From 861d97731534f2a44f4a78d6d5f4501ab1dabe39 Mon Sep 17 00:00:00 2001
From: Nahuel Espinosa <nespinosa@ekumenlabs.com>
Date: Thu, 6 Jul 2023 18:46:18 -0300
Subject: [PATCH] Add cmake-lint to pre-commit hooks

Signed-off-by: Nahuel Espinosa <nespinosa@ekumenlabs.com>
---
 .cmake-format                           | 15 +++++
 .pre-commit-config.yaml                 |  8 ++-
 beluga/CMakeLists.txt                   | 73 ++++++++++++++--------
 beluga/docs/CMakeLists.txt              | 25 ++++++--
 beluga/test/CMakeLists.txt              | 41 +++++++++---
 beluga/test/beluga/CMakeLists.txt       | 20 +++++-
 beluga/test/benchmark/CMakeLists.txt    | 30 ++++++---
 beluga_amcl/CMakeLists.txt              | 25 +++++++-
 beluga_amcl/cmake/ament.cmake           | 45 ++++++++------
 beluga_amcl/cmake/catkin.cmake          | 83 +++++++++++++------------
 beluga_amcl/cmake/lib/nodelets.cmake    | 14 ++++-
 beluga_amcl/package.xml                 |  1 -
 beluga_amcl/test/CMakeLists.txt         | 14 +++++
 beluga_amcl/test/cmake/ament.cmake      | 16 ++---
 beluga_amcl/test/cmake/catkin.cmake     | 33 +++++++---
 beluga_benchmark/CMakeLists.txt         | 21 +++++--
 beluga_example/CMakeLists.txt           | 14 +++++
 beluga_example/cmake/ament.cmake        | 19 +++---
 beluga_example/cmake/catkin.cmake       | 15 +++--
 beluga_example/package.xml              |  1 -
 beluga_system_tests/CMakeLists.txt      | 25 +++++++-
 beluga_system_tests/test/CMakeLists.txt | 27 +++++---
 22 files changed, 403 insertions(+), 162 deletions(-)
 create mode 100644 .cmake-format

diff --git a/.cmake-format b/.cmake-format
new file mode 100644
index 000000000..4d470d93a
--- /dev/null
+++ b/.cmake-format
@@ -0,0 +1,15 @@
+# -----------------------------
+# Options affecting formatting.
+# -----------------------------
+with section("format"):
+    # Force vertical layout if an argument group contains more than this many sub-groups.
+    max_subgroups_hwrap = 2
+    # Force vertical layout if a positional argument group contains more than this many arguments.
+    max_pargs_hwrap = 3
+
+# ------------------------------------------------
+# Options affecting comment reflow and formatting.
+# ------------------------------------------------
+with section("markup"):
+    # Disable comment markup parsing and reflow.
+    enable_markup = False
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fef3d3b26..2c8d34d78 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
         name: fix copyright
         description: Check that files have a copyright notice.
         entry: tools/check_copyright.py --fix
-        types_or: [c++, python]
+        types_or: [c++, python, cmake]
         language: python
         language_version: python3
 
@@ -44,3 +44,9 @@ repos:
       - id: black
         name: "fix python format"
         entry: black --skip-string-normalization
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-lint
+    - id: cmake-format
diff --git a/beluga/CMakeLists.txt b/beluga/CMakeLists.txt
index 9bb69f1ef..9949806e6 100644
--- a/beluga/CMakeLists.txt
+++ b/beluga/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.16)
 
 project(beluga VERSION 1.0)
@@ -6,12 +20,21 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+  set(CMAKE_BUILD_TYPE
+      "Release"
+      CACHE STRING "Build type" FORCE)
 endif()
 
 add_library(beluga_compile_options INTERFACE)
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  target_compile_options(beluga_compile_options INTERFACE -Wall -Wconversion -Werror -Wextra -Wpedantic -Wno-gnu-zero-variadic-macro-arguments)
+  target_compile_options(
+    beluga_compile_options
+    INTERFACE -Wall
+              -Wconversion
+              -Werror
+              -Wextra
+              -Wpedantic
+              -Wno-gnu-zero-variadic-macro-arguments)
 endif()
 
