Fix Linting

Author: Emiliano Borghi

.travis.yml

@@ -22,7 +22,7 @@ install:
   - sudo rosdep init
   - rosdep update
   # Use rosdep to install all dependencies (including ROS itself)
-  - git clone https://github.com/RoboticaUtnFrba/i2c_imu.git $TRAVIS_BUILD_DIR/i2c_imu
+  # - git clone https://github.com/RoboticaUtnFrba/i2c_imu.git $TRAVIS_BUILD_DIR/i2c_imu
   - git clone https://github.com/RoboticaUtnFrba/libcreate.git $TRAVIS_BUILD_DIR/libcreate
   - rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO
   # Install and compile RTIMULib2
@@ -49,5 +49,6 @@ script:
   # Run tests
   - catkin_make run_tests && catkin_test_results
   # Lint package files
-  # - sudo apt-get install python-catkin-lint
-  # - catkin lint -W2 --strict --explain src
+  - sudo apt-get install python-catkin-lint
+  - catkin lint -W2 --strict --explain src/create_autonomy --ignore plugin_missing_install --ignore missing_depend --ignore target_name_collision
+  - catkin_make roslint

ca_bringup/package.xml

@@ -2,7 +2,7 @@
 <package format="2">
   <name>ca_bringup</name>
   <version>0.0.0</version>
-  <description>The ca_bringup package</description>
+  <description>ca_bringup spawns the nodes that the real robot uses</description>
 
   <maintainer email="[email protected]">Emiliano Borghi</maintainer>
 

ca_bumper2pc/CMakeLists.txt

@@ -1,26 +1,32 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_bumper2pc)
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
+  ca_msgs
   nodelet
   pluginlib
-  ca_msgs
+  roscpp
+  roslint
   sensor_msgs
 )
 
 catkin_package(
    INCLUDE_DIRS include
-   LIBRARIES ca_bumper2pc_nodelet
-   CATKIN_DEPENDS roscpp nodelet pluginlib sensor_msgs ca_msgs
+   LIBRARIES ${PROJECT_NAME}_nodelet
+   CATKIN_DEPENDS
+        ca_msgs
+        nodelet
+        pluginlib
+        roscpp
+        sensor_msgs
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS})
 
-add_library(ca_bumper2pc_nodelet src/ca_bumper2pc.cpp)
-add_dependencies(ca_bumper2pc_nodelet ${catkin_EXPORTED_TARGETS})
-target_link_libraries(ca_bumper2pc_nodelet ${catkin_LIBRARIES})
+add_library(${PROJECT_NAME}_nodelet src/${PROJECT_NAME}.cpp)
+add_dependencies(${PROJECT_NAME}_nodelet ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES})
 
-install(TARGETS ca_bumper2pc_nodelet
+install(TARGETS ${PROJECT_NAME}_nodelet
         DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 install(DIRECTORY include/${PROJECT_NAME}/
@@ -32,3 +38,6 @@ install(DIRECTORY plugins
 install(DIRECTORY launch
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+set(ROSLINT_CPP_OPTS "--filter=-build/c++11")
+roslint_cpp()

ca_bumper2pc/include/ca_bumper2pc/ca_bumper2pc.hpp

@@ -68,9 +68,9 @@ class Bumper2PcNodelet : public nodelet::Nodelet
 {
 public:
   Bumper2PcNodelet()
-    : P_INF_X(+100*sin(0.34906585)),
-      P_INF_Y(+100*cos(0.34906585)),
-      N_INF_Y(-100*cos(0.34906585)),
+    : P_INF_X(+100 * sin(0.34906585)),
+      P_INF_Y(+100 * cos(0.34906585)),
+      N_INF_Y(-100 * cos(0.34906585)),
       ZERO(0), prev_bumper(0), prev_cliff(0) { }
   ~Bumper2PcNodelet() { }
 
@@ -94,7 +94,7 @@ class Bumper2PcNodelet : public nodelet::Nodelet
   ros::Publisher  pointcloud_pub_;
   ros::Subscriber cliff_event_subscriber_ ;
   ros::Subscriber bumper_event_subscriber_;
-   
+
   sensor_msgs::PointCloud2 pointcloud_;
 
