Fix linter errors.

velodyne_driver/include/velodyne_driver/driver.hpp

@@ -33,14 +33,14 @@
 #ifndef VELODYNE_DRIVER__DRIVER_HPP_
 #define VELODYNE_DRIVER__DRIVER_HPP_
 
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <diagnostic_updater/publisher.hpp>
-#include <rclcpp/rclcpp.hpp>
-
 #include <future>
 #include <memory>
 #include <string>
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <diagnostic_updater/publisher.hpp>
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_driver/input.hpp"
 
 namespace velodyne_driver

velodyne_driver/include/velodyne_driver/input.hpp

@@ -54,16 +54,15 @@
 #define VELODYNE_DRIVER__INPUT_HPP_
 
 #include <netinet/in.h>
-
 #include <pcap.h>
 
+#include <memory>
+#include <string>
+
 #include <rclcpp/rclcpp.hpp>
 #include <velodyne_msgs/msg/velodyne_packet.hpp>
 #include <velodyne_msgs/msg/velodyne_scan.hpp>
 
-#include <memory>
-#include <string>
-
 namespace velodyne_driver
 {
 

velodyne_driver/include/velodyne_driver/time_conversion.hpp

@@ -72,9 +72,9 @@ rclcpp::Time rosTimeFromGpsTimestamp(rclcpp::Time & time_nom, const uint8_t * co
   uint32_t usecs =
     static_cast<uint32_t>(
     ((uint32_t) data[3]) << 24 |
-    ((uint32_t) data[2] ) << 16 |
-    ((uint32_t) data[1] ) << 8 |
-    ((uint32_t) data[0] ));
+      ((uint32_t) data[2]) << 16 |
+      ((uint32_t) data[1]) << 8 |
+      ((uint32_t) data[0]));
   uint32_t cur_hour = time_nom.nanoseconds() / 1000000000 / HOUR_TO_SEC;
   auto stamp = rclcpp::Time(
     (cur_hour * HOUR_TO_SEC) + (usecs / 1000000),

velodyne_driver/src/driver/driver.cpp

@@ -35,20 +35,21 @@
  *  ROS driver implementation for the Velodyne 3D LIDARs
  */
 
-#include <rcl_interfaces/msg/floating_point_range.hpp>
-#include <rcl_interfaces/msg/parameter_descriptor.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
+#include "velodyne_driver/driver.hpp"
+
 #include <tf2_ros/transform_listener.h>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <chrono>
 #include <cmath>
 #include <memory>
 #include <string>
 #include <utility>
 
-#include "velodyne_driver/driver.hpp"
+#include <rcl_interfaces/msg/floating_point_range.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 namespace velodyne_driver
 {

velodyne_driver/src/driver/velodyne_node.cpp

@@ -35,10 +35,10 @@
  *  ROS driver node for the Velodyne 3D LIDARs.
  */
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_driver/driver.hpp"
 
 int main(int argc, char ** argv)

velodyne_driver/src/lib/input.cpp

@@ -44,7 +44,7 @@
  *              PCAP dump
  */
 
-#include <velodyne_msgs/msg/velodyne_packet.hpp>
+#include "velodyne_driver/input.hpp"
 
 #include <arpa/inet.h>
 #include <fcntl.h>
@@ -59,7 +59,8 @@
 #include <sstream>
 #include <string>
 
-#include "velodyne_driver/input.hpp"
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+
 #include "velodyne_driver/time_conversion.hpp"
 
 namespace velodyne_driver
@@ -225,7 +226,7 @@ int InputSocket::getPacket(velodyne_msgs::msg::VelodynePacket * pkt, const doubl
         RCLCPP_ERROR(private_nh_->get_logger(), "recvfail: %s", ::strerror(errno));
         return -1;
       }
-    } else if ((size_t) nbytes == packet_size) {
+    } else if (static_cast<size_t>(nbytes) == packet_size) {
       // read successful,
       // if packet is not from the lidar scanner we selected by IP,
       // continue otherwise we are done

velodyne_driver/tests/timeconversiontest.cpp

@@ -31,11 +31,12 @@
 // POSSIBILITY OF SUCH DAMAGE.
 