 find_package(Eigen3 REQUIRED NO_MODULE)
@@ -20,17 +43,24 @@ find_package(Sophus REQUIRED)
 find_package(TBB REQUIRED)
 
 add_library(${PROJECT_NAME} INTERFACE)
-target_include_directories(${PROJECT_NAME} INTERFACE
-  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-target_link_libraries(${PROJECT_NAME}
-  INTERFACE Eigen3::Eigen Sophus::Sophus TBB::tbb range-v3::range-v3)
+target_include_directories(
+  ${PROJECT_NAME}
+  INTERFACE "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+            "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(
+  ${PROJECT_NAME}
+  INTERFACE Eigen3::Eigen
+            Sophus::Sophus
+            TBB::tbb
+            range-v3::range-v3)
 target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
-target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG SOPHUS_USE_BASIC_LOGGING)
+target_compile_definitions(${PROJECT_NAME} INTERFACE EIGEN_NO_DEBUG
+                                                     SOPHUS_USE_BASIC_LOGGING)
 
 add_executable(clang_tidy_findable)
 target_sources(clang_tidy_findable PRIVATE src/clang_tidy_findable.cpp)
-target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME} beluga_compile_options)
+target_link_libraries(clang_tidy_findable PRIVATE ${PROJECT_NAME}
+                                                  beluga_compile_options)
 
 option(BUILD_TESTING "Build the testing tree." ON)
 if(BUILD_TESTING)
@@ -47,39 +77,30 @@ endif()
 
 set(INSTALL_CMAKEDIR ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/cmake)
 
-install(
-  DIRECTORY include/
-  DESTINATION include/${PROJECT_NAME}
-)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 install(
   TARGETS ${PROJECT_NAME}
   EXPORT ${PROJECT_NAME}Targets
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
+  RUNTIME DESTINATION bin)
 
 install(
   EXPORT ${PROJECT_NAME}Targets
   FILE ${PROJECT_NAME}Targets.cmake
   NAMESPACE ${PROJECT_NAME}::
-  DESTINATION ${INSTALL_CMAKEDIR}
-)
+  DESTINATION ${INSTALL_CMAKEDIR})
 
 include(CMakePackageConfigHelpers)
 configure_package_config_file(
   ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in
   "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-  INSTALL_DESTINATION ${INSTALL_CMAKEDIR}
-)
+  INSTALL_DESTINATION ${INSTALL_CMAKEDIR})
 write_basic_package_version_file(
   ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake
-  COMPATIBILITY SameMajorVersion )
+  COMPATIBILITY SameMajorVersion)
 
-install(
-  FILES
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-  DESTINATION ${INSTALL_CMAKEDIR}
-)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${INSTALL_CMAKEDIR})
diff --git a/beluga/docs/CMakeLists.txt b/beluga/docs/CMakeLists.txt
index 6c3bbc6fc..6dc73e026 100644
--- a/beluga/docs/CMakeLists.txt
+++ b/beluga/docs/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 find_package(Doxygen)
 
 if(DOXYGEN_FOUND)
@@ -6,14 +20,15 @@ if(DOXYGEN_FOUND)
   FetchContent_Declare(
     doxygen-awesome-css
     GIT_REPOSITORY https://github.com/jothepro/doxygen-awesome-css
-    GIT_TAG        v2.2.0
-    SOURCE_DIR     ${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome
-  )
+    GIT_TAG v2.2.0
+    SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome)
 
   FetchContent_MakeAvailable(doxygen-awesome-css)
 
-  add_custom_target(beluga_docs
-    ALL
+  # cmake-lint: disable=C0301
+  # Line too long
+  add_custom_target(
+    beluga_docs ALL
     COMMAND
       DOXYGEN_OUTPUT_DIRECTORY=${CMAKE_CURRENT_BINARY_DIR}
       DOXYGEN_HTML_STYLESHEET=${CMAKE_CURRENT_BINARY_DIR}/doxygen-awesome/doxygen-awesome.css
diff --git a/beluga/test/CMakeLists.txt b/beluga/test/CMakeLists.txt
index 69c31e422..95abc6119 100644
--- a/beluga/test/CMakeLists.txt
+++ b/beluga/test/CMakeLists.txt
@@ -1,25 +1,48 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 find_package(GTest MODULE)
 if(NOT TARGET GTest::gmock_main)
   include(FetchContent)
   FetchContent_Declare(
     googletest
-    URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-  )
-  # For Windows: Prevent overriding the parent project's compiler/linker settings
-  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    GIT_REPOSITORY https://github.com/google/googletest.git
+    GIT_TAG 03597a01ee50ed33e9dfd640b249b4be3799d395)
+  # For Windows: Prevent overriding the parent project's compiler/linker
+  # settings
+  set(GTEST_FORCE_SHARED_CRT
+      ON
+      CACHE BOOL "" FORCE)
   FetchContent_MakeAvailable(googletest)
 endif()
 
