConstSharedPtr scan) override;
+  bool deserializePoseGraphCallback(
     const std::shared_ptr<rmw_request_id_t> request_header,
     const std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Request> req,
-    std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override final;
+    std::shared_ptr<slam_toolbox::srv::DeserializePoseGraph::Response> resp) override;
 
   void evaluateNodeDepreciation(LocalizedRangeScan * range_scan);
   void removeFromSlamGraph(Vertex<LocalizedRangeScan> * vertex);
@@ -75,6 +76,6 @@ class LifelongSlamToolbox : public SlamToolbox
   double nearby_penalty_;
 };
 
-}
+}  // namespace slam_toolbox
 
-#endif //SLAM_TOOLBOX_SLAM_TOOLBOX_LIFELONG_H_
+#endif  // SLAM_TOOLBOX__EXPERIMENTAL__SLAM_TOOLBOX_LIFELONG_HPP_

include/slam_toolbox/get_pose_helper.hpp

@@ -16,9 +16,10 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_POSE_UTILS_H_
-#define SLAM_TOOLBOX_POSE_UTILS_H_
+#ifndef SLAM_TOOLBOX__GET_POSE_HELPER_HPP_
+#define SLAM_TOOLBOX__GET_POSE_HELPER_HPP_
 
+#include <string>
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
 #include "slam_toolbox/toolbox_types.hpp"
 #include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
@@ -63,6 +64,6 @@ class GetPoseHelper
   std::string base_frame_, odom_frame_;
 };
 
-} // end namespace
+}  // namespace pose_utils
 
-#endif //SLAM_TOOLBOX_POSE_UTILS_H_
+#endif  // SLAM_TOOLBOX__GET_POSE_HELPER_HPP_

include/slam_toolbox/laser_utils.hpp

@@ -16,10 +16,13 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_LASER_UTILS_H_
-#define SLAM_TOOLBOX_LASER_UTILS_H_
+#ifndef SLAM_TOOLBOX__LASER_UTILS_HPP_
+#define SLAM_TOOLBOX__LASER_UTILS_HPP_
 
 #include <string>
+#include <memory>
+#include <map>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "slam_toolbox/toolbox_types.hpp"
@@ -93,7 +96,7 @@ class LaserAssistant
 class ScanHolder
 {
 public:
-  ScanHolder(std::map<std::string, laser_utils::LaserMetadata> & lasers);
+  explicit ScanHolder(std::map<std::string, laser_utils::LaserMetadata> & lasers);
   ~ScanHolder();
   sensor_msgs::msg::LaserScan getCorrectedScan(const int & id);
   void addScan(const sensor_msgs::msg::LaserScan scan);
@@ -103,6 +106,6 @@ class ScanHolder
   std::map<std::string, laser_utils::LaserMetadata> & lasers_;
 };
 
-} // end namespace
+}  // namespace laser_utils
 
-#endif //SLAM_TOOLBOX_LASER_UTILS_H_
+#endif  // SLAM_TOOLBOX__LASER_UTILS_HPP_

include/slam_toolbox/loop_closure_assistant.hpp

@@ -16,18 +16,20 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_LOOP_CLOSURE_ASSISTANT_H_
-#define SLAM_TOOLBOX_LOOP_CLOSURE_ASSISTANT_H_
+#ifndef SLAM_TOOLBOX__LOOP_CLOSURE_ASSISTANT_HPP_
+#define SLAM_TOOLBOX__LOOP_CLOSURE_ASSISTANT_HPP_
 
-#include <functional>
 #include <boost/thread.hpp>
+#include <string>
+#include <functional>
+#include <memory>
 #include <map>
 
+#include "tf2_ros/transform_broadcaster.h"
+#include "tf2/utils.h"
 #include "rclcpp/rclcpp.hpp"
 // #include "interactive_markers/interactive_marker_server.h"
 // #include "interactive_markers/menu_handler.h"
-#include "tf2_ros/transform_broadcaster.h"
-#include "tf2/utils.h"
 
