Bump codespell to 2.3.0, Fix various typos in cpp/h files, Sort codes…

…pell_words (#2937)

.codespell_words

@@ -1,19 +1,19 @@
+aas
 ang
 ans
 atleast
 ba
+brin
 dof
 dur
 iff
 keyserver
 nto
 ot
+padd
 parameterizes
 planed
+sinic
 tork
 uint
 whis
-sinic
-padd
-brin
-aas

.pre-commit-config.yaml

@@ -47,7 +47,7 @@ repos:
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']

moveit_core/distance_field/include/moveit/distance_field/find_internal_points.h

@@ -48,7 +48,7 @@ namespace distance_field
  *
  * @param [in] body The body to discretize
  * @param [in] resolution The resolution at which to test
- * @param [out] points The points internal to the body are appended to thiss
+ * @param [out] points The points internal to the body are appended to this
  *                   vector.
  */
 void findInternalPointsConvex(const bodies::Body& body, double resolution, EigenSTL::vector_Vector3d& points);

moveit_core/online_signal_smoothing/include/moveit/online_signal_smoothing/butterworth_filter.h

@@ -60,7 +60,7 @@ namespace online_signal_smoothing
  * It comes from finding the bilinear transform equivalent of the analog transfer function and
  * further applying the inverse z-transform.
  * The parameter "low_pass_filter_coeff" equals (2*pi / tan(omega_d * T))
- * where omega_d is the cutoff frequency and T is the samping period in sec.
+ * where omega_d is the cutoff frequency and T is the sampling period in sec.
  */
 class ButterworthFilter
 {
@@ -69,7 +69,7 @@ class ButterworthFilter
    * Constructor.
    * @param low_pass_filter_coeff Larger filter_coeff-> more smoothing of commands, but more lag.
    * low_pass_filter_coeff = (2*pi / tan(omega_d * T))
-   * where omega_d is the cutoff frequency and T is the samping period in sec.
+   * where omega_d is the cutoff frequency and T is the sampling period in sec.
    */
   ButterworthFilter(double low_pass_filter_coeff);
   ButterworthFilter() = delete;

moveit_planners/pilz_industrial_motion_planner/src/trajectory_blender_transition_window.cpp

@@ -274,7 +274,7 @@ bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::searchIn
   // (last point of the first trajectory, first point of the second trajectory)
   Eigen::Isometry3d circ_pose = req.first_trajectory->getLastWayPoint().getFrameTransform(req.link_name);
 
-  // Searh for intersection points according to distance
+  // Search for intersection points according to distance
   if (!linearSearchIntersectionPoint(req.link_name, circ_pose.translation(), req.blend_radius, req.first_trajectory,
                                      true, first_interse_index))
   {

moveit_ros/planning/planning_scene_monitor/src/planning_scene_monitor.cpp

@@ -866,7 +866,7 @@ void PlanningSceneMonitor::excludeRobotLinksFromOctree()
   bool warned = false;
   for (const moveit::core::LinkModel* link : links)
   {
-    std::vector<shapes::ShapeConstPtr> shapes = link->getShapes();  // copy shared ptrs on purpuse
+    std::vector<shapes::ShapeConstPtr> shapes = link->getShapes();  // copy shared ptrs on purpose
     for (std::size_t j = 0; j < shapes.size(); ++j)
     {
       // merge mesh vertices up to 0.1 mm apart

moveit_ros/planning_interface/move_group_interface/include/moveit/move_group_interface/move_group_interface.h

@@ -103,7 +103,7 @@ class MOVEIT_MOVE_GROUP_INTERFACE_EXPORT MoveGroupInterface
 
   MOVEIT_STRUCT_FORWARD(Plan);
 
-  /// The representation of a motion plan (as ROS messasges)
+  /// The representation of a motion plan (as ROS messages)
   struct Plan
   {
     /// The full starting state used for planning

moveit_setup_assistant/moveit_setup_controllers/src/controllers_widget.cpp

@@ -355,7 +355,7 @@ void ControllersWidget::deleteController()
   // Delete actual controller
   if (setup_step_->deleteController(controller_name))
   {
-    RCLCPP_INFO_STREAM(setup_step_->getLogger(), "Controller " << controller_name << " deleted succefully");
+    RCLCPP_INFO_STREAM(setup_step_->getLogger(), "Controller " << controller_name << " deleted successfully");
   }
   else
   {

moveit_setup_assistant/moveit_setup_srdf_plugins/src/robot_poses.cpp

@@ -51,7 +51,7 @@ void RobotPoses::onInit()
   // Set the planning scene
   // srdf_config_->getPlanningScene()->setName("MoveIt Planning Scene");
 
-  // Collision Detection initializtion -------------------------------
+  // Collision Detection initialization -------------------------------
 
   // Setup the request
   request_.contacts = true;