 find_package(benchmark REQUIRED)
 if(NOT TARGET benchmark::benchmark_main)
   include(FetchContent)
-  set(BENCHMARK_ENABLE_GTEST_TESTS OFF CACHE INTERNAL "")
+  # cmake-lint: disable=C0103
+  # Invalid INTERNAL variable name doesn't match `_[A-Z][0-9A-Z_]+`
+  set(BENCHMARK_ENABLE_GTEST_TESTS
+      OFF
+      CACHE INTERNAL "")
   FetchContent_Declare(
     benchmark
-    URL https://github.com/google/benchmark/archive/refs/tags/v1.7.1.zip
-  )
-  # For Windows: Prevent overriding the parent project's compiler/linker settings
-  set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+    URL https://github.com/google/benchmark/archive/refs/tags/v1.7.1.zip)
+  # For Windows: Prevent overriding the parent project's compiler/linker
+  # settings
+  set(GTEST_FORCE_SHARED_CRT
+      ON
+      CACHE BOOL "" FORCE)
   FetchContent_MakeAvailable(benchmark)
 endif()
 
diff --git a/beluga/test/beluga/CMakeLists.txt b/beluga/test/beluga/CMakeLists.txt
index f1d9d57e0..199d51a84 100644
--- a/beluga/test/beluga/CMakeLists.txt
+++ b/beluga/test/beluga/CMakeLists.txt
@@ -1,4 +1,19 @@
-add_executable(test_beluga
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+add_executable(
+  test_beluga
   algorithm/raycasting/test_bresenham.cpp
   algorithm/test_distance_map.cpp
   algorithm/test_estimation.cpp
@@ -23,7 +38,8 @@ add_executable(test_beluga
   test_storage.cpp
   type_traits/test_strongly_typed_numeric.cpp)
 
-target_link_libraries(test_beluga PRIVATE ${PROJECT_NAME} beluga_compile_options GTest::gmock_main)
+target_link_libraries(
+  test_beluga PRIVATE ${PROJECT_NAME} beluga_compile_options GTest::gmock_main)
 target_include_directories(test_beluga PRIVATE include)
 target_compile_options(test_beluga PRIVATE -Wno-sign-compare)
 
diff --git a/beluga/test/benchmark/CMakeLists.txt b/beluga/test/benchmark/CMakeLists.txt
index 9012bbc84..f59e94f60 100644
--- a/beluga/test/benchmark/CMakeLists.txt
+++ b/beluga/test/benchmark/CMakeLists.txt
@@ -1,7 +1,22 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 option(BELUGA_RUN_PERFORMANCE_TESTS
-  "Enable performance tests instead of unconditionally skipping them" OFF)
+       "Enable performance tests instead of unconditionally skipping them" OFF)
 
-add_executable(benchmark_beluga
+add_executable(
+  benchmark_beluga
   benchmark_likelihood_field_model.cpp
   benchmark_raycasting.cpp
   benchmark_sampling.cpp
@@ -9,15 +24,16 @@ add_executable(benchmark_beluga
   benchmark_tuple_vector.cpp
   benchmark_main.cpp)
 target_include_directories(benchmark_beluga PRIVATE ../beluga/include)
-target_link_libraries(benchmark_beluga
+target_link_libraries(
+  benchmark_beluga
   PUBLIC benchmark::benchmark
   PRIVATE ${PROJECT_NAME} beluga_compile_options)
 set(TEST_RESULTS_DIR "${CMAKE_BINARY_DIR}/test_results/${PROJECT_NAME}")
 file(MAKE_DIRECTORY ${TEST_RESULTS_DIR})
 