 #include "slam_toolbox/toolbox_types.hpp"
 #include "slam_toolbox/laser_utils.hpp"
@@ -38,7 +40,7 @@ namespace loop_closure_assistant
 
 // TODO(stevemacenski): Need interactive markers ported to ROS2
 
-using namespace ::toolbox_types;
+using namespace ::toolbox_types;  // NOLINT
 
 class LoopClosureAssistant
 {
@@ -49,13 +51,18 @@ class LoopClosureAssistant
     ProcessType & processor_type);
 
   // void clearMovedNodes();
-  // void processInteractiveFeedback(const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
+  // void processInteractiveFeedback(
+  //   const visualization_msgs::InteractiveMarkerFeedbackConstPtr& feedback);
   void publishGraph();
 
 private:
-  // bool manualLoopClosureCallback(slam_toolbox::LoopClosure::Request& req, slam_toolbox::LoopClosure::Response& resp);
-  // bool clearChangesCallback(slam_toolbox::Clear::Request& req, slam_toolbox::Clear::Response& resp);
-  // bool interactiveModeCallback(slam_toolbox::ToggleInteractive::Request  &req, slam_toolbox::ToggleInteractive::Response &resp);
+  // bool manualLoopClosureCallback(
+  //   slam_toolbox::LoopClosure::Request& req, slam_toolbox::LoopClosure::Response& resp);
+  // bool clearChangesCallback(
+  //   slam_toolbox::Clear::Request& req, slam_toolbox::Clear::Response& resp);
+  // bool interactiveModeCallback(
+  //   slam_toolbox::ToggleInteractive::Request  &req,
+  //   slam_toolbox::ToggleInteractive::Response &resp);
   // void moveNode(const int& id, const Eigen::Vector3d& pose);
   // void addMovedNodes(const int& id, Eigen::Vector3d vec);
 
@@ -77,6 +84,6 @@ class LoopClosureAssistant
   ProcessType & processor_type_;
 };
 
-}  // end namespace
+}   // namespace loop_closure_assistant
 
-#endif //SLAM_TOOLBOX_LOOP_CLOSURE_ASSISTANT_H_
+#endif  // SLAM_TOOLBOX__LOOP_CLOSURE_ASSISTANT_HPP_

include/slam_toolbox/map_saver.hpp

@@ -16,10 +16,11 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_MAP_SAVER_H_
-#define SLAM_TOOLBOX_MAP_SAVER_H_
+#ifndef SLAM_TOOLBOX__MAP_SAVER_HPP_
+#define SLAM_TOOLBOX__MAP_SAVER_HPP_
 
 #include <string>
+#include <memory>
 #include <chrono>
 #include "rclcpp/rclcpp.hpp"
 #include "slam_toolbox/toolbox_msgs.hpp"
@@ -47,6 +48,6 @@ class MapSaver
   bool received_map_;
 };
 
-} // end namespace
+}  // namespace map_saver
 
-#endif //SLAM_TOOLBOX_MAP_SAVER_H_
+#endif  // SLAM_TOOLBOX__MAP_SAVER_HPP_

include/slam_toolbox/merge_maps_kinematic.hpp

@@ -16,21 +16,21 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_
-#define SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_
+#ifndef SLAM_TOOLBOX__MERGE_MAPS_KINEMATIC_HPP_
+#define SLAM_TOOLBOX__MERGE_MAPS_KINEMATIC_HPP_
 
+#include <boost/thread.hpp>
+#include <sys/stat.h>
+#include <unistd.h>
 #include <string>
 #include <map>
 #include <memory>
 #include <vector>
-#include <sys/stat.h>
-#include <unistd.h>
 #include <fstream>
-#include <boost/thread.hpp>
 
 #include "rclcpp/rclcpp.hpp"
-//#include "interactive_markers/interactive_marker_server.h"
-//#include "interactive_markers/menu_handler.h"
+// #include "interactive_markers/interactive_marker_server.h"
+// #include "interactive_markers/menu_handler.h"
 #include "tf2_ros/transform_broadcaster.h"
 #include "tf2_ros/transform_listener.h"
 #include "tf2_ros/message_filter.h"
@@ -44,8 +44,8 @@
 #include "slam_toolbox/laser_utils.hpp"
 #include "slam_toolbox/visualization_utils.hpp"
 
-using namespace toolbox_types;
-using namespace karto;
+using namespace toolbox_types;  // NOLINT
+using namespace karto;  // NOLINT
 
 class MergeMapsKinematic : public rclcpp::Node
 {
@@ -75,7 +75,7 @@ class MergeMapsKinematic : public rclcpp::Node
     nav_msgs::srv::GetMap::Response & map);
   void transformScan(LocalizedRangeScansIt iter, tf2::Transform & submap_correction);
 
-  //apply transformation to correct pose
+  // apply transformation to correct pose
   karto::Pose2 applyCorrection(const karto::Pose2 & pose, const tf2::Transform & submap_correction);
   karto::Vector2<kt_double> applyCorrection(
     const karto::Vector2<kt_double> & pose,
@@ -87,7 +87,7 @@ class MergeMapsKinematic : public rclcpp::Node
   std::shared_ptr<rclcpp::Service<slam_toolbox::srv::MergeMaps>> ssMap_;
   std::shared_ptr<rclcpp::Service<slam_toolbox::srv::AddSubmap>> ssSubmap_;
 
-  //karto bookkeeping
+  // karto bookkeeping
   std::map<std::string, laser_utils::LaserMetadata> lasers_;
   std::vector<std::unique_ptr<karto::Dataset>> dataset_vec_;
 
@@ -105,4 +105,4 @@ class MergeMapsKinematic : public rclcpp::Node
   int num_submaps_;
 };
 
-#endif //SLAM_TOOLBOX_MERGE_MAPS_KINEMATIC_H_
+#endif  // SLAM_TOOLBOX__MERGE_MAPS_KINEMATIC_HPP_

include/slam_toolbox/serialization.hpp

@@ -16,12 +16,12 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_SERIALIZATION_H_
-#define SLAM_TOOLBOX_SERIALIZATION_H_
+#ifndef SLAM_TOOLBOX__SERIALIZATION_HPP_
+#define SLAM_TOOLBOX__SERIALIZATION_HPP_
 
+#include <sys/stat.h>
 #include <vector>
 #include <string>
-#include <sys/stat.h>
 #include "rclcpp/rclcpp.hpp"
 #include "../lib/karto_sdk/include/karto_sdk/Mapper.h"
 
@@ -75,6 +75,6 @@ inline bool read(
   return false;
 }
 
-} // end namespace
+}  // namespace serialization
 
-#endif //SLAM_TOOLBOX_SERIALIZATION_H_
+#endif  // SLAM_TOOLBOX__SERIALIZATION_HPP_

include/slam_toolbox/slam_mapper.hpp

@@ -16,17 +16,18 @@
 
 /* Author: Steven Macenski */
 
-#ifndef SLAM_TOOLBOX_SLAM_MAPPER_H_
-#define SLAM_TOOLBOX_SLAM_MAPPER_H_
+#ifndef SLAM_TOOLBOX__SLAM_MAPPER_HPP_
+#define SLAM_TOOLBOX__SLAM_MAPPER_HPP_
 
+#include <memory>
 #include "rclcpp/rclcpp.hpp"
 #include "tf2/utils.h"
 #include "slam_toolbox/toolbox_types.hpp"
 
 namespace mapper_utils
 {
 
-using namespace ::karto;
+using namespace ::karto;  // NOLINT
 
 class SMapper
 {
@@ -59,6 +60,6 @@ class SMapper
   std::unique_ptr<karto::Mapper> mapper_;
 };
 
-} // end namespace
+}  // namespace mapper_utils
 
-#endif //SLAM_TOOLBOX_SLAM_MAPPER_H_
+#endif   // SLAM_TOOLBOX__SLAM_MAPPER_HPP_