style(pre-commit): autofix

autowarefoundation · May 31, 2024 · b9fb1f6 · b9fb1f6
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Showing 4 changed files with 27 additions and 24 deletions.
diff --git a/localization/gyro_odometer/README.md b/localization/gyro_odometer/README.md
@@ -39,13 +39,13 @@
 
 <img src="./media/diagnostic.png" alt="drawing" width="600"/>
 
-| Name                      | Description                                        | Transition condition to Warning | Transition condition to Error |
-| ------------------------- | -------------------------------------------------- | ------------------------------- | ----------------------------- |
-| `topic_time_stamp` | the time stamp of service calling. [nano second]                 | none                            | none                          |
-| `is_arrived_first_vehicle_twist`            | whether the vehicle twist topic has been received even once.  | not arrive yet                            | none                          |
-| `is_arrived_first_imu`      | whether the imu topic has been received even once.    | not arrive yet                            | none                          |
-| `vehicle_twist_time_stamp_dt`      |  the time difference between the current time and the latest vehicle twist topic. [second] | none                            |    the time is **longer** than `message_timeout_sec`                       |
-| `imu_time_stamp_dt`      |  the time difference between the current time and the latest imu topic. [second] | none                            |    the time is **longer** than `message_timeout_sec`                       |
-| `vehicle_twist_queue_size`      |  the size of vehicle_twist_queue.  | none                            |    none                       |
-| `imu_queue_size`      |  the size of gyro_queue.  | none                            |    none                       |
-| `is_succeed_transform_imu`      |  whether transform imu is succeed or not.  | none                            |    failed                       |
+| Name                             | Description                                                                               | Transition condition to Warning | Transition condition to Error                     |
+| -------------------------------- | ----------------------------------------------------------------------------------------- | ------------------------------- | ------------------------------------------------- |
+| `topic_time_stamp`               | the time stamp of service calling. [nano second]                                          | none                            | none                                              |
+| `is_arrived_first_vehicle_twist` | whether the vehicle twist topic has been received even once.                              | not arrive yet                  | none                                              |
+| `is_arrived_first_imu`           | whether the imu topic has been received even once.                                        | not arrive yet                  | none                                              |
+| `vehicle_twist_time_stamp_dt`    | the time difference between the current time and the latest vehicle twist topic. [second] | none                            | the time is **longer** than `message_timeout_sec` |
+| `imu_time_stamp_dt`              | the time difference between the current time and the latest imu topic. [second]           | none                            | the time is **longer** than `message_timeout_sec` |
+| `vehicle_twist_queue_size`       | the size of vehicle_twist_queue.                                                          | none                            | none                                              |
+| `imu_queue_size`                 | the size of gyro_queue.                                                                   | none                            | none                                              |
+| `is_succeed_transform_imu`       | whether transform imu is succeed or not.                                                  | none                            | failed                                            |
diff --git a/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp b/localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp
@@ -16,7 +16,6 @@
 #define GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_
 
 #include "gyro_odometer/diagnostics_module.hpp"
-
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 #include "tier4_autoware_utils/ros/msg_covariance.hpp"
 #include "tier4_autoware_utils/ros/transform_listener.hpp"

diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml
@@ -17,8 +17,8 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>fmt</depend>
   <depend>diagnostic_msgs</depend>
+  <depend>fmt</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

diff --git a/localization/gyro_odometer/src/gyro_odometer_core.cpp b/localization/gyro_odometer/src/gyro_odometer_core.cpp
@@ -25,8 +25,8 @@
 
 #include <cmath>
 #include <memory>
-#include <string>
 #include <sstream>
+#include <string>
 
 namespace autoware::gyro_odometer
 {
@@ -84,7 +84,8 @@ void GyroOdometerNode::callbackVehicleTwist(
   const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr)
 {
   diagnostics_->clear();
-  diagnostics_->addKeyValue("topic_time_stamp", static_cast<rclcpp::Time>(vehicle_twist_ptr->header.stamp).nanoseconds());
+  diagnostics_->addKeyValue(
+    "topic_time_stamp", static_cast<rclcpp::Time>(vehicle_twist_ptr->header.stamp).nanoseconds());
 
   vehicle_twist_arrived_ = true;
   latest_vehicle_twist_rostime_ = vehicle_twist_ptr->header.stamp;
@@ -94,11 +95,11 @@ void GyroOdometerNode::callbackVehicleTwist(
   diagnostics_->publish();
 }
 