-set(benchmark_out "${TEST_RESULTS_DIR}/benchmark_beluga.google_benchmark.json")
+set(BENCHMARK_OUT "${TEST_RESULTS_DIR}/benchmark_beluga.google_benchmark.json")
 if(BELUGA_RUN_PERFORMANCE_TESTS)
-  add_test(
-    NAME benchmark_beluga
-    COMMAND benchmark_beluga "--benchmark_out_format=json" "--benchmark_out=${benchmark_out}")
+  add_test(NAME benchmark_beluga
+           COMMAND benchmark_beluga "--benchmark_out_format=json"
+                   "--benchmark_out=${BENCHMARK_OUT}")
 endif()
diff --git a/beluga_amcl/CMakeLists.txt b/beluga_amcl/CMakeLists.txt
index a18629254..e8ca90bb5 100644
--- a/beluga_amcl/CMakeLists.txt
+++ b/beluga_amcl/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.16)
 
 project(beluga_amcl)
@@ -6,11 +20,18 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
-  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+  set(CMAKE_BUILD_TYPE
+      "Release"
+      CACHE STRING "Build type" FORCE)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wconversion -Wextra -Werror -Wpedantic)
+  add_compile_options(
+    -Wall
+    -Wconversion
+    -Wextra
+    -Werror
+    -Wpedantic)
 endif()
 
 set(ROS_VERSION $ENV{ROS_VERSION})
diff --git a/beluga_amcl/cmake/ament.cmake b/beluga_amcl/cmake/ament.cmake
index 1bc16d9eb..744ec2f19 100644
--- a/beluga_amcl/cmake/ament.cmake
+++ b/beluga_amcl/cmake/ament.cmake
@@ -27,14 +27,15 @@ find_package(tf2_eigen REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 
 add_library(amcl_node_utils SHARED)
-target_sources(amcl_node_utils PRIVATE
-  src/amcl_node_utils.cpp
-  src/particle_filtering.cpp)
-target_include_directories(amcl_node_utils PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_sources(amcl_node_utils PRIVATE src/amcl_node_utils.cpp
+                                       src/particle_filtering.cpp)
+target_include_directories(
+  amcl_node_utils PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                         $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 target_link_libraries(amcl_node_utils PUBLIC beluga::beluga)
-ament_target_dependencies(amcl_node_utils PUBLIC
+ament_target_dependencies(
+  amcl_node_utils
+  PUBLIC
   geometry_msgs
   nav_msgs
   sensor_msgs
@@ -45,12 +46,13 @@ target_compile_definitions(amcl_node_utils PUBLIC BELUGA_AMCL_ROS_VERSION=2)
 target_compile_features(amcl_node_utils PUBLIC cxx_std_17)
 
 add_library(amcl_node_component SHARED)
-target_sources(amcl_node_component PRIVATE
-  src/amcl_node.cpp
-  src/amcl_node_utils.cpp)
+target_sources(amcl_node_component PRIVATE src/amcl_node.cpp
+                                           src/amcl_node_utils.cpp)
 target_compile_features(amcl_node_component PUBLIC cxx_std_17)
 target_link_libraries(amcl_node_component PUBLIC beluga::beluga amcl_node_utils)
-ament_target_dependencies(amcl_node_component PUBLIC
+ament_target_dependencies(
+  amcl_node_component
+  PUBLIC
   bondcpp
   nav_msgs
   nav2_msgs
@@ -59,8 +61,12 @@ ament_target_dependencies(amcl_node_component PUBLIC
   rclcpp_lifecycle
   sensor_msgs
   std_srvs)
-rclcpp_components_register_node(amcl_node_component
-  PLUGIN "beluga_amcl::AmclNode" EXECUTABLE amcl_node)
+rclcpp_components_register_node(
+  amcl_node_component
+  PLUGIN
+  "beluga_amcl::AmclNode"
+  EXECUTABLE
+  amcl_node)
 
 ament_export_dependencies(
   beluga
@@ -72,14 +78,13 @@ ament_export_dependencies(
   sensor_msgs
   tf2
   tf2_eigen
-  tf2_geometry_msgs
-)
+  tf2_geometry_msgs)
 ament_export_include_directories("include/${PROJECT_NAME}")
 ament_export_definitions(BELUGA_AMCL_ROS_VERSION=2)
 ament_export_targets(amcl_node_utils HAS_LIBRARY_TARGET)
 
