style(pre-commit): autofix

autowarefoundation · Jan 16, 2025 · 9ee70c6 · 9ee70c6
1 parent 2ed807f
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Showing 6 changed files with 46 additions and 46 deletions.
diff --git a/build_depends.repos b/build_depends.repos
@@ -6,4 +6,4 @@ repositories:
   autoware_internal_msgs:
     type: git
     url: https://github.com/autowarefoundation/autoware_internal_msgs.git
-    version: main
+    version: main
diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md
@@ -17,29 +17,29 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out
 
 | Name                           | Type                                                    | Description                                                                                                                    |
 | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ |
-| `/map/map_projector_info`      | `autoware_map_msgs::msg::MapProjectorInfo`            | map projection info                                                                                                            |
+| `/map/map_projector_info`      | `autoware_map_msgs::msg::MapProjectorInfo`              | map projection info                                                                                                            |
 | `~/input/fix`                  | `sensor_msgs::msg::NavSatFix`                           | gnss status message                                                                                                            |
 | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) |
 
 ### Output
 
-| Name                     | Type                                            | Description                                                    |
-| ------------------------ | ----------------------------------------------- | -------------------------------------------------------------- |
-| `~/output/pose`          | `geometry_msgs::msg::PoseStamped`               | vehicle pose calculated from gnss sensing data                 |
-| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data |
-| `~/output/gnss_fixed`    | `autoware_internal_debug_msgs::msg::BoolStamped`   | gnss fix status                           |
+| Name                     | Type                                             | Description                                                    |
+| ------------------------ | ------------------------------------------------ | -------------------------------------------------------------- |
+| `~/output/pose`          | `geometry_msgs::msg::PoseStamped`                | vehicle pose calculated from gnss sensing data                 |
+| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped`  | vehicle pose with covariance calculated from gnss sensing data |
+| `~/output/gnss_fixed`    | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status                                                |
 
 ## Parameters
 
 Parameters in below table
 
-| Name                     | Type                   | Default                  | Description                                                    |
-| ------------------------ | -----------------------| ------------------------ | -------------------------------------------------------------- |
-| `base_frame`          | `string`   | `base_link` | frame id for base_frame                 |
-| `gnss_base_frame` | `string` | `gnss_base_link` |  frame id for gnss_base_frame |
-| `map_frame`    | `string`  | `map` | frame id for map_frame                           |
-| `use_gnss_ins_orientation`   | `boolean`  | `true` | use Gnss-Ins orientation                           |
-| `gnss_pose_pub_method` | `integer` | `0` | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2.         |
-| `buff_epoch`    | `integer`  | `1` | Buffer epoch. Range: 0~inf.                          |
+| Name                       | Type      | Default          | Description                                                                                                                        |
+| -------------------------- | --------- | ---------------- | ---------------------------------------------------------------------------------------------------------------------------------- |
+| `base_frame`               | `string`  | `base_link`      | frame id for base_frame                                                                                                            |
+| `gnss_base_frame`          | `string`  | `gnss_base_link` | frame id for gnss_base_frame                                                                                                       |
+| `map_frame`                | `string`  | `map`            | frame id for map_frame                                                                                                             |
+| `use_gnss_ins_orientation` | `boolean` | `true`           | use Gnss-Ins orientation                                                                                                           |
+| `gnss_pose_pub_method`     | `integer` | `0`              | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2. |
+| `buff_epoch`               | `integer` | `1`              | Buffer epoch. Range: 0~inf.                                                                                                        |
 
 All above parameters can be changed in config file [gnss_poser.param.yaml](./config/gnss_poser.param.yaml "Click here to open config file") .
diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp
@@ -14,14 +14,14 @@
 #ifndef AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 #define AUTOWARE__GNSS_POSER__GNSS_POSER_NODE_HPP_
 
-#include <autoware_map_msgs/msg/map_projector_info.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_map_msgs/msg/map_projector_info.hpp>
 #include <autoware_sensing_msgs/msg/gnss_ins_orientation_stamped.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
 #include <sensor_msgs/msg/nav_sat_fix.hpp>
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 
 #include <boost/circular_buffer.hpp>
 
@@ -46,7 +46,8 @@ class GNSSPoser : public rclcpp::Node
   explicit GNSSPoser(const rclcpp::NodeOptions & node_options);
 
 private:
-  void callback_map_projector_info(const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg);
+  void callback_map_projector_info(
+    const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg);
   void callback_nav_sat_fix(const sensor_msgs::msg::NavSatFix::ConstSharedPtr nav_sat_fix_msg_ptr);
   void callback_gnss_ins_orientation_stamped(
     const autoware_sensing_msgs::msg::GnssInsOrientationStamped::ConstSharedPtr msg);

diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml
@@ -20,8 +20,9 @@
 
   <build_depend>libboost-dev</build_depend>
 
-  <depend>autoware_map_msgs</depend>
   <depend>autoware_geography_utils</depend>
+  <depend>autoware_internal_debug_msgs</depend>
+  <depend>autoware_map_msgs</depend>
   <depend>autoware_sensing_msgs</depend>
   <depend>geographic_msgs</depend>
   <depend>geographiclib</depend>
@@ -32,7 +33,6 @@
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp
@@ -59,7 +59,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   pose_pub_ = create_publisher<geometry_msgs::msg::PoseStamped>("gnss_pose", rclcpp::QoS{1});
   pose_cov_pub_ = create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
     "gnss_pose_cov", rclcpp::QoS{1});
-  fixed_pub_ = create_publisher<autoware_internal_debug_msgs::msg::BoolStamped>("gnss_fixed", rclcpp::QoS{1});
+  fixed_pub_ =
+    create_publisher<autoware_internal_debug_msgs::msg::BoolStamped>("gnss_fixed", rclcpp::QoS{1});
 
