enable ReflowComments to also use ColumnLimit on comments

.clang-format

@@ -10,6 +10,6 @@ ConstructorInitializerIndentWidth: 0
 ContinuationIndentWidth: 2
 DerivePointerAlignment: false
 PointerAlignment: Middle
-ReflowComments: false
+ReflowComments: true
 IncludeBlocks: Preserve
 ...

controller_interface/include/controller_interface/chainable_controller_interface.hpp

@@ -41,7 +41,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
   virtual ~ChainableControllerInterface() = default;
 
   /**
-   * Control step update. Command interfaces are updated based on on reference inputs and current states.
+   * Control step update. Command interfaces are updated based on on reference inputs and current
+   * states.
    * **The method called in the (real-time) control loop.**
    *
    * \param[in] time The time at the start of this control loop iteration
@@ -83,7 +84,9 @@ class ChainableControllerInterface : public ControllerInterfaceBase
    *
    * \param[in] flag marking a switch to or from chained mode.
    *
-   * \returns true if controller successfully switched between "chained" and "external" mode. \default returns true so the method don't have to be overridden if controller can always switch chained mode.
+   * \returns true if controller successfully switched between "chained" and "external" mode.
+   * \default returns true so the method don't have to be overridden if controller can always switch
+   * chained mode.
    */
   virtual bool on_set_chained_mode(bool chained_mode);
 

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -74,15 +74,13 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
 
   /// Get configuration for controller's required command interfaces.
   /**
-   * Method used by the controller_manager to get the set of command interfaces used by the controller.
-   * Each controller can use individual method to determine interface names that in simples case
-   * have the following format: `<joint>/<interface>`.
-   * The method is called only in `inactive` or `active` state, i.e., `on_configure` has to be
-   * called first.
-   * The configuration is used to check if controller can be activated and to claim interfaces from
-   * hardware.
-   * The claimed interfaces are populated in the
-   * \ref ControllerInterfaceBase::command_interfaces_ "command_interfaces_" member.
+   * Method used by the controller_manager to get the set of command interfaces used by the
+   * controller. Each controller can use individual method to determine interface names that in
+   * simples case have the following format: `<joint>/<interface>`. The method is called only in
+   * `inactive` or `active` state, i.e., `on_configure` has to be called first. The configuration is
+   * used to check if controller can be activated and to claim interfaces from hardware. The claimed
+   * interfaces are populated in the \ref ControllerInterfaceBase::command_interfaces_
+   * "command_interfaces_" member.
    *
    * \returns configuration of command interfaces.
    */
@@ -131,7 +129,8 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   virtual CallbackReturn on_init() = 0;
 
   /**
-   * Control step update. Command interfaces are updated based on on reference inputs and current states.
+   * Control step update. Command interfaces are updated based on on reference inputs and current
+   * states.
    * **The method called in the (real-time) control loop.**
    *
    * \param[in] time The time at the start of this control loop iteration

controller_interface/include/controller_interface/helpers.hpp

@@ -23,19 +23,19 @@ namespace controller_interface
 {
 /// Reorder interfaces with references according to joint names or full interface names.
 /**
-  * Method to reorder and check if all expected interfaces are provided for the joint.
-  * Fill `ordered_interfaces` with references from `unordered_interfaces` in the same order as in
-  * `ordered_names`.
-  *
-  * \param[in] unordered_interfaces vector with loaned unordered state or command interfaces.
-  * \param[in] ordered_names vector with ordered names to order \p unordered_interfaces.
-  *  The valued inputs are list of joint names or interface full names.
-  *  If joint names are used for ordering, \p interface_type specifies valid interface.
-  *  If full interface names are used for ordering, \p interface_type should be empty string ("").
-  * \param[in] interface_type used for ordering interfaces with respect to joint names.
-  * \param[out] ordered_interfaces vector with ordered interfaces.
-  * \return true if all interfaces or joints in \p ordered_names are found, otherwise false.
-  */
+ * Method to reorder and check if all expected interfaces are provided for the joint.
+ * Fill `ordered_interfaces` with references from `unordered_interfaces` in the same order as in
+ * `ordered_names`.
+ *
+ * \param[in] unordered_interfaces vector with loaned unordered state or command interfaces.
+ * \param[in] ordered_names vector with ordered names to order \p unordered_interfaces.
+ *  The valued inputs are list of joint names or interface full names.
+ *  If joint names are used for ordering, \p interface_type specifies valid interface.
+ *  If full interface names are used for ordering, \p interface_type should be empty string ("").
+ * \param[in] interface_type used for ordering interfaces with respect to joint names.
+ * \param[out] ordered_interfaces vector with ordered interfaces.
+ * \return true if all interfaces or joints in \p ordered_names are found, otherwise false.
+ */
 template <typename T>
 bool get_ordered_interfaces(
   std::vector<T> & unordered_interfaces, const std::vector<std::string> & ordered_names,

