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ros-controls · Sep 21, 2023 · 5b8f573 · 5b8f573
1 parent de2d3c9
commit 5b8f573
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Showing 4 changed files with 10 additions and 14 deletions.
diff --git a/example_11/bringup/config/carlikebot_controllers.yaml b/example_11/bringup/config/carlikebot_controllers.yaml
@@ -29,4 +29,3 @@ ackermann_steering_controller:
     rear_wheel_track: 0.2
     front_wheels_radius: 0.05
     rear_wheels_radius: 0.05
-
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -110,13 +110,13 @@ def generate_launch_description():
             on_exit=[robot_ackermann_controller_spawner],
         )
     )
-    
-    # the steering controller libraries by default publish odometry on a seperate topic than /tf
+
+    # the steering controller libraries by default publish odometry on a separate topic than /tf
     relay_topic_to_tf_node = Node(
-        package='topic_tools',
-        executable='relay',
-        arguments=['/ackermann_steering_controller/tf_odometry', '/tf'],
-        output='screen',
+        package="topic_tools",
+        executable="relay",
+        arguments=["/ackermann_steering_controller/tf_odometry", "/tf"],
+        output="screen",
     )
 
     nodes = [

diff --git a/example_11/hardware/carlikebot_system.cpp b/example_11/hardware/carlikebot_system.cpp
@@ -55,9 +55,8 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
     if (joint_is_steering)
     {
       RCLCPP_INFO(
-        rclcpp::get_logger("CarlikeBotSystemHardware"),
-        "Joint '%s' is a steering joint.", joint.name.c_str()
-      );
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Joint '%s' is a steering joint.",
+        joint.name.c_str());
 
       if (joint.command_interfaces.size() != 1)
       {
@@ -98,9 +97,8 @@ hardware_interface::CallbackReturn CarlikeBotSystemHardware::on_init(
     else
     {
       RCLCPP_INFO(
-        rclcpp::get_logger("CarlikeBotSystemHardware"),
-        "Joint '%s' is a drive joint.", joint.name.c_str()
-      );
+        rclcpp::get_logger("CarlikeBotSystemHardware"), "Joint '%s' is a drive joint.",
+        joint.name.c_str());
 
       // Drive joints have a velocity command interface and velocity and position state interface
       if (joint.command_interfaces.size() != 1)

diff --git a/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp b/example_11/hardware/include/ros2_control_demo_example_11/carlikebot_system.hpp
@@ -68,7 +68,6 @@ class CarlikeBotSystemHardware : public hardware_interface::SystemInterface
     const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
 private:
-
   // Parameters for the CarlikeBot simulation
   double hw_start_sec_;
   double hw_stop_sec_;