 #include <gtest/gtest.h>
-#include <rclcpp/rclcpp.hpp>
 
 #include <cmath>
 #include <memory>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_driver/time_conversion.hpp"
 
 TEST(TimeConversion, BytesToTimestamp)

velodyne_laserscan/src/node.cpp

@@ -30,10 +30,10 @@
 // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_laserscan/velodyne_laserscan.hpp"
 
 int main(int argc, char ** argv)

velodyne_laserscan/src/velodyne_laserscan.cpp

@@ -32,6 +32,11 @@
 
 #include "velodyne_laserscan/velodyne_laserscan.hpp"
 
+#include <cmath>
+#include <functional>
+#include <memory>
+#include <utility>
+
 #include <rcl_interfaces/msg/floating_point_range.hpp>
 #include <rcl_interfaces/msg/integer_range.hpp>
 #include <rcl_interfaces/msg/parameter_descriptor.hpp>
@@ -42,11 +47,6 @@
 #include <sensor_msgs/msg/point_field.hpp>
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 
-#include <cmath>
-#include <functional>
-#include <memory>
-#include <utility>
-
 namespace velodyne_laserscan
 {
 

velodyne_laserscan/tests/system.cpp

@@ -123,7 +123,7 @@ void publishXYZIR1(const PointCloud & cloud)
   msg.fields[4].offset = 20;
   msg.fields[4].datatype = sensor_msgs::PointField::UINT16;
   msg.fields[4].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;
@@ -172,7 +172,7 @@ void publishXYZIR2(const PointCloud & cloud)
   msg.fields[4].offset = 16;
   msg.fields[4].datatype = sensor_msgs::PointField::UINT16;
   msg.fields[4].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;
@@ -217,7 +217,7 @@ void publishXYZR(const PointCloud & cloud)
   msg.fields[3].offset = 12;
   msg.fields[3].datatype = sensor_msgs::PointField::UINT16;
   msg.fields[3].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;
@@ -248,7 +248,7 @@ void publishR(const PointCloud & cloud)
   msg.fields[0].offset = 0;
   msg.fields[0].datatype = sensor_msgs::PointField::UINT16;
   msg.fields[0].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;
@@ -287,7 +287,7 @@ void publishXYZR32(const PointCloud & cloud)
   msg.fields[3].offset = 12;
   msg.fields[3].datatype = sensor_msgs::PointField::UINT32;
   msg.fields[3].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;
@@ -326,7 +326,7 @@ void publishXYZ(const PointCloud & cloud)
   msg.fields[2].offset = 8;
   msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32;
   msg.fields[2].count = 1;
-  msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00);
+  msg.data.resize(std::max(static_cast<size_t>(1), cloud.points.size()) * POINT_STEP, 0x00);
   msg.point_step = POINT_STEP;
   msg.row_step = msg.data.size();
   msg.height = 1;

velodyne_pointcloud/include/velodyne_pointcloud/datacontainerbase.hpp

@@ -33,17 +33,12 @@
 #ifndef VELODYNE_POINTCLOUD__DATACONTAINERBASE_HPP_
 #define VELODYNE_POINTCLOUD__DATACONTAINERBASE_HPP_
 
-#include <rclcpp/time.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2/LinearMath/Quaternion.h>
 #include <tf2/LinearMath/Vector3.h>
 #include <tf2/buffer_core.h>
 #include <tf2/exceptions.h>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
@@ -53,6 +48,13 @@
 #include <memory>
 #include <string>
 
+#include <rclcpp/time.hpp>
+#include <geometry_msgs/msg/transform_stamped.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
 namespace velodyne_rawdata
 {
 class DataContainerBase

velodyne_pointcloud/include/velodyne_pointcloud/organized_cloudXYZIRT.hpp

@@ -33,13 +33,14 @@
 #ifndef VELODYNE_POINTCLOUD__ORGANIZED_CLOUDXYZIRT_HPP_
 #define VELODYNE_POINTCLOUD__ORGANIZED_CLOUDXYZIRT_HPP_
 