-install(TARGETS
-  amcl_node_component
+install(
+  TARGETS amcl_node_component
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
@@ -91,10 +96,10 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)
 
-install(TARGETS amcl_node
-  DESTINATION lib/${PROJECT_NAME})
+install(TARGETS amcl_node DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY include/
+install(
+  DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
   PATTERN "beluga_amcl/private" EXCLUDE)
 
diff --git a/beluga_amcl/cmake/catkin.cmake b/beluga_amcl/cmake/catkin.cmake
index 231f609ed..051545080 100644
--- a/beluga_amcl/cmake/catkin.cmake
+++ b/beluga_amcl/cmake/catkin.cmake
@@ -15,50 +15,51 @@
 include(cmake/lib/nodelets.cmake)
 
 find_package(beluga REQUIRED)
-find_package(catkin REQUIRED
-  COMPONENTS
-    bondcpp
-    diagnostic_updater
-    dynamic_reconfigure
-    message_filters
-    nav_msgs
-    nodelet
-    roscpp
-    sensor_msgs
-    std_srvs
-    tf2
-    tf2_geometry_msgs
-    tf2_msgs
-    tf2_ros
-)
+find_package(
+  catkin REQUIRED
+  COMPONENTS bondcpp
+             diagnostic_updater
+             dynamic_reconfigure
+             message_filters
+             nav_msgs
+             nodelet
+             roscpp
+             sensor_msgs
+             std_srvs
+             tf2
+             tf2_geometry_msgs
+             tf2_msgs
+             tf2_ros)
 
 generate_dynamic_reconfigure_options(config/Amcl.cfg)
 
 catkin_package(
   CATKIN_DEPENDS
-    bondcpp
-    nav_msgs
-    roscpp
-    sensor_msgs
-    tf2
-    tf2_eigen
-    tf2_geometry_msgs
-  DEPENDS beluga
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CFG_EXTRAS ${PROJECT_NAME}-extras.cmake
-)
+  bondcpp
+  nav_msgs
+  roscpp
+  sensor_msgs
+  tf2
+  tf2_eigen
+  tf2_geometry_msgs
+  DEPENDS
+  beluga
+  INCLUDE_DIRS
+  include
+  LIBRARIES
+  ${PROJECT_NAME}
+  CFG_EXTRAS
+  ${PROJECT_NAME}-extras.cmake)
 
 add_compile_definitions(BELUGA_AMCL_ROS_VERSION=1)
 include_directories(include ${catkin_INCLUDE_DIRS})
 
 add_library(${PROJECT_NAME} SHARED)
-target_sources(${PROJECT_NAME} PRIVATE
-  src/amcl_node_utils.cpp
-  src/particle_filtering.cpp)
-target_include_directories(${PROJECT_NAME} PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_sources(${PROJECT_NAME} PRIVATE src/amcl_node_utils.cpp
+                                       src/particle_filtering.cpp)
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+                         $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
 target_link_libraries(${PROJECT_NAME} beluga::beluga ${catkin_LIBRARIES})
 
 add_library(${PROJECT_NAME}_nodelet SHARED)
@@ -70,21 +71,21 @@ add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_gencfg)
 add_nodelet_executable(amcl_node "beluga_amcl/AmclNodelet")
 target_compile_features(amcl_node PUBLIC cxx_std_17)
 
-install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_nodelet
+install(
+  TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_nodelet
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS amcl_node
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(TARGETS amcl_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY include/${PROJECT_NAME}/
+install(
+  DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   PATTERN "beluga_amcl/private" EXCLUDE)
 