   /**
@@ -105,6 +105,6 @@ class Bumper2PcNodelet : public nodelet::Nodelet
   void cliffSensorCB(const ca_msgs::Cliff::ConstPtr& msg_cliff);
 };
 
-} // namespace create_bumper2pc
+}   // namespace create_bumper2pc
 
 #endif // _CA_BUMPER2PC_HPP_

ca_bumper2pc/package.xml

@@ -15,16 +15,17 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
+  <build_depend>ca_msgs</build_depend>
   <build_depend>nodelet</build_depend>
   <build_depend>pluginlib</build_depend>
-  <build_depend>ca_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>roslint</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
-  <run_depend>roscpp</run_depend>
+  <run_depend>ca_msgs</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>pluginlib</run_depend>
-  <run_depend>ca_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
 
   <export>

ca_bumper2pc/src/ca_bumper2pc.cpp

@@ -3,7 +3,7 @@
  *
  * @brief Bumper to pointcloud nodelet class implementation.
  *
- * 
+ * Copyright 2020
  *
  **/
 
@@ -15,6 +15,8 @@
 
 #include "ca_bumper2pc/ca_bumper2pc.hpp"
 
+#include <string>
+
 namespace create_bumper2pc
 {
 
@@ -23,13 +25,14 @@ void Bumper2PcNodelet::bumperSensorCB(const ca_msgs::Bumper::ConstPtr& msg_bump)
   if (pointcloud_pub_.getNumSubscribers() == 0)
     return;
 
-  // We publish just one "no events" pc (with all three points far away) and stop spamming when bumper/cliff conditions disappear
-  if (! (msg_bump->is_left_pressed || msg_bump->is_right_pressed) && ! prev_bumper)
+  // We publish just one "no events" pc (with all three points far away)
+  // and stop spamming when bumper/cliff conditions disappear
+  if (!(msg_bump->is_left_pressed || msg_bump->is_right_pressed) && !prev_bumper)
     return;
 
   prev_bumper = msg_bump->is_left_pressed || msg_bump->is_right_pressed;
 
-  // For any of {left/center/right} with no bumper/cliff event, we publish a faraway point that won't get used 
+  // For any of {left/center/right} with no bumper/cliff event, we publish a faraway point that won't get used
   if (msg_bump->is_left_pressed && !(msg_bump->is_right_pressed))
   {
     memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[0].offset], &p_side_x_, sizeof(float));
@@ -50,7 +53,7 @@ void Bumper2PcNodelet::bumperSensorCB(const ca_msgs::Bumper::ConstPtr& msg_bump)
     memcpy(&pointcloud_.data[1 * pointcloud_.point_step + pointcloud_.fields[0].offset], &P_INF_X, sizeof(float));
   }
 
-  if (msg_bump->is_right_pressed && !(msg_bump->is_left_pressed))     
+  if (msg_bump->is_right_pressed && !(msg_bump->is_left_pressed))
   {
     memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[0].offset], &p_side_x_, sizeof(float));
     memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[1].offset], &n_side_y_, sizeof(float));
@@ -71,15 +74,22 @@ void Bumper2PcNodelet::cliffSensorCB(const ca_msgs::Cliff::ConstPtr& msg_cliff)
   if (pointcloud_pub_.getNumSubscribers() == 0)
     return;
 
-  // We publish just one "no events" pc (with all three points far away) and stop spamming when bumper/cliff conditions disappear
-  if ( !(msg_cliff->is_cliff_left || msg_cliff->is_cliff_front_left || msg_cliff->is_cliff_front_right || msg_cliff->is_cliff_right)
-	 && !prev_cliff)
+  // We publish just one "no events" pc (with all three points far away)
+  // and stop spamming when bumper/cliff conditions disappear
+  if (!(msg_cliff->is_cliff_left ||
+        msg_cliff->is_cliff_front_left ||
+        msg_cliff->is_cliff_front_right ||
+        msg_cliff->is_cliff_right)
+      && !prev_cliff)
     return;
 