controller_manager/include/controller_manager/controller_manager.hpp

@@ -318,8 +318,8 @@ class ControllerManager : public rclcpp::Node
     const std::string & command_interface);
 
   /**
-   * Clear request lists used when switching controllers. The lists are shared between "callback" and
-   * "control loop" threads.
+   * Clear request lists used when switching controllers. The lists are shared between "callback"
+   * and "control loop" threads.
    */
   void clear_requests();
 
@@ -428,23 +428,26 @@ class ControllerManager : public rclcpp::Node
      * lists match and returns a reference to it
      * This referenced list can be modified safely until switch_updated_controller_list()
      * is called, at this point the RT thread may start using it at any time
-     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by rt list
+     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by
+     * rt list
      */
     std::vector<ControllerSpec> & get_unused_list(
       const std::lock_guard<std::recursive_mutex> & guard);
 
     /// get_updated_list Returns a const reference to the most updated list.
     /**
      * \warning May or may not being used by the realtime thread, read-only reference for safety
-     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by rt list
+     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by
+     * rt list
      */
     const std::vector<ControllerSpec> & get_updated_list(
       const std::lock_guard<std::recursive_mutex> & guard) const;
 
     /**
      * switch_updated_list Switches the "updated" and "outdated" lists, and waits
      *  until the RT thread is using the new "updated" list.
-     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by rt list
+     * \param[in] guard Guard needed to make sure the caller is the only one accessing the unused by
+     * rt list
      */
     void switch_updated_list(const std::lock_guard<std::recursive_mutex> & guard);
 

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -35,8 +35,9 @@ namespace hardware_interface
 /**
  * The typical examples are conveyors or motors.
  *
- * Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
- * with the following meaning:
+ * Methods return values have type
+ * rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following
+ * meaning:
  *
  * \returns CallbackReturn::SUCCESS method execution was successful.
  * \returns CallbackReturn::FAILURE method execution has failed and and can be called again.
@@ -46,7 +47,8 @@ namespace hardware_interface
  * The hardware ends after each method in a state with the following meaning:
  *
  * UNCONFIGURED (on_init, on_cleanup):
- *   Hardware is initialized but communication is not started and therefore no interface is available.
+ *   Hardware is initialized but communication is not started and therefore no interface is
+ * available.
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.
@@ -126,12 +128,12 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    *
    * \note This is a non-realtime evaluation of whether a set of command interface claims are
    * possible, and call to start preparing data structures for the upcoming switch that will occur.
-   * \note All starting and stopping interface keys are passed to all components, so the function should
-   * return return_type::OK by default when given interface keys not relevant for this component.
-   * \param[in] start_interfaces vector of string identifiers for the command interfaces starting.
-   * \param[in] stop_interfaces vector of string identifiers for the command interfacs stopping.
-   * \return return_type::OK if the new command interface combination can be prepared,
-   * or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
+   * \note All starting and stopping interface keys are passed to all components, so the function
+   * should return return_type::OK by default when given interface keys not relevant for this
+   * component. \param[in] start_interfaces vector of string identifiers for the command interfaces
+   * starting. \param[in] stop_interfaces vector of string identifiers for the command interfacs
+   * stopping. \return return_type::OK if the new command interface combination can be prepared, or
+   * if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
    */
   virtual return_type prepare_command_mode_switch(
     const std::vector<std::string> & /*start_interfaces*/,
@@ -145,11 +147,11 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
    * Perform the mode-switching for the new command interface combination.
    *
    * \note This is part of the realtime update loop, and should be fast.
-   * \note All starting and stopping interface keys are passed to all components, so the function should
-   * return return_type::OK by default when given interface keys not relevant for this component.
-   * \param[in] start_interfaces vector of string identifiers for the command interfaces starting.
-   * \param[in] stop_interfaces vector of string identifiers for the command interfacs stopping.
-   * \return return_type::OK if the new command interface combination can be switched to,
+   * \note All starting and stopping interface keys are passed to all components, so the function
+   * should return return_type::OK by default when given interface keys not relevant for this
+   * component. \param[in] start_interfaces vector of string identifiers for the command interfaces
+   * starting. \param[in] stop_interfaces vector of string identifiers for the command interfacs
+   * stopping. \return return_type::OK if the new command interface combination can be switched to,
    * or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
    */
   virtual return_type perform_command_mode_switch(