-install(
-  FILES nodelet_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/)
+install(FILES nodelet_plugins.xml
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/)
 
 if(CATKIN_ENABLE_TESTING OR BUILD_TESTING)
   enable_testing()
diff --git a/beluga_amcl/cmake/lib/nodelets.cmake b/beluga_amcl/cmake/lib/nodelets.cmake
index dc6ea3298..d9b8b1a41 100644
--- a/beluga_amcl/cmake/lib/nodelets.cmake
+++ b/beluga_amcl/cmake/lib/nodelets.cmake
@@ -12,19 +12,29 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+# cmake-lint: disable=C0111,C0103
+# Missing docstring on function or macro declaration
+# Invalid local variable name "EXECUTABLE" doesn't match `[a-z][a-z0-9_]+`
+# Invalid local variable name "NODELETS" doesn't match `[a-z][a-z0-9_]+`
 function(add_nodelet_executable target)
   set(EXECUTABLE ${target})
   if(ARGC LESS 2)
     message(FATAL_ERROR "No nodelets specified for ${target} executable.")
   endif()
-  string(REPLACE ";" "\",\"" NODELETS "${ARGN}")
+
+  string(
+    REPLACE ";"
+            "\",\""
+            NODELETS
+            "${ARGN}")
   set(NODELETS "\"${NODELETS}\"")
 
   configure_file(
     ${PROJECT_SOURCE_DIR}/cmake/lib/templates/nodelet_executable_main.cpp.in
     ${PROJECT_BINARY_DIR}/${target}_main.cpp.in @ONLY)
   file(
-    GENERATE OUTPUT ${PROJECT_BINARY_DIR}/${target}_main.cpp
+    GENERATE
+    OUTPUT ${PROJECT_BINARY_DIR}/${target}_main.cpp
     INPUT ${PROJECT_BINARY_DIR}/${target}_main.cpp.in)
   add_executable(${target} ${PROJECT_BINARY_DIR}/${target}_main.cpp)
   target_link_libraries(${target} ${catkin_LIBRARIES})
diff --git a/beluga_amcl/package.xml b/beluga_amcl/package.xml
index d2ed00458..868416cc6 100644
--- a/beluga_amcl/package.xml
+++ b/beluga_amcl/package.xml
@@ -40,7 +40,6 @@
   <test_depend condition="$ROS_VERSION == 1">rostest</test_depend>
   <test_depend condition="$ROS_VERSION == 2">ament_cmake_gmock</test_depend>
   <test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>
-  <test_depend condition="$ROS_VERSION == 2">ament_cmake_lint_cmake</test_depend>
   <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
 
   <export>
diff --git a/beluga_amcl/test/CMakeLists.txt b/beluga_amcl/test/CMakeLists.txt
index 480263c08..acaeda1e0 100644
--- a/beluga_amcl/test/CMakeLists.txt
+++ b/beluga_amcl/test/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 if(ROS_VERSION EQUAL 1)
   include(cmake/catkin.cmake)
 elseif(ROS_VERSION EQUAL 2)
diff --git a/beluga_amcl/test/cmake/ament.cmake b/beluga_amcl/test/cmake/ament.cmake
index 00a967f7c..b8e709551 100644
--- a/beluga_amcl/test/cmake/ament.cmake
+++ b/beluga_amcl/test/cmake/ament.cmake
@@ -22,11 +22,13 @@ ament_add_gmock(test_amcl_node_utils test_amcl_node_utils.cpp)
 target_compile_options(test_amcl_node_utils PRIVATE -Wno-deprecated-copy)
 target_link_libraries(test_amcl_node_utils amcl_node_component)
 
-ament_add_gmock(test_amcl_node_resampling_policies
-    filter_update_control/test_filter_update_control_mixin.cpp
-    filter_update_control/test_resample_interval_policy.cpp
-    filter_update_control/test_selective_resampling_policy.cpp
-    filter_update_control/test_update_filter_when_moving_policy.cpp
-)
-target_compile_options(test_amcl_node_resampling_policies PRIVATE -Wno-deprecated-copy -Wno-gnu-zero-variadic-macro-arguments)
+ament_add_gmock(
+  test_amcl_node_resampling_policies
+  filter_update_control/test_filter_update_control_mixin.cpp
+  filter_update_control/test_resample_interval_policy.cpp
+  filter_update_control/test_selective_resampling_policy.cpp
+  filter_update_control/test_update_filter_when_moving_policy.cpp)
+target_compile_options(
+  test_amcl_node_resampling_policies
+  PRIVATE -Wno-deprecated-copy -Wno-gnu-zero-variadic-macro-arguments)
 target_link_libraries(test_amcl_node_resampling_policies amcl_node_component)
diff --git a/beluga_amcl/test/cmake/catkin.cmake b/beluga_amcl/test/cmake/catkin.cmake
index fc6c208ce..81908c0ec 100644
--- a/beluga_amcl/test/cmake/catkin.cmake
+++ b/beluga_amcl/test/cmake/catkin.cmake
@@ -15,16 +15,29 @@
 find_package(rostest REQUIRED)
 