-  prev_cliff  = msg_cliff->is_cliff_left || msg_cliff->is_cliff_front_left || msg_cliff->is_cliff_front_right || msg_cliff->is_cliff_right;
+  prev_cliff  = msg_cliff->is_cliff_left ||
+                msg_cliff->is_cliff_front_left ||
+                msg_cliff->is_cliff_front_right ||
+                msg_cliff->is_cliff_right;
+
 
-  
-  // For any of {left/center/right} with no bumper/cliff event, we publish a faraway point that won't get used 
+  // For any of {left/center/right} with no bumper/cliff event, we publish a faraway point that won't get used
   if (msg_cliff->is_cliff_left)
   {
     memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[0].offset], &p_side_x_, sizeof(float));
@@ -126,15 +136,17 @@ void Bumper2PcNodelet::onInit()
   // them will probably fail.
   std::string base_link_frame;
   double r, h, angle;
-  nh.param("pointcloud_radius", r, 0.25); pc_radius_ = r;
-  nh.param("pointcloud_height", h, 0.04); pc_height_ = h;
-  nh.param("side_point_angle", angle, 0.34906585); 
+  nh.param("pointcloud_radius", r, 0.25);
+  pc_radius_ = r;
+  nh.param("pointcloud_height", h, 0.04);
+  pc_height_ = h;
+  nh.param("side_point_angle", angle, 0.34906585);
   nh.param<std::string>("base_link_frame", base_link_frame, "/base_link");
 
   // Lateral points x/y coordinates; we need to store float values to memcopy later
-  p_side_x_ = + pc_radius_*sin(angle); // angle degrees from vertical
-  p_side_y_ = + pc_radius_*cos(angle); // angle degrees from vertical
-  n_side_y_ = - pc_radius_*cos(angle); // angle degrees from vertical
+  p_side_x_ = + pc_radius_ * sin(angle);  // angle degrees from vertical
+  p_side_y_ = + pc_radius_ * cos(angle);  // angle degrees from vertical
+  n_side_y_ = - pc_radius_ * cos(angle);  // angle degrees from vertical
 
   // Prepare constant parts of the pointcloud message to be  published
   pointcloud_.header.frame_id = base_link_frame;
@@ -180,7 +192,7 @@ void Bumper2PcNodelet::onInit()
   ROS_INFO("Bumper/cliff pointcloud configured at distance %f and height %f from base frame", pc_radius_, pc_height_);
 }
 
-} // namespace create_bumper2pc
+}  // namespace create_bumper2pc
 
 
 PLUGINLIB_EXPORT_CLASS(create_bumper2pc::Bumper2PcNodelet, nodelet::Nodelet);

ca_description/CMakeLists.txt

@@ -10,6 +10,12 @@ catkin_package()
 
 roslaunch_add_file_check(launch)
 
+install(DIRECTORY scripts/
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+        USE_SOURCE_PERMISSIONS
+        PATTERN ".svn" EXCLUDE
+)
+
 install(
   DIRECTORY launch meshes urdf
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

ca_description/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>roslaunch</build_depend>
+  <build_depend>tf</build_depend>
 
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

ca_driver/CMakeLists.txt

@@ -3,15 +3,15 @@ project(ca_driver)
 
 add_compile_options(-std=c++11)
 
-find_package(libcreate REQUIRED)
-
 find_package(catkin REQUIRED COMPONENTS
   ca_msgs
   diagnostic_msgs
   diagnostic_updater
   geometry_msgs
+  libcreate
   nav_msgs
   roscpp
+  roslint
   sensor_msgs
   std_msgs
   tf
@@ -24,17 +24,16 @@ catkin_package(
     diagnostic_msgs
     diagnostic_updater
     geometry_msgs
+    libcreate
     nav_msgs
     roscpp
     sensor_msgs
     std_msgs
     tf
-  DEPENDS libcreate
 )
 
 include_directories(
   include
-  ${libcreate_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -58,6 +57,9 @@ install(DIRECTORY include
   FILES_MATCHING PATTERN "*.h"
 )
 
-install(DIRECTORY launch config
+install(DIRECTORY config launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
+
+set(ROSLINT_CPP_OPTS "--filter=-build/c++11, -runtime/references")
+roslint_cpp()