fixed uncrustify

revert dwb_critics cmake changes

nav2_costmap_2d/include/nav2_costmap_2d/collision_checker.hpp

@@ -46,7 +46,7 @@ class CollisionChecker
     std::shared_ptr<FootprintSubscriber> footprint_sub,
     tf2_ros::Buffer & tf_buffer,
     std::string name = "collision_checker");
-  
+
   ~CollisionChecker();
 
   double scorePose(
@@ -70,7 +70,7 @@ class CollisionChecker
   rclcpp::Node::SharedPtr node_;
   std::string name_;
   std::shared_ptr<CostmapSubscriber> costmap_sub_;
-  std::shared_ptr<FootprintSubscriber> footprint_sub_;  
+  std::shared_ptr<FootprintSubscriber> footprint_sub_;
 };
 }  // namespace nav2_costmap_2d
 

nav2_costmap_2d/include/nav2_costmap_2d/costmap_2d_publisher.hpp

@@ -115,7 +115,7 @@ class Costmap2DPublisher
   rclcpp::Publisher<map_msgs::msg::OccupancyGridUpdate>::SharedPtr costmap_update_pub_;
 
   nav_msgs::msg::OccupancyGrid grid_;
-  nav2_msgs::msg::Costmap costmap_raw_;  
+  nav2_msgs::msg::Costmap costmap_raw_;
   // Translate from 0-255 values in costmap to -1 to 100 values in message.
   static char * cost_translation_table_;
 };

nav2_costmap_2d/include/nav2_costmap_2d/costmap_subscriber.hpp

@@ -32,7 +32,7 @@ class CostmapSubscriber
     std::string & topic_name);
   ~CostmapSubscriber() {}
 
-Costmap2D * getCostmap();
+  Costmap2D * getCostmap();
 
 protected:
   void toCostmap2D();

nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp

@@ -31,7 +31,7 @@ class FootprintSubscriber
     std::string & topic_name);
   ~FootprintSubscriber() {}
 
-bool getFootprint(std::vector<geometry_msgs::msg::Point> & footprint);
+  bool getFootprint(std::vector<geometry_msgs::msg::Point> & footprint);
 
 protected:
   void footprint_callback(const geometry_msgs::msg::PolygonStamped::SharedPtr msg);

nav2_costmap_2d/src/collision_checker.cpp

@@ -40,7 +40,7 @@ CollisionChecker::CollisionChecker(
 CollisionChecker::~CollisionChecker() {}
 
 bool CollisionChecker::isCollisionFree(
-const geometry_msgs::msg::Pose2D & pose)
+  const geometry_msgs::msg::Pose2D & pose)
 {
   try {
     if (scorePose(pose) < 0) {
@@ -57,7 +57,7 @@ const geometry_msgs::msg::Pose2D & pose)
 }
 
 double CollisionChecker::scorePose(
-const geometry_msgs::msg::Pose2D & pose)
+  const geometry_msgs::msg::Pose2D & pose)
 {
   Costmap2D * costmap_;
   try {
@@ -107,13 +107,13 @@ const geometry_msgs::msg::Pose2D & pose)
   // we also need to connect the first point in the footprint to the last point
   // get the cell coord of the last point
   if (!costmap_->worldToMap(footprint.back().x, footprint.back().y, x0, y0)) {
-      RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x0, y0);
+    RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x0, y0);
     throw IllegalPoseException(name_, "Footprint Goes Off Grid.");
   }
 
   // get the cell coord of the first point
   if (!costmap_->worldToMap(footprint.front().x, footprint.front().y, x1, y1)) {
-      RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x1, y1);
+    RCLCPP_DEBUG(node_->get_logger(), "Map Cell: [%d, %d]", x1, y1);
     throw IllegalPoseException(name_, "Footprint Goes Off Grid.");
   }
 
@@ -193,7 +193,7 @@ void CollisionChecker::unorientFootprint(
   std::vector<geometry_msgs::msg::Point> & reset_footprint)
 {
   geometry_msgs::msg::PoseStamped current_pose;
-   if (!getRobotPose(current_pose)) {
+  if (!getRobotPose(current_pose)) {
     throw CollisionCheckerException("Robot pose unavailable.");
   }
 
@@ -207,4 +207,3 @@ void CollisionChecker::unorientFootprint(
 }
 
 }  // namespace nav2_costmap_2d
-

nav2_costmap_2d/src/costmap_2d_publisher.cpp

@@ -61,9 +61,9 @@ Costmap2DPublisher::Costmap2DPublisher(
 
   // TODO(bpwilcox): port onNewSubscription functionality for publisher
   costmap_pub_ = ros_node->create_publisher<nav_msgs::msg::OccupancyGrid>(topic_name,
-    custom_qos_profile);
+      custom_qos_profile);
   costmap_raw_pub_ = ros_node->create_publisher<nav2_msgs::msg::Costmap>(topic_name + "_raw",
-    custom_qos_profile);
+      custom_qos_profile);
   costmap_update_pub_ = ros_node->create_publisher<map_msgs::msg::OccupancyGridUpdate>(
     topic_name + "_updates", custom_qos_profile);
 
