fix roslint (#29)

ros-perception · May 1, 2019 · 458958e · 458958e
1 parent ead0804
commit 458958e
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Showing 3 changed files with 212 additions and 211 deletions.
diff --git a/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h b/include/pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet.h
@@ -38,62 +38,60 @@
  * Author: Paul Bovbel
  */
 
-#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
-#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
-
-#include "ros/ros.h"
-#include "boost/thread/mutex.hpp"
-
-#include "nodelet/nodelet.h"
-#include "tf2_ros/buffer.h"
-#include "tf2_ros/transform_listener.h"
-#include "tf2_ros/message_filter.h"
-#include "message_filters/subscriber.h"
-#include "sensor_msgs/PointCloud2.h"
-
+#ifndef POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H
+#define POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H
+
+#include <boost/thread/mutex.hpp>
+#include <message_filters/subscriber.h>
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <string>
+#include <tf2_ros/buffer.h>
+#include <tf2_ros/message_filter.h>
+#include <tf2_ros/transform_listener.h>
 
 namespace pointcloud_to_laserscan
 {
-  typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
+typedef tf2_ros::MessageFilter<sensor_msgs::PointCloud2> MessageFilter;
 /**
 * Class to process incoming pointclouds into laserscans. Some initial code was pulled from the defunct turtlebot
 * pointcloud_to_laserscan implementation.
 */
-  class PointCloudToLaserScanNodelet : public nodelet::Nodelet
-  {
-
-  public:
-    PointCloudToLaserScanNodelet();
+class PointCloudToLaserScanNodelet : public nodelet::Nodelet
+{
+public:
+  PointCloudToLaserScanNodelet();
 
-  private:
-    virtual void onInit();
+private:
+  virtual void onInit();
 
-    void cloudCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg);
-    void failureCb(const sensor_msgs::PointCloud2ConstPtr &cloud_msg,
-        tf2_ros::filter_failure_reasons::FilterFailureReason reason);
+  void cloudCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg);
+  void failureCb(const sensor_msgs::PointCloud2ConstPtr& cloud_msg,
+                 tf2_ros::filter_failure_reasons::FilterFailureReason reason);
 
-    void connectCb();
+  void connectCb();
 
-    void disconnectCb();
+  void disconnectCb();
 
-    ros::NodeHandle nh_, private_nh_;
-    ros::Publisher pub_;
-    boost::mutex connect_mutex_;
+  ros::NodeHandle nh_, private_nh_;
+  ros::Publisher pub_;
+  boost::mutex connect_mutex_;
 
-    boost::shared_ptr<tf2_ros::Buffer> tf2_;
-    boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
-    message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
-    boost::shared_ptr<MessageFilter> message_filter_;
+  boost::shared_ptr<tf2_ros::Buffer> tf2_;
+  boost::shared_ptr<tf2_ros::TransformListener> tf2_listener_;
+  message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
+  boost::shared_ptr<MessageFilter> message_filter_;
 
-    // ROS Parameters
-    unsigned int input_queue_size_;
-    std::string target_frame_;
-    double tolerance_;
-    double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
-    bool use_inf_;
-    double inf_epsilon_;
-  };
+  // ROS Parameters
+  unsigned int input_queue_size_;
+  std::string target_frame_;
+  double tolerance_;
+  double min_height_, max_height_, angle_min_, angle_max_, angle_increment_, scan_time_, range_min_, range_max_;
+  bool use_inf_;
+  double inf_epsilon_;
+};
 
-}  // pointcloud_to_laserscan
+}  // namespace pointcloud_to_laserscan
 
-#endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET
+#endif  // POINTCLOUD_TO_LASERSCAN_POINTCLOUD_TO_LASERSCAN_NODELET_H
diff --git a/src/pointcloud_to_laserscan_node.cpp b/src/pointcloud_to_laserscan_node.cpp
@@ -38,10 +38,12 @@
  * Author: Paul Bovbel
  */
 
-#include <ros/ros.h>
 #include <nodelet/loader.h>
+#include <ros/ros.h>
+#include <string>
 
-int main(int argc, char **argv){
+int main(int argc, char** argv)
+{
   ros::init(argc, argv, "pointcloud_to_laserscan_node");
   ros::NodeHandle private_nh("~");
   int concurrency_level;
@@ -54,12 +56,14 @@ int main(int argc, char **argv){
   nodelet.load(nodelet_name, "pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet", remap, nargv);
 
   boost::shared_ptr<ros::MultiThreadedSpinner> spinner;
-  if(concurrency_level) {
+  if (concurrency_level)
+  {
     spinner.reset(new ros::MultiThreadedSpinner(concurrency_level));
-  }else{
+  }
+  else
+  {
     spinner.reset(new ros::MultiThreadedSpinner());
   }
   spinner->spin();
   return 0;
-
 }