Update pre-commit

.codespell_words

@@ -15,3 +15,5 @@ uint
 whis
 sinic
 padd
+brin
+aas

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -33,7 +33,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 23.10.0
     hooks:
       - id: black
 
@@ -47,7 +47,7 @@ repos:
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.6
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_bvh_manager.h

@@ -76,7 +76,7 @@ class BulletBVHManager
    * @return true if successfully disabled, otherwise false. */
   bool disableCollisionObject(const std::string& name);
 
-  /**@brief Set a single static collision object's tansform
+  /**@brief Set a single static collision object's transform
    * @param name The name of the object
    * @param pose The transformation in world */
   void setCollisionObjectsTransform(const std::string& name, const Eigen::Isometry3d& pose);

moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_cast_bvh_manager.h

@@ -57,7 +57,7 @@ class BulletCastBVHManager : public BulletBVHManager
    * This is to be used for multi threaded applications. A user should make a clone for each thread. */
   BulletCastBVHManagerPtr clone() const;
 
-  /**@brief Set a single cast (moving) collision object's tansforms
+  /**@brief Set a single cast (moving) collision object's transforms
    *
    * This should only be used for moving objects.
    *

moveit_core/robot_state/include/moveit/robot_state/robot_state.h

@@ -1186,14 +1186,14 @@ class RobotState
   /** \brief Set all joints in \e group to random values near the value in \e seed.
    *  \e distance is the maximum amount each joint value will vary from the
    *  corresponding value in \e seed.  \distance represents meters for
-   *  prismatic/postitional joints and radians for revolute/orientation joints.
+   *  prismatic/positional joints and radians for revolute/orientation joints.
    *  Resulting values are clamped within default bounds. */
   void setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& seed, double distance);
 
   /** \brief Set all joints in \e group to random values near the value in \e seed, using a specified random number generator.
    *  \e distance is the maximum amount each joint value will vary from the
    *  corresponding value in \e seed.  \distance represents meters for
-   *  prismatic/postitional joints and radians for revolute/orientation joints.
+   *  prismatic/positional joints and radians for revolute/orientation joints.
    *  Resulting values are clamped within default bounds. */
   void setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& seed, double distance,
                                   random_numbers::RandomNumberGenerator& rng);
@@ -1203,7 +1203,7 @@ class RobotState
    *  group.getActiveJointModels().  Each value in \e distances is the maximum
    *  amount the corresponding active joint in \e group will vary from the
    *  corresponding value in \e seed.  \distance represents meters for
-   *  prismatic/postitional joints and radians for revolute/orientation joints.
+   *  prismatic/positional joints and radians for revolute/orientation joints.
    *  Resulting values are clamped within default bounds. */
   void setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& seed,
                                   const std::vector<double>& distances);
@@ -1213,7 +1213,7 @@ class RobotState
    *  group.getActiveJointModels().  Each value in \e distances is the maximum
    *  amount the corresponding active joint in \e group will vary from the
    *  corresponding value in \e seed.  \distance represents meters for
-   *  prismatic/postitional joints and radians for revolute/orientation joints.
+   *  prismatic/positional joints and radians for revolute/orientation joints.
    *  Resulting values are clamped within default bounds. */
   void setToRandomPositionsNearBy(const JointModelGroup* group, const RobotState& seed,
                                   const std::vector<double>& distances, random_numbers::RandomNumberGenerator& rng);

moveit_kinematics/ikfast_kinematics_plugin/templates/ikfast.h

@@ -267,7 +267,7 @@ class IkSolution : public IkSolutionBase<T>
     }
   }
 
-  std::vector<IkSingleDOFSolutionBase<T> > _vbasesol;  ///< solution and their offsets if joints are mimiced
+  std::vector<IkSingleDOFSolutionBase<T> > _vbasesol;  ///< solution and their offsets if joints are mimicked
   std::vector<int> _vfree;
 };
 

moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp

@@ -312,7 +312,7 @@ bool SrvKinematicsPlugin::searchPositionIK(const std::vector<geometry_msgs::msg:
     if (error_code.val != error_code.SUCCESS)
     {
       // TODO (JafarAbdi) Print the entire message for ROS2?
-      // RCLCPP_DEBUG("srv", "An IK that satisifes the constraints and is collision free could not be found."
+      // RCLCPP_DEBUG("srv", "An IK that satisfies the constraints and is collision free could not be found."
       //                                   << "\nRequest was: \n"
       //                                   << ik_srv.request.ik_request << "\nResponse was: \n"
       //                                   << ik_srv.response.solution);

moveit_planners/ompl/ompl_interface/test/load_test_robot.h

@@ -44,7 +44,7 @@ namespace ompl_interface_testing
 {
 /** \brief Robot independent test class setup
  *
- * The desired robot tests can be impelmented in a derived class in a generic way.
+ * The desired robot tests can be implemented in a derived class in a generic way.
  *
  * It is implemented this way to avoid the ros specific test framework
  * outside moveit_ros.