hardware_interface/include/hardware_interface/component_parser.hpp

@@ -26,10 +26,10 @@ namespace hardware_interface
 {
 /// Search XML snippet from URDF for information about a control component.
 /**
-  * \param[in] urdf string with robot's URDF
-  * \return vector filled with information about robot's control resources
-  * \throws std::runtime_error if a robot attribute or tag is not found
-  */
+ * \param[in] urdf string with robot's URDF
+ * \return vector filled with information about robot's control resources
+ * \throws std::runtime_error if a robot attribute or tag is not found
+ */
 HARDWARE_INTERFACE_PUBLIC
 std::vector<HardwareInfo> parse_control_resources_from_urdf(const std::string & urdf);
 

hardware_interface/include/hardware_interface/resource_manager.hpp

@@ -188,8 +188,9 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
   /**
    * Return list of cached controller names that use the hardware with name \p hardware_name.
    *
-   * \param[in] hardware_name the name of the hardware for which cached controllers should be returned.
-   * \returns list of cached controller names that depend on hardware with name \p hardware_name.
+   * \param[in] hardware_name the name of the hardware for which cached controllers should be
+   * returned. \returns list of cached controller names that depend on hardware with name \p
+   * hardware_name.
    */
   std::vector<std::string> get_cached_controllers_to_hardware(const std::string & hardware_name);
 

