linting

depth_image_proc/src/convert_metric.cpp

@@ -67,23 +67,21 @@ ConvertMetricNode::ConvertMetricNode(const rclcpp::NodeOptions & options)
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo&)
+ [this](rclcpp::MatchedInfo &)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (pub_depth_.getNumSubscribers() == 0)
- {
+ if (pub_depth_.getNumSubscribers() == 0) {
  sub_raw_.shutdown();
- }
- else if (!sub_raw_)
- {
+ } else if (!sub_raw_) {
  image_transport::TransportHints hints(this, "raw");
  sub_raw_ = image_transport::create_subscription(
  this, "image_raw",
  std::bind(&ConvertMetricNode::depthCb, this, std::placeholders::_1),
  hints.getTransport());
  }
  };
- pub_depth_ = image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
+ pub_depth_ =
+ image_transport::create_publisher(this, "image", rmw_qos_profile_default, pub_options);
 }
 
 void ConvertMetricNode::depthCb(const sensor_msgs::msg::Image::ConstSharedPtr & raw_msg)

depth_image_proc/src/point_cloud_xyz.cpp

@@ -57,22 +57,21 @@ PointCloudXyzNode::PointCloudXyzNode(const rclcpp::NodeOptions & options)
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.shutdown();
- }
- else if (!sub_depth_)
- {
+ } else if (!sub_depth_) {
  auto custom_qos = rmw_qos_profile_system_default;
  custom_qos.depth = queue_size_;
 
  sub_depth_ = image_transport::create_camera_subscription(
  this,
  "image_rect",
- std::bind(&PointCloudXyzNode::depthCb, this, std::placeholders::_1, std::placeholders::_2),
+ std::bind(
+ &PointCloudXyzNode::depthCb, this, std::placeholders::_1,
+ std::placeholders::_2),
  "raw",
  custom_qos);
  }

depth_image_proc/src/point_cloud_xyz_radial.cpp

@@ -56,15 +56,12 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.shutdown();
- }
- else if (!sub_depth_)
- {
+ } else if (!sub_depth_) {
  auto custom_qos = rmw_qos_profile_system_default;
  custom_qos.depth = queue_size_;
 
@@ -76,9 +73,10 @@ PointCloudXyzRadialNode::PointCloudXyzRadialNode(const rclcpp::NodeOptions & opt
  std::placeholders::_2),
  "raw",
  custom_qos);
-  }
+ }
  };
- pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);
+ pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(
+ "points", rclcpp::SensorDataQoS(), pub_options);
 }
 
 void PointCloudXyzRadialNode::depthCb(

depth_image_proc/src/point_cloud_xyzi.cpp

@@ -74,17 +74,14 @@ PointCloudXyziNode::PointCloudXyziNode(const rclcpp::NodeOptions & options)
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.unsubscribe();
  sub_intensity_.unsubscribe();
  sub_info_.unsubscribe();
- }
- else if (!sub_depth_.getSubscriber())
- {
+ } else if (!sub_depth_.getSubscriber()) {
  // parameter for depth_image_transport hint
  std::string depth_image_transport_param = "depth_image_transport";
 

depth_image_proc/src/point_cloud_xyzi_radial.cpp

@@ -72,17 +72,14 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.unsubscribe();
  sub_intensity_.unsubscribe();
  sub_info_.unsubscribe();
- }
- else if (!sub_depth_.getSubscriber())
- {
+ } else if (!sub_depth_.getSubscriber()) {
  // parameter for depth_image_transport hint
  std::string depth_image_transport_param = "depth_image_transport";
 