moveit_planners/pilz_industrial_motion_planner/src/velocity_profile_atrap.cpp

@@ -217,7 +217,7 @@ bool VelocityProfileATrap::setProfileStartVelocity(double pos1, double pos2, dou
 
   if (s * vel1 <= 0)
   {
-    // TODO initial velocity is in opposite derection of start-end vector
+    // TODO initial velocity is in opposite direction of start-end vector
     return false;
   }
 

moveit_planners/pilz_industrial_motion_planner/test/test_utils.h

@@ -169,7 +169,7 @@ void createPTPRequest(const std::string& planning_group, const moveit::core::Rob
 
 /**
  * @brief check if the goal given in joint space is reached
- * Only the last point in the trajectory is veryfied.
+ * Only the last point in the trajectory is verified.
  * @param trajectory: generated trajectory
  * @param goal: goal in joint space
  * @param joint_position_tolerance
@@ -182,7 +182,7 @@ bool isGoalReached(const trajectory_msgs::msg::JointTrajectory& trajectory,
 
 /**
  * @brief check if the goal given in cartesian space is reached
- * Only the last point in the trajectory is veryfied.
+ * Only the last point in the trajectory is verified.
  * @param robot_model
  * @param trajectory
  * @param req

moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/include/ikfast.h

@@ -263,7 +263,7 @@ class IkSolution : public IkSolutionBase<T>
     }
   }
 
-  std::vector<IkSingleDOFSolutionBase<T> > _vbasesol;  ///< solution and their offsets if joints are mimiced
+  std::vector<IkSingleDOFSolutionBase<T> > _vbasesol;  ///< solution and their offsets if joints are mimicked
   std::vector<int> _vfree;
 };
 

moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp

@@ -105,7 +105,7 @@ inline double IKlog(double f) { return log(f); }
 #define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)
 #endif
 
-// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold speicfies by how much they can deviate
+// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold specifies by how much they can deviate
 #ifndef IKFAST_EVALCOND_THRESH
 #define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)
 #endif

moveit_ros/hybrid_planning/local_planner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.h

@@ -108,7 +108,7 @@ class TrajectoryOperatorInterface
   virtual bool reset() = 0;
 
 protected:
-  // Reference trajectory to be precessed
+  // Reference trajectory to be processed
   robot_trajectory::RobotTrajectoryPtr reference_trajectory_;
   std::string group_;
 };

moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/gl_renderer.h

@@ -174,7 +174,7 @@ class GLRenderer
   unsigned getHeight() const;
 
   /**
-   * \brief set the size of fram buffers
+   * \brief set the size of frame buffers
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \param[in] width width of frame buffer in pixels
    * \param[in] height height of frame buffer in pixels

moveit_ros/perception/mesh_filter/include/moveit/mesh_filter/mesh_filter_base.h

@@ -225,7 +225,7 @@ class MeshFilterBase
   void addJob(const JobPtr& job) const;
 
   /**
-   * \brief sets the size of the fram buffers
+   * \brief sets the size of the frame buffers
    * \author Suat Gedikli (gedikli@willowgarage.com)
    * \param[in] width width of frame buffers in pixels
    * \param[in] height height of frame buffers in pixels

moveit_setup_assistant/moveit_setup_app_plugins/include/moveit_setup_app_plugins/perception_widget.hpp

@@ -86,7 +86,7 @@ class PerceptionWidget : public SetupStepWidget
   QGroupBox* point_cloud_group_;
   QGroupBox* depth_map_group_;
 
-  // Point Cloud plugin feilds
+  // Point Cloud plugin fields
   QLineEdit* point_cloud_topic_field_;
   QLineEdit* max_range_field_;
   QLineEdit* point_subsample_field_;
@@ -95,7 +95,7 @@ class PerceptionWidget : public SetupStepWidget
   QLineEdit* max_update_rate_field_;
   QLineEdit* filtered_cloud_topic_field_;
 
-  // Depth Map plugin feilds
+  // Depth Map plugin fields
   QLineEdit* image_topic_field_;
   QLineEdit* queue_size_field_;
   QLineEdit* near_clipping_field_;

moveit_setup_assistant/moveit_setup_framework/include/moveit_setup_framework/config.hpp

@@ -132,7 +132,7 @@ class SetupConfig
    *
    * @param[in] package_path the path to the root of the config package
    * @param[in] last_gen_time The time (if any) when the config package was last generated
-   * @parma[out] files Where to put the new generated files
+   * @param[out] files Where to put the new generated files
    */
   virtual void collectFiles(const std::filesystem::path& /*package_path*/, const GeneratedTime& /*last_gen_time*/,
                             std::vector<GeneratedFilePtr>& /*files*/)