 catkin_add_gmock(test_amcl_node_utils test_amcl_node_utils.cpp)
-target_link_libraries(test_amcl_node_utils ${PROJECT_NAME} ${catkin_LIBRARIES} gmock_main)
+target_link_libraries(
+  test_amcl_node_utils
+  ${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  gmock_main)
 
 add_rostest_gtest(test_amcl_nodelet amcl_nodelet.test test_amcl_nodelet.cpp)
-target_link_libraries(test_amcl_nodelet ${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} gtest_main)
+target_link_libraries(
+  test_amcl_nodelet
+  ${PROJECT_NAME}_nodelet
+  ${catkin_LIBRARIES}
+  gtest_main)
 
-catkin_add_gmock(test_amcl_node_resampling_policies
-    filter_update_control/test_filter_update_control_mixin.cpp
-    filter_update_control/test_resample_interval_policy.cpp
-    filter_update_control/test_selective_resampling_policy.cpp
-    filter_update_control/test_update_filter_when_moving_policy.cpp
-)
-target_compile_options(test_amcl_node_resampling_policies PRIVATE -Wno-gnu-zero-variadic-macro-arguments)
-target_link_libraries(test_amcl_node_resampling_policies ${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} gmock_main)
+catkin_add_gmock(
+  test_amcl_node_resampling_policies
+  filter_update_control/test_filter_update_control_mixin.cpp
+  filter_update_control/test_resample_interval_policy.cpp
+  filter_update_control/test_selective_resampling_policy.cpp
+  filter_update_control/test_update_filter_when_moving_policy.cpp)
+target_compile_options(test_amcl_node_resampling_policies
+                       PRIVATE -Wno-gnu-zero-variadic-macro-arguments)
+target_link_libraries(
+  test_amcl_node_resampling_policies
+  ${PROJECT_NAME}_nodelet
+  ${catkin_LIBRARIES}
+  gmock_main)
diff --git a/beluga_benchmark/CMakeLists.txt b/beluga_benchmark/CMakeLists.txt
index 9a6b1f088..25920cf18 100644
--- a/beluga_benchmark/CMakeLists.txt
+++ b/beluga_benchmark/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.16)
 project(beluga_benchmark)
 
@@ -10,11 +24,8 @@ if(ROS_VERSION EQUAL 2)
 
   ament_python_install_package(${PROJECT_NAME})
 
-  install(DIRECTORY
-    scripts/profiling
-    scripts/benchmarking
-    USE_SOURCE_PERMISSIONS
-    DESTINATION lib/${PROJECT_NAME})
+  install(DIRECTORY scripts/profiling scripts/benchmarking
+                    USE_SOURCE_PERMISSIONS DESTINATION lib/${PROJECT_NAME})
 
   if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
diff --git a/beluga_example/CMakeLists.txt b/beluga_example/CMakeLists.txt
index 90b46dbaa..4302adbac 100644
--- a/beluga_example/CMakeLists.txt
+++ b/beluga_example/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.16)
 project(beluga_example)
 
diff --git a/beluga_example/cmake/ament.cmake b/beluga_example/cmake/ament.cmake
index c5abeeed8..1b01d1325 100644
--- a/beluga_example/cmake/ament.cmake
+++ b/beluga_example/cmake/ament.cmake
@@ -16,27 +16,30 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(beluga_amcl REQUIRED)
 
-ament_python_install_package(${PROJECT_NAME}
-  PACKAGE_DIR ${PROJECT_SOURCE_DIR}/${PROJECT_NAME})
+ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR
+                             ${PROJECT_SOURCE_DIR}/${PROJECT_NAME})
 
