Revert "linter reformatting"

This reverts commit 3778e61.

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_client.hpp

@@ -1,9 +1,10 @@
 #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 {
@@ -16,6 +17,6 @@ class MotionPlanClient : public rclcpp::Node {
   void execute();
 };
 
-}  // namespace uwrt_motion_planning
+}
 
 #endif

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_server.hpp

@@ -1,10 +1,10 @@
 #ifndef MOTION_PLAN_SERVER_H
 #define MOTION_PLAN_SERVER_H
 
-#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>
 
 #include "rclcpp/rclcpp.hpp"
 #include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
@@ -16,12 +16,13 @@ class MotionPlanServer : public rclcpp::Node {
   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);
+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
+

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_client.cpp

@@ -4,8 +4,8 @@
 #include <iostream>
 #include <memory>
 
-#include "geometry_msgs/msg/pose.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/pose.hpp"
 
 using namespace std::chrono_literals;
 
@@ -16,10 +16,13 @@ MotionPlanClient::MotionPlanClient(const rclcpp::NodeOptions& options) : Node("C
   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");
@@ -35,14 +38,15 @@ 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"
 

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_server.cpp

@@ -12,29 +12,32 @@ MotionPlanServer::MotionPlanServer(const rclcpp::NodeOptions& options) : Node("S
       "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 uwrt_motion_planning
+}  // namespace composition
 
 #include "rclcpp_components/register_node_macro.hpp"
 RCLCPP_COMPONENTS_REGISTER_NODE(uwrt_motion_planning::MotionPlanServer)

uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/compile_commands.json

@@ -0,0 +1,12 @@
+[
+{
+  "directory": "/home/keyon/excode/uwrt_rover/build/uwrt_mars_rover_arm_hw",
+  "command": "/usr/bin/c++  -DDEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -DRCUTILS_ENABLE_FAULT_INJECTION -DUWRT_MARS_ROVER_ARM_HW_DLL -Duwrt_mars_rover_arm_hw_EXPORTS -I/home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/include -isystem /opt/ros/galactic/include  -fPIC   -Wall -Wextra -Wpedantic -Wshadow -Werror -std=gnu++17 -o CMakeFiles/uwrt_mars_rover_arm_hw.dir/src/uwrt_mars_rover_arm_hw_actuator.cpp.o -c /home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/src/uwrt_mars_rover_arm_hw_actuator.cpp",
+  "file": "/home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/src/uwrt_mars_rover_arm_hw_actuator.cpp"
+},
+{
+  "directory": "/home/keyon/excode/uwrt_rover/build/uwrt_mars_rover_arm_hw",
+  "command": "/usr/bin/c++  -DDEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -DRCUTILS_ENABLE_FAULT_INJECTION -DUWRT_MARS_ROVER_ARM_HW_DLL -Duwrt_mars_rover_arm_hw_EXPORTS -I/home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/include -isystem /opt/ros/galactic/include  -fPIC   -Wall -Wextra -Wpedantic -Wshadow -Werror -std=gnu++17 -o CMakeFiles/uwrt_mars_rover_arm_hw.dir/src/uwrt_mars_rover_arm_hw_differential.cpp.o -c /home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/src/uwrt_mars_rover_arm_hw_differential.cpp",
+  "file": "/home/keyon/excode/uwrt_rover/src/uwrt_mars_rover/uwrt_mars_rover_arm/uwrt_mars_rover_arm_hw/src/uwrt_mars_rover_arm_hw_differential.cpp"
+}
+]