-
 void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
 {
   diagnostics_->clear();
-  diagnostics_->addKeyValue("topic_time_stamp", static_cast<rclcpp::Time>(imu_msg_ptr->header.stamp).nanoseconds());
+  diagnostics_->addKeyValue(
+    "topic_time_stamp", static_cast<rclcpp::Time>(imu_msg_ptr->header.stamp).nanoseconds());
 
   imu_arrived_ = true;
   latest_imu_rostime_ = imu_msg_ptr->header.stamp;
@@ -108,7 +109,6 @@ void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr i
   diagnostics_->publish();
 }
 
-
 void GyroOdometerNode::concatGyroAndOdometer()
 {
   // check arrive first topic
@@ -118,7 +118,8 @@ void GyroOdometerNode::concatGyroAndOdometer()
     std::stringstream message;
     message << "Twist msg is not subscribed";
     RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str());
-    diagnostics_->updateLevelAndMessage(diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
+    diagnostics_->updateLevelAndMessage(
+      diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
 
     vehicle_twist_queue_.clear();
     gyro_queue_.clear();
@@ -128,7 +129,8 @@ void GyroOdometerNode::concatGyroAndOdometer()
     std::stringstream message;
     message << "Imu msg is not subscribed";
     RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str());
-    diagnostics_->updateLevelAndMessage(diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
+    diagnostics_->updateLevelAndMessage(
+      diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
 
     vehicle_twist_queue_.clear();
     gyro_queue_.clear();
@@ -142,7 +144,8 @@ void GyroOdometerNode::concatGyroAndOdometer()
   diagnostics_->addKeyValue("imu_time_stamp_dt", imu_dt);
   if (vehicle_twist_dt > message_timeout_sec_) {
     const std::string message = fmt::format(
-      "Vehicle twist msg is timeout. vehicle_twist_dt: {}[sec], tolerance {}[sec]", vehicle_twist_dt, message_timeout_sec_);
+      "Vehicle twist msg is timeout. vehicle_twist_dt: {}[sec], tolerance {}[sec]",
+      vehicle_twist_dt, message_timeout_sec_);
     RCLCPP_ERROR_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message);
     diagnostics_->updateLevelAndMessage(diagnostic_msgs::msg::DiagnosticStatus::ERROR, message);
 
@@ -181,9 +184,11 @@ void GyroOdometerNode::concatGyroAndOdometer()
   diagnostics_->addKeyValue("is_succeed_transform_imu", is_succeed_transform_imu);
   if (!is_succeed_transform_imu) {
     std::stringstream message;
-    message << "Please publish TF " << output_frame_ << " to " << gyro_queue_.front().header.frame_id;
+    message << "Please publish TF " << output_frame_ << " to "
+            << gyro_queue_.front().header.frame_id;
     RCLCPP_ERROR_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 1000, message.str());
-    diagnostics_->updateLevelAndMessage(diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str());
+    diagnostics_->updateLevelAndMessage(
+      diagnostic_msgs::msg::DiagnosticStatus::ERROR, message.str());
 
     vehicle_twist_queue_.clear();
     gyro_queue_.clear();
@@ -202,8 +207,7 @@ void GyroOdometerNode::concatGyroAndOdometer()
 
     gyro.header.frame_id = output_frame_;
     gyro.angular_velocity = transformed_angular_velocity.vector;
-    gyro.angular_velocity_covariance =
-      transformCovariance(gyro.angular_velocity_covariance);
+    gyro.angular_velocity_covariance = transformCovariance(gyro.angular_velocity_covariance);
   }
 
   using COV_IDX_XYZ = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;