-#include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2/buffer_core.h>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <memory>
 #include <string>
 
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
 #include "velodyne_pointcloud/datacontainerbase.hpp"
 
 namespace velodyne_pointcloud

velodyne_pointcloud/include/velodyne_pointcloud/pointcloudXYZIRT.hpp

@@ -33,13 +33,14 @@
 #ifndef VELODYNE_POINTCLOUD__POINTCLOUDXYZIRT_HPP_
 #define VELODYNE_POINTCLOUD__POINTCLOUDXYZIRT_HPP_
 
-#include <sensor_msgs/point_cloud2_iterator.hpp>
 #include <tf2/buffer_core.h>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <memory>
 #include <string>
 
+#include <sensor_msgs/point_cloud2_iterator.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
 #include "velodyne_pointcloud/datacontainerbase.hpp"
 
 namespace velodyne_pointcloud

velodyne_pointcloud/include/velodyne_pointcloud/rawdata.hpp

@@ -35,13 +35,13 @@
 
 #include <pcl/point_cloud.h>
 
-#include <rclcpp/rclcpp.hpp>
-#include <velodyne_msgs/msg/velodyne_packet.hpp>
-
 #include <memory>
 #include <string>
 #include <vector>
 
+#include <rclcpp/rclcpp.hpp>
+#include <velodyne_msgs/msg/velodyne_packet.hpp>
+
 #include "velodyne_pointcloud/calibration.hpp"
 #include "velodyne_pointcloud/datacontainerbase.hpp"
 

velodyne_pointcloud/include/velodyne_pointcloud/transform.hpp

@@ -33,19 +33,20 @@
 #ifndef VELODYNE_POINTCLOUD__TRANSFORM_HPP_
 #define VELODYNE_POINTCLOUD__TRANSFORM_HPP_
 
-#include <diagnostic_updater/diagnostic_updater.hpp>
-#include <diagnostic_updater/publisher.hpp>
 #include <message_filters/subscriber.h>
-#include <rclcpp/rclcpp.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/message_filter.h>
 #include <tf2_ros/transform_listener.h>
-#include <velodyne_msgs/msg/velodyne_scan.hpp>
 
 #include <memory>
 #include <string>
 
+#include <diagnostic_updater/diagnostic_updater.hpp>
+#include <diagnostic_updater/publisher.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <velodyne_msgs/msg/velodyne_scan.hpp>
+
 #include "velodyne_pointcloud/pointcloudXYZIRT.hpp"
 #include "velodyne_pointcloud/rawdata.hpp"
 

velodyne_pointcloud/src/conversions/transform.cpp

@@ -32,10 +32,6 @@
 
 #include "velodyne_pointcloud/transform.hpp"
 
-#include <rcl_interfaces/msg/floating_point_range.hpp>
-#include <rcl_interfaces/msg/parameter_descriptor.hpp>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
 #include <tf2_ros/message_filter.h>
 #include <tf2_ros/transform_listener.h>
 
@@ -44,6 +40,11 @@
 #include <memory>
 #include <string>
 
+#include <rcl_interfaces/msg/floating_point_range.hpp>
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
 #include "velodyne_pointcloud/organized_cloudXYZIRT.hpp"
 #include "velodyne_pointcloud/pointcloudXYZIRT.hpp"
 #include "velodyne_pointcloud/rawdata.hpp"

velodyne_pointcloud/src/conversions/transform_node.cpp

@@ -30,10 +30,10 @@
 // ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <memory>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_pointcloud/transform.hpp"
 
 /** Main node entry point. */

velodyne_pointcloud/src/lib/calibration.cpp

@@ -32,8 +32,6 @@
 
 #include <yaml-cpp/yaml.h>
 
-#include <rclcpp/rclcpp.hpp>
-
 #include <cmath>
 #include <fstream>
 #include <iostream>
@@ -42,6 +40,8 @@
 #include <string>
 #include <utility>
 
+#include <rclcpp/rclcpp.hpp>
+
 #include "velodyne_pointcloud/calibration.hpp"
 
 #ifdef HAVE_NEW_YAMLCPP