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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_;