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -35,8 +35,9 @@ namespace hardware_interface
 /**
  * The typical examples are Force-Torque Sensor (FTS), Interial Measurement Unit (IMU).
  *
- * Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
- * with the following meaning:
+ * Methods return values have type
+ * rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following
+ * meaning:
  *
  * \returns CallbackReturn::SUCCESS method execution was successful.
  * \returns CallbackReturn::FAILURE method execution has failed and and can be called again.
@@ -46,7 +47,8 @@ namespace hardware_interface
  * The hardware ends after each method in a state with the following meaning:
  *
  * UNCONFIGURED (on_init, on_cleanup):
- *   Hardware is initialized but communication is not started and therefore no interface is available.
+ *   Hardware is initialized but communication is not started and therefore no interface is
+ * available.
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -36,8 +36,9 @@ namespace hardware_interface
  * The common examples for these types of hardware are multi-joint systems with or without sensors
  * such as industrial or humanoid robots.
  *
- * Methods return values have type rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
- * with the following meaning:
+ * Methods return values have type
+ * rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn with the following
+ * meaning:
  *
  * \returns CallbackReturn::SUCCESS method execution was successful.
  * \returns CallbackReturn::FAILURE method execution has failed and and can be called again.
@@ -47,7 +48,8 @@ namespace hardware_interface
  * The hardware ends after each method in a state with the following meaning:
  *
  * UNCONFIGURED (on_init, on_cleanup):
- *   Hardware is initialized but communication is not started and therefore no interface is available.
+ *   Hardware is initialized but communication is not started and therefore no interface is
+ * available.
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.
@@ -127,12 +129,12 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \note This is a non-realtime evaluation of whether a set of command interface claims are
    * possible, and call to start preparing data structures for the upcoming switch that will occur.
-   * \note All starting and stopping interface keys are passed to all components, so the function should
-   * return return_type::OK by default when given interface keys not relevant for this component.
-   * \param[in] start_interfaces vector of string identifiers for the command interfaces starting.
-   * \param[in] stop_interfaces vector of string identifiers for the command interfacs stopping.
-   * \return return_type::OK if the new command interface combination can be prepared,
-   * or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
+   * \note All starting and stopping interface keys are passed to all components, so the function
+   * should return return_type::OK by default when given interface keys not relevant for this
+   * component. \param[in] start_interfaces vector of string identifiers for the command interfaces
+   * starting. \param[in] stop_interfaces vector of string identifiers for the command interfacs
+   * stopping. \return return_type::OK if the new command interface combination can be prepared, or
+   * if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
    */
   virtual return_type prepare_command_mode_switch(
     const std::vector<std::string> & /*start_interfaces*/,
@@ -146,11 +148,11 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    * Perform the mode-switching for the new command interface combination.
    *
    * \note This is part of the realtime update loop, and should be fast.
-   * \note All starting and stopping interface keys are passed to all components, so the function should
-   * return return_type::OK by default when given interface keys not relevant for this component.
-   * \param[in] start_interfaces vector of string identifiers for the command interfaces starting.
-   * \param[in] stop_interfaces vector of string identifiers for the command interfacs stopping.
-   * \return return_type::OK if the new command interface combination can be switched to,
+   * \note All starting and stopping interface keys are passed to all components, so the function
+   * should return return_type::OK by default when given interface keys not relevant for this
+   * component. \param[in] start_interfaces vector of string identifiers for the command interfaces
+   * starting. \param[in] stop_interfaces vector of string identifiers for the command interfacs
+   * stopping. \return return_type::OK if the new command interface combination can be switched to,
    * or if the interface key is not relevant to this system. Returns return_type::ERROR otherwise.
    */
   virtual return_type perform_command_mode_switch(

hardware_interface/src/component_parser.cpp

@@ -304,11 +304,11 @@ hardware_interface::InterfaceInfo parse_interfaces_from_xml(
 
 /// Search XML snippet from URDF for information about a control component.
 /**
-  * \param[in] component_it pointer to the iterator where component
-  * info should be found
-  * \return ComponentInfo filled with information about component
-  * \throws std::runtime_error if a component attribute or tag is not found
-  */
+ * \param[in] component_it pointer to the iterator where component
+ * info should be found
+ * \return ComponentInfo filled with information about component
+ * \throws std::runtime_error if a component attribute or tag is not found
+ */
 ComponentInfo parse_component_from_xml(const tinyxml2::XMLElement * component_it)
 {
   ComponentInfo component;
@@ -417,10 +417,10 @@ ActuatorInfo parse_transmission_actuator_from_xml(const tinyxml2::XMLElement * e
 
 /// Search XML snippet from URDF for information about a transmission.
 /**
-  * \param[in] transmission_it pointer to the iterator where transmission info should be found
-  * \return TransmissionInfo filled with information about transmission
-  * \throws std::runtime_error if an attribute or tag is not found
-  */
+ * \param[in] transmission_it pointer to the iterator where transmission info should be found
+ * \return TransmissionInfo filled with information about transmission
+ * \throws std::runtime_error if an attribute or tag is not found
+ */
 TransmissionInfo parse_transmission_from_xml(const tinyxml2::XMLElement * transmission_it)
 {
   TransmissionInfo transmission;

hardware_interface/test/test_components/test_actuator.cpp

@@ -40,7 +40,7 @@ class TestActuator : public ActuatorInterface
      * if (info_.joints[0].command_interfaces.size() != 1) {return CallbackReturn::ERROR;}
      * // can only give feedback state for position and velocity
      * if (info_.joints[0].state_interfaces.size() != 2) {return CallbackReturn::ERROR;}
-    */
+     */
 
     return CallbackReturn::SUCCESS;
   }