   // Set msg_gnss_ins_orientation_stamped_ with temporary values (not to publish zero value
   // covariances)
@@ -68,7 +69,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options)
   msg_gnss_ins_orientation_stamped_->orientation.rmse_rotation_z = 1.0;
 }
 
-void GNSSPoser::callback_map_projector_info(const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg)
+void GNSSPoser::callback_map_projector_info(
+  const autoware_map_msgs::msg::MapProjectorInfo::ConstSharedPtr msg)
 {
   projector_info_ = *msg;
   received_map_projector_info_ = true;
@@ -117,8 +119,8 @@ void GNSSPoser::callback_nav_sat_fix(
   geometry_msgs::msg::Point position =
     autoware::geography_utils::project_forward(gps_point, projector_info_);
   position.z = autoware::geography_utils::convert_height(
-    position.z, gps_point.latitude, gps_point.longitude, autoware_map_msgs::msg::MapProjectorInfo::WGS84,
-    projector_info_.vertical_datum);
+    position.z, gps_point.latitude, gps_point.longitude,
+    autoware_map_msgs::msg::MapProjectorInfo::WGS84, projector_info_.vertical_datum);
 
   geometry_msgs::msg::Pose gnss_antenna_pose{};
 

diff --git a/sensing/autoware_gnss_poser/test/test_gnss_poser_node.cpp b/sensing/autoware_gnss_poser/test/test_gnss_poser_node.cpp
@@ -12,17 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <gtest/gtest.h>
+#include "autoware/gnss_poser/gnss_poser_node.hpp"
+
 #include <rclcpp/rclcpp.hpp>
-#include <memory>
-#include <vector>
-#include <chrono>
 
-#include "autoware/gnss_poser/gnss_poser_node.hpp"
-#include "sensor_msgs/msg/nav_sat_fix.hpp"
+#include "autoware_internal_debug_msgs/msg/bool_stamped.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
-#include "autoware_internal_debug_msgs/msg/bool_stamped.hpp"
+#include "sensor_msgs/msg/nav_sat_fix.hpp"
+
+#include <gtest/gtest.h>
+
+#include <chrono>
+#include <memory>
+#include <vector>
 
 using namespace autoware::gnss_poser;
 
@@ -44,8 +47,7 @@ class GNSSPoserTest : public ::testing::Test
 
     // Create subscribers to capture published messages
     pose_sub_ = gnss_poser_->create_subscription<geometry_msgs::msg::PoseStamped>(
-      "gnss_pose", rclcpp::QoS{1},
-      [this](const geometry_msgs::msg::PoseStamped::SharedPtr msg) {
+      "gnss_pose", rclcpp::QoS{1}, [this](const geometry_msgs::msg::PoseStamped::SharedPtr msg) {
         received_pose_ = *msg;
         pose_received_ = true;
       });
@@ -65,21 +67,15 @@ class GNSSPoserTest : public ::testing::Test
       });
 
     // Create publisher to simulate incoming messages
-    nav_sat_fix_pub_ = gnss_poser_->create_publisher<sensor_msgs::msg::NavSatFix>(
-      "fix", rclcpp::QoS{1});
+    nav_sat_fix_pub_ =
+      gnss_poser_->create_publisher<sensor_msgs::msg::NavSatFix>("fix", rclcpp::QoS{1});
 
     executor_.add_node(gnss_poser_);
   }
 
-  void TearDown() override
-  {
-    executor_.remove_node(gnss_poser_);
-  }
+  void TearDown() override { executor_.remove_node(gnss_poser_); }
 
-  void spin_some()
-  {
-    executor_.spin_some(std::chrono::milliseconds(100));
-  }
+  void spin_some() { executor_.spin_some(std::chrono::milliseconds(100)); }
 
   rclcpp::executors::SingleThreadedExecutor executor_;
   std::shared_ptr<GNSSPoser> gnss_poser_;
@@ -114,7 +110,8 @@ TEST_F(GNSSPoserTest, CallbackNavSatFixTest)
   nav_sat_fix_msg.latitude = 35.6895;
   nav_sat_fix_msg.longitude = 139.6917;
   nav_sat_fix_msg.altitude = 35.0;
-  nav_sat_fix_msg.position_covariance_type = sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
+  nav_sat_fix_msg.position_covariance_type =
+    sensor_msgs::msg::NavSatFix::COVARIANCE_TYPE_DIAGONAL_KNOWN;
 
   // Publish the message
   nav_sat_fix_pub_->publish(nav_sat_fix_msg);
@@ -139,11 +136,11 @@ TEST_F(GNSSPoserTest, CallbackNavSatFixTest)
   EXPECT_EQ(received_pose_cov_.header.stamp, nav_sat_fix_msg.header.stamp);
 }
 
-int main(int argc, char **argv)
+int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
   ::testing::InitGoogleTest(&argc, argv);
   int result = RUN_ALL_TESTS();
   rclcpp::shutdown();
   return result;
-}
+}