Apply clang-tidy fixes and remove invalid "react" function call

moveit_ros/hybrid_planning/global_planner/src/global_planner_component.cpp

@@ -80,19 +80,19 @@ GlobalPlannerComponent::GlobalPlannerComponent(const rclcpp::NodeOptions& option
 
   // Initialize global planner after construction
   timer_ = this->create_wall_timer(std::chrono::milliseconds(1), [this]() {
-    switch (initialized_)
+    if (initialized_)
     {
-      case true:
+      timer_->cancel();
+    }
+    else
+    {
+      initialized_ = this->init();
+      if (!initialized_)
+      {
+        const std::string error = "Failed to initialize global planner";
         timer_->cancel();
-        break;
-      case false:
-        initialized_ = this->init();
-        if (!initialized_)
-        {
-          const std::string error = "Failed to initialize global planner";
-          RCLCPP_FATAL(LOGGER, error);
-        }
-        break;
+        throw std::runtime_error(error);
+      }
     }
   });
 }
@@ -218,4 +218,4 @@ moveit_msgs::msg::MotionPlanResponse GlobalPlannerComponent::plan(moveit_msgs::m
 
 // Register the component with class_loader
 #include <rclcpp_components/register_node_macro.hpp>
-RCLCPP_COMPONENTS_REGISTER_NODE(moveit_hybrid_planning::GlobalPlannerComponent)
+RCLCPP_COMPONENTS_REGISTER_NODE(moveit_hybrid_planning::GlobalPlannerComponent)

moveit_ros/hybrid_planning/hybrid_planning_manager/include/moveit/hybrid_planning_manager/planner_logic_interface.h

@@ -74,7 +74,7 @@ class PlannerLogicInterface
    * @return true if reaction was successful
    */
   virtual bool react(std::string event) = 0;
-  ~PlannerLogicInterface(){};
+  virtual ~PlannerLogicInterface(){};
 
 protected:
   /** \brief Constructor */
@@ -83,4 +83,4 @@ class PlannerLogicInterface
   // Handle to access communication interfaces and member functions of hybrid planning manager instance that uses the planner plugin
   std::shared_ptr<moveit_hybrid_planning::HybridPlanningManager> hybrid_planner_handle_ = nullptr;
 };
-}  // namespace moveit_hybrid_planning
+}  // namespace moveit_hybrid_planning

moveit_ros/hybrid_planning/hybrid_planning_manager/src/hybrid_planning_manager.cpp

@@ -48,21 +48,19 @@ HybridPlanningManager::HybridPlanningManager(const rclcpp::NodeOptions& options)
   initialized_ = false;
   // Initialize hybrid planning component after after construction
   timer_ = this->create_wall_timer(std::chrono::milliseconds(1), [this]() {
-    switch (initialized_)
+    if (initialized_)
     {
-      case true:
+      timer_->cancel();
+    }
+    else
+    {
+      if (!this->initialize())
+      {
+        const std::string error = "Failed to initialize global planner";
         timer_->cancel();
-        break;
-      case false:
-        if (!this->initialize())
-        {
-          const std::string error = "Failed to initialize global planner";
-          RCLCPP_FATAL(LOGGER, error);
-          throw std::runtime_error(error);
-          timer_->cancel();
-        }
-        initialized_ = true;
-        break;
+        throw std::runtime_error(error);
+      }
+      initialized_ = true;
     }
   });
 }
@@ -131,8 +129,6 @@ bool HybridPlanningManager::initialize()
       [this](const rclcpp_action::GoalUUID& /*unused*/,
              std::shared_ptr<const moveit_msgs::action::HybridPlanning::Goal> /*unused*/) {
         RCLCPP_INFO(LOGGER, "Received goal request");
-        planner_logic_instance_->react(
-            moveit_hybrid_planning::BasicHybridPlanningEvent::HYBRID_PLANNING_REQUEST_RECEIVED);
         return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
       },
       [](const std::shared_ptr<rclcpp_action::ServerGoalHandle<moveit_msgs::action::HybridPlanning>>& /*unused*/) {
@@ -157,7 +153,7 @@ bool HybridPlanningManager::planGlobalTrajectory()
   // Add goal response callback
   send_goal_options.goal_response_callback =
       [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::GlobalPlanner>::SharedPtr> future) {
-        auto goal_handle = future.get();
+        auto const& goal_handle = future.get();
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanning::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)
@@ -194,7 +190,7 @@ bool HybridPlanningManager::runLocalPlanner()
   // Add goal response callback
   send_goal_options.goal_response_callback =
       [this](std::shared_future<rclcpp_action::ClientGoalHandle<moveit_msgs::action::LocalPlanner>::SharedPtr> future) {
-        auto goal_handle = future.get();
+        auto const& goal_handle = future.get();
         auto planning_progress = std::make_shared<moveit_msgs::action::HybridPlanning::Feedback>();
         auto& feedback = planning_progress->feedback;
         if (!goal_handle)

moveit_ros/hybrid_planning/test/hybrid_planning_test_node.cpp

@@ -87,13 +87,13 @@ class HybridPlanningDemo
     }
 
     // Setup motion planning goal taken from motion_planning_api tutorial
-    const std::string PLANNING_GROUP = "panda_arm";
+    const std::string planning_group = "panda_arm";
     robot_model_loader::RobotModelLoader robot_model_loader(node_, "robot_description");
     const moveit::core::RobotModelPtr& robot_model = robot_model_loader.getModel();
 
     // Create a RobotState and JointModelGroup
     moveit::core::RobotStatePtr robot_state(new moveit::core::RobotState(robot_model));
-    const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(PLANNING_GROUP);
+    const moveit::core::JointModelGroup* joint_model_group = robot_state->getJointModelGroup(planning_group);
 
     planning_scene::PlanningScenePtr planning_scene(new planning_scene::PlanningScene(robot_model));
     // Configure a valid robot state
@@ -102,7 +102,7 @@ class HybridPlanningDemo
     auto goal_msg = moveit_msgs::action::HybridPlanning::Goal();
 
     moveit::core::robotStateToRobotStateMsg(planning_scene->getCurrentStateNonConst(), goal_msg.request.start_state);
-    goal_msg.request.group_name = PLANNING_GROUP;
+    goal_msg.request.group_name = planning_group;
     goal_msg.request.num_planning_attempts = 10;
     goal_msg.request.max_velocity_scaling_factor = 1.0;
     goal_msg.request.max_acceleration_scaling_factor = 1.0;
@@ -138,7 +138,7 @@ class HybridPlanningDemo
           }
         };
     send_goal_options.feedback_callback =
-        [](rclcpp_action::ClientGoalHandle<moveit_msgs::action::HybridPlanning>::SharedPtr,
+        [](rclcpp_action::ClientGoalHandle<moveit_msgs::action::HybridPlanning>::SharedPtr /*unused*/,
            const std::shared_ptr<const moveit_msgs::action::HybridPlanning::Feedback> feedback) {
           RCLCPP_INFO(LOGGER, feedback->feedback);
         };
@@ -176,4 +176,4 @@ int main(int argc, char** argv)
   run_demo.join();
 
   return 0;
-}
+}

moveit_ros/hybrid_planning/test/launch/hybrid_planning.launch.py

@@ -124,4 +124,4 @@ def generate_launch_description():
                                  output='screen',
                                  parameters=[robot_description, robot_description_semantic])
 
-    return launch.LaunchDescription([container, static_tf, rviz_node, robot_state_publisher, test_request_node, fake_joint_driver_node])
+    return launch.LaunchDescription([container, static_tf, rviz_node, robot_state_publisher, test_request_node, fake_joint_driver_node])