@@ -161,12 +161,12 @@ void Costmap2DPublisher::prepareCostmap()
 void Costmap2DPublisher::publishCostmap()
 {
   if (node_->count_subscribers(topic_name_) == 0 &&
-    node_->count_subscribers(topic_name_ + "_raw") == 0) 
+    node_->count_subscribers(topic_name_ + "_raw") == 0)
   {
     // No subscribers, so why do any work?
     return;
   }
-  // Always publish raw costmap 
+  // Always publish raw costmap
   prepareCostmap();
   costmap_raw_pub_->publish(costmap_raw_);
 

nav2_costmap_2d/src/costmap_subscriber.cpp

@@ -43,16 +43,16 @@ void CostmapSubscriber::toCostmap2D()
 {
   if (!costmap_received_) {
     costmap_ = new Costmap2D(
-    msg_->metadata.size_x, msg_->metadata.size_y,
-    msg_->metadata.resolution, msg_->metadata.origin.position.x,
-    msg_->metadata.origin.position.y);
+      msg_->metadata.size_x, msg_->metadata.size_y,
+      msg_->metadata.resolution, msg_->metadata.origin.position.x,
+      msg_->metadata.origin.position.y);
   } else if (costmap_->getSizeInCellsX() != msg_->metadata.size_x ||
     costmap_->getSizeInCellsY() != msg_->metadata.size_y ||
     costmap_->getResolution() != msg_->metadata.resolution ||
     costmap_->getOriginX() != msg_->metadata.origin.position.x ||
     costmap_->getOriginY() != msg_->metadata.origin.position.y)
   {
-    // Update the size of the costmap 
+    // Update the size of the costmap
     costmap_->resizeMap(msg_->metadata.size_x, msg_->metadata.size_y,
       msg_->metadata.resolution,
       msg_->metadata.origin.position.x,
@@ -61,7 +61,7 @@ void CostmapSubscriber::toCostmap2D()
 
   unsigned char * master_array = costmap_->getCharMap();
   unsigned int index = 0;
-  for (unsigned int i = 0; i <  msg_->metadata.size_x; ++i) {
+  for (unsigned int i = 0; i < msg_->metadata.size_x; ++i) {
     for (unsigned int j = 0; j < msg_->metadata.size_y; ++j) {
       master_array[index] = msg_->data[index];
       ++index;
@@ -79,4 +79,3 @@ void CostmapSubscriber::costmap_callback(const nav2_msgs::msg::Costmap::SharedPt
 }
 
 }  // namespace nav2_costmap_2d
-

nav2_costmap_2d/src/footprint_subscriber.cpp

@@ -50,4 +50,3 @@ FootprintSubscriber::footprint_callback(const geometry_msgs::msg::PolygonStamped
 }
 
 }  // namespace nav2_costmap_2d
-

nav2_costmap_2d/test/integration/test_collision_checker.cpp

@@ -72,24 +72,23 @@ class TestCollisionChecker : public nav2_costmap_2d::CollisionChecker
 
     costmap_pub_ = std::make_unique<nav2_costmap_2d::Costmap2DPublisher>(node_,
         layers_.getCostmap(), global_frame_, "costmap", true);
-    
+
     publish();
   }
 
   ~TestCollisionChecker() {}
 
-  bool testPose(double x,double y, double theta)
+  bool testPose(double x, double y, double theta)
   {
     geometry_msgs::msg::Pose2D pose;
     pose.x = x;
     pose.y = y;
     pose.theta = theta;
 
-    setPose(x,y,theta);
+    setPose(x, y, theta);
     costmap_received_ = false;
 
-    while(!costmap_received_)
-    {
+    while (!costmap_received_) {
       rclcpp::spin_some(node_);
     }
 
@@ -129,19 +128,19 @@ class TestCollisionChecker : public nav2_costmap_2d::CollisionChecker
 
   void publish()
   {
-    auto timer_callback = [this]() -> void 
-    {
-      try {
-        costmap_sub_->getCostmap();
-        costmap_received_ = true;
-      } catch (const std::runtime_error & e) {
-        costmap_received_ = false;
-      }
+    auto timer_callback = [this]() -> void
+      {
+        try {
+          costmap_sub_->getCostmap();
+          costmap_received_ = true;
+        } catch (const std::runtime_error & e) {
+          costmap_received_ = false;
+        }
         publishFootprint();
         publishCostmap();
-    };
+      };
 
-    timer_ = node_->create_wall_timer(0.1s, timer_callback);     
+    timer_ = node_->create_wall_timer(0.1s, timer_callback);
   }
 
   void publishFootprint()
@@ -180,7 +179,7 @@ class TestNode : public ::testing::Test
 
     node_ = rclcpp::Node::make_shared(
       "test_collision_checker", nav2_util::get_node_options_default());
-    
+
     tf_buffer_ = std::make_shared<tf2_ros::Buffer>(node_->get_clock());
     tf_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_);
 
@@ -189,7 +188,8 @@ class TestNode : public ::testing::Test
     costmap_sub_ = std::make_shared<nav2_costmap_2d::CostmapSubscriber>(node_, costmap_topic);
     footprint_sub_ = std::make_shared<nav2_costmap_2d::FootprintSubscriber>(node_, footprint_topic);
 
-    collision_checker_ = std::make_unique<TestCollisionChecker>(node_, costmap_sub_, footprint_sub_, *tf_buffer_);
+    collision_checker_ = std::make_unique<TestCollisionChecker>(node_, costmap_sub_, footprint_sub_,
+        *tf_buffer_);
   }
 
   ~TestNode() {}

nav2_dwb_controller/dwb_critics/CMakeLists.txt

@@ -71,14 +71,10 @@ if(BUILD_TESTING)
   # the following line skips the linter which checks for copyrights
   set(ament_cmake_copyright_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
-  find_package(ament_cmake_pytest REQUIRED)
-  find_package(ament_cmake_gtest REQUIRED)
 endif()
 
 ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
-
-
 ament_export_dependencies(
   ${dependencies}
 )