-install(DIRECTORY bags
+install(
+  DIRECTORY bags
   DESTINATION share/${PROJECT_NAME}
   PATTERN "*.bag" EXCLUDE)
 
-install(DIRECTORY launch
+install(
+  DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
   PATTERN "*.launch" EXCLUDE)
 
-install(DIRECTORY rviz
+install(
+  DIRECTORY rviz
   DESTINATION share/${PROJECT_NAME}
   PATTERN "*.ros2.rviz")
 
-install(DIRECTORY params
+install(
+  DIRECTORY params
   DESTINATION share/${PROJECT_NAME}
   PATTERN "*.ros2.yaml")
 
-install(DIRECTORY maps models worlds
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps models worlds DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/beluga_example/cmake/catkin.cmake b/beluga_example/cmake/catkin.cmake
index 3793914b2..e499db0bc 100644
--- a/beluga_example/cmake/catkin.cmake
+++ b/beluga_example/cmake/catkin.cmake
@@ -16,21 +16,24 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY bags
+install(
+  DIRECTORY bags
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN "*.bag")
 
-install(DIRECTORY launch
+install(
+  DIRECTORY launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN "*.launch")
 
-install(DIRECTORY rviz
+install(
+  DIRECTORY rviz
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN "*.ros.rviz")
 
-install(DIRECTORY params
+install(
+  DIRECTORY params
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   PATTERN "*.ros.yaml")
 
-install(DIRECTORY maps models worlds
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY maps models worlds DESTINATION share/${PROJECT_NAME})
diff --git a/beluga_example/package.xml b/beluga_example/package.xml
index ed55c7f86..3890673d5 100644
--- a/beluga_example/package.xml
+++ b/beluga_example/package.xml
@@ -30,7 +30,6 @@
   <exec_depend condition="$ROS_VERSION == 2">rviz2</exec_depend>
   <exec_depend>teleop_twist_keyboard</exec_depend>
 
-  <test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>
   <test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
   <test_depend condition="$ROS_VERSION == 2">launch</test_depend>
   <test_depend condition="$ROS_VERSION == 2">launch_testing</test_depend>
diff --git a/beluga_system_tests/CMakeLists.txt b/beluga_system_tests/CMakeLists.txt
index b74c0c72a..beadb0214 100644
--- a/beluga_system_tests/CMakeLists.txt
+++ b/beluga_system_tests/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.16)
 
 project(beluga_system_tests VERSION 1.0)
@@ -9,11 +23,18 @@ if(ROS_VERSION EQUAL 2)
 
   if(NOT CMAKE_BUILD_TYPE)
     message(STATUS "Setting build type to 'Release' as none was specified.")
-    set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
+    set(CMAKE_BUILD_TYPE
+        "Release"
+        CACHE STRING "Build type" FORCE)
   endif()
 
   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wconversion -Werror -Wextra -Wpedantic)
+    add_compile_options(
+      -Wall
+      -Wconversion
+      -Werror
+      -Wextra
+      -Wpedantic)
   endif()
 
   option(BUILD_TESTING "Build the testing tree." ON)
diff --git a/beluga_system_tests/test/CMakeLists.txt b/beluga_system_tests/test/CMakeLists.txt
index 17ee6604a..5104c5c21 100644
--- a/beluga_system_tests/test/CMakeLists.txt
+++ b/beluga_system_tests/test/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright 2023 Ekumen, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 find_package(rosbag2_cpp REQUIRED)
 find_package(beluga REQUIRED)
 find_package(beluga_amcl REQUIRED)
@@ -6,13 +20,12 @@ find_package(nav_msgs REQUIRED)
 
 add_executable(test_system test_system.cpp)
 
-target_link_libraries(test_system
-    PUBLIC
-        beluga::beluga
-        beluga_amcl::amcl_node_utils
-        GTest::gtest_main
-        rosbag2_cpp::rosbag2_cpp
-)
+target_link_libraries(
+  test_system
+  PUBLIC beluga::beluga
+         beluga_amcl::amcl_node_utils
+         GTest::gtest_main
+         rosbag2_cpp::rosbag2_cpp)
 
 include(GoogleTest)
 gtest_discover_tests(test_system WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR})