linter reformatting

uwrobotics · Jan 21, 2023 · 3778e61 · 3778e61
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commit 3778e61
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Showing 5 changed files with 47 additions and 102 deletions.
diff --git a/...mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_client.hpp b/...mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_client.hpp
@@ -1,50 +1,22 @@
-// #include <rclcpp/rclcpp.hpp>
-// #include <uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp>
-// #include <uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp>
-
-// #include "example_interfaces/srv/add_two_ints.hpp"
-
-// namespace uwrt_motion_planning {
-
-// class MotionPlanClient : public rclcpp::Node {
-// public:
-//     UWRT_MOTION_PLANNING_PUBLIC
-//     explicit MotionPlanClient(const rclcpp::NodeOptions& options);
-// private:
-//     // rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr client;
-//     rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client;
-//     rclcpp::TimerBase::SharedPtr timer;
-
-//     void on_timer();
-
-// };
-// }
-
-// #endif
-
 #ifndef MOTION_PLAN_CLIENT_H
 #define MOTION_PLAN_CLIENT_H
 
+#include "rclcpp/rclcpp.hpp"
 #include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
 #include "uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp"
-#include "example_interfaces/srv/add_two_ints.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-namespace uwrt_motion_planning
-{
 
-class MotionPlanClient : public rclcpp::Node
-{
-public:
-  explicit MotionPlanClient(const rclcpp::NodeOptions & options);
+namespace uwrt_motion_planning {
+class MotionPlanClient : public rclcpp::Node {
+ public:
+  explicit MotionPlanClient(const rclcpp::NodeOptions& options);
 
-protected:
+ protected:
   void execute();
 
-private:
+ private:
   rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr client_;
 };
 
-}
+}  // namespace uwrt_motion_planning
 
 #endif
diff --git a/...mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_server.hpp b/...mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_server.hpp
@@ -1,31 +1,28 @@
 #ifndef MOTION_PLAN_SERVER_H
 #define MOTION_PLAN_SERVER_H
 
-#include "uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp"
-#include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
-#include "rclcpp/rclcpp.hpp"
-
+#include <moveit/move_group_interface/move_group_interface.h>
 #include <moveit/robot_model/robot_model.h>
 #include <moveit/robot_model_loader/robot_model_loader.h>
 #include <moveit/robot_state/robot_state.h>
-#include <moveit/move_group_interface/move_group_interface.h>
 
-namespace uwrt_motion_planning
-{
+#include "rclcpp/rclcpp.hpp"
+#include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
+#include "uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp"
 
-class MotionPlanServer : public rclcpp::Node
-{
-public:
-    UWRT_MOTION_PLANNING_PUBLIC
-    explicit MotionPlanServer(const rclcpp::NodeOptions & options);
+namespace uwrt_motion_planning {
 
-private:
-    rclcpp::Service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr srv_;
-    void solve_ik(const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
-            std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response);
+class MotionPlanServer : public rclcpp::Node {
+ public:
+  UWRT_MOTION_PLANNING_PUBLIC
+  explicit MotionPlanServer(const rclcpp::NodeOptions& options);
+
+ private:
+  rclcpp::Service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr srv_;
+  void solve_ik(const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
+                std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response);
 };
 
-}
+}  // namespace uwrt_motion_planning
 
 #endif
-
diff --git a/...wrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_client.cpp b/...wrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_client.cpp
@@ -4,29 +4,23 @@
 #include <iostream>
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/pose.hpp"
+#include "rclcpp/rclcpp.hpp"
 
 using namespace std::chrono_literals;
 
-namespace uwrt_motion_planning
-{
+namespace uwrt_motion_planning {
 
-MotionPlanClient::MotionPlanClient(const rclcpp::NodeOptions & options)
-: Node("Client", options)
-{
+MotionPlanClient::MotionPlanClient(const rclcpp::NodeOptions& options) : Node("Client", options) {
   client_ = create_client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>("motion_plan");
 
   execute();
 }
 
-void MotionPlanClient::execute()
-{
+void MotionPlanClient::execute() {
   if (!client_->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
-      RCLCPP_ERROR(
-        this->get_logger(),
-        "Interrupted while waiting for the service. Exiting.");
+      RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
       return;
     }
     RCLCPP_INFO(this->get_logger(), "Service not available after waiting");
@@ -42,15 +36,14 @@ void MotionPlanClient::execute()
   auto request = std::make_shared<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request>();
   request->pose = target;
 
-  using ServiceResponseFuture =
-    rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedFuture;
+  using ServiceResponseFuture = rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedFuture;
   auto response_received_callback = [this](ServiceResponseFuture future) {
-      RCLCPP_INFO(this->get_logger(), "Got result: [%d]", future.get()->success);
-    };
+    RCLCPP_INFO(this->get_logger(), "Got result: [%d]", future.get()->success);
+  };
   auto future_result = client_->async_send_request(request, response_received_callback);
 }
 
-}
+}  // namespace uwrt_motion_planning
 
 #include "rclcpp_components/register_node_macro.hpp"
 

diff --git a/...wrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_server.cpp b/...wrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_server.cpp
@@ -6,42 +6,36 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-namespace uwrt_motion_planning
-{
-
-MotionPlanServer::MotionPlanServer(const rclcpp::NodeOptions & options)
-: Node("Server", options)
-{
-  srv_ = create_service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>("motion_plan", 
-    std::bind(&MotionPlanServer::solve_ik, this, std::placeholders::_1, std::placeholders::_2));
+namespace uwrt_motion_planning {
+
+MotionPlanServer::MotionPlanServer(const rclcpp::NodeOptions& options) : Node("Server", options) {
+  srv_ = create_service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>(
+      "motion_plan", std::bind(&MotionPlanServer::solve_ik, this, std::placeholders::_1, std::placeholders::_2));
 }
 
-void MotionPlanServer::solve_ik(const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
-            std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response)
-{
+void MotionPlanServer::solve_ik(
+    const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
+    std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response) {
   RCLCPP_INFO(this->get_logger(), "Incoming request");
-  std::flush(std::cout);
 
-  //set move_group that we are planning for
+  // set move_group that we are planning for
   static const std::string PLANNING_GROUP = "uwrt_arm";
   moveit::planning_interface::MoveGroupInterface move_group(this->shared_from_this(), PLANNING_GROUP);
-    
+
   move_group.setPoseTarget(request->pose);
 
   moveit::planning_interface::MoveGroupInterface::Plan my_plan;
 
-  //try planning to point and record success/failure
+  // try planning to point and record success/failure
   bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
   RCLCPP_INFO(this->get_logger(), "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");
 
-  //move to position if planning is successful
+  // move to position if planning is successful
   response->success = success;
-  if (success)
-    move_group.move();
-
+  if (success) move_group.move();
 }
 
-}  // namespace composition
+}  // namespace uwrt_motion_planning
 
 #include "rclcpp_components/register_node_macro.hpp"
 RCLCPP_COMPONENTS_REGISTER_NODE(uwrt_motion_planning::MotionPlanServer)
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/compile_commands.json b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/compile_commands.json
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/compile_commands.json b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/compile_commands.json
@@ -0,0 +1 @@
+/home/meshva/uwrt/build/uwrt_mars_rover_arm_hw/compile_commands.json
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		/home/meshva/uwrt/build/uwrt_mars_rover_arm_hw/compile_commands.json