@@ -96,7 +93,8 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
  sub_info_.subscribe(this, "intensity/camera_info");
  }
  };
- pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);
+ pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(
+ "points", rclcpp::SensorDataQoS(), pub_options);
 }
 
 void PointCloudXyziRadialNode::imageCb(

depth_image_proc/src/point_cloud_xyzrgb.cpp

@@ -83,17 +83,14 @@ PointCloudXyzrgbNode::PointCloudXyzrgbNode(const rclcpp::NodeOptions & options)
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.unsubscribe();
  sub_rgb_.unsubscribe();
  sub_info_.unsubscribe();
- }
- else if (!sub_depth_.getSubscriber())
- {
+ } else if (!sub_depth_.getSubscriber()) {
  // parameter for depth_image_transport hint
  std::string depth_image_transport_param = "depth_image_transport";
  image_transport::TransportHints depth_hints(this, "raw", depth_image_transport_param);

depth_image_proc/src/point_cloud_xyzrgb_radial.cpp

@@ -87,17 +87,14 @@ PointCloudXyzrgbRadialNode::PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo& s)
+ [this](rclcpp::MatchedInfo & s)
  {
  std::lock_guard<std::mutex> lock(connect_mutex_);
- if (s.current_count == 0)
- {
+ if (s.current_count == 0) {
  sub_depth_.unsubscribe();
  sub_rgb_.unsubscribe();
  sub_info_.unsubscribe();
- }
- else if (!sub_depth_.getSubscriber())
- {
+ } else if (!sub_depth_.getSubscriber()) {
  // parameter for depth_image_transport hint
  std::string depth_image_transport_param = "depth_image_transport";
  image_transport::TransportHints depth_hints(this, "raw", depth_image_transport_param);

image_proc/src/crop_decimate.cpp

@@ -130,17 +130,14 @@ CropDecimateNode::CropDecimateNode(const rclcpp::NodeOptions & options)
  // Create image pub with connection callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo&)
+ [this](rclcpp::MatchedInfo &)
  {
- if (pub_.getNumSubscribers() == 0)
- {
+ if (pub_.getNumSubscribers() == 0) {
  sub_.shutdown();
- }
- else if (!sub_)
- {
+ } else if (!sub_) {
  auto qos_profile = getTopicQosProfile(this, "in/image_raw");
  sub_ = image_transport::create_camera_subscription(
-  this, "in/image_raw", std::bind(
+ this, "in/image_raw", std::bind(
  &CropDecimateNode::imageCb, this,
  std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
  }

image_proc/src/debayer.cpp

@@ -56,20 +56,17 @@ DebayerNode::DebayerNode(const rclcpp::NodeOptions & options)
  // Create publisher options to setup callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo&)
+ [this](rclcpp::MatchedInfo &)
  {
- if (pub_mono_.getNumSubscribers() == 0 && pub_color_.getNumSubscribers() == 0)
- {
+ if (pub_mono_.getNumSubscribers() == 0 && pub_color_.getNumSubscribers() == 0) {
  sub_raw_.shutdown();
- }
- else if (!sub_raw_)
- {
+ } else if (!sub_raw_) {
  auto qos_profile = getTopicQosProfile(this, "image_raw");
  sub_raw_ = image_transport::create_subscription(
-  this, "image_raw",
-  std::bind(
-  &DebayerNode::imageCb, this,
-  std::placeholders::_1), "raw", qos_profile);
+ this, "image_raw",
+ std::bind(
+ &DebayerNode::imageCb, this,
+ std::placeholders::_1), "raw", qos_profile);
  }
  };
  pub_mono_ = image_transport::create_publisher(this, "image_mono", qos_profile, pub_options);

image_proc/src/rectify.cpp

@@ -58,19 +58,16 @@ RectifyNode::RectifyNode(const rclcpp::NodeOptions & options)
  // Create publisher with connect callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo&)
+ [this](rclcpp::MatchedInfo &)
  {
- if (pub_rect_.getNumSubscribers() == 0)
- {
+ if (pub_rect_.getNumSubscribers() == 0) {
  sub_camera_.shutdown();
- }
- else if (!sub_camera_)
- {
+ } else if (!sub_camera_) {
  auto qos_profile = getTopicQosProfile(this, "image");
  sub_camera_ = image_transport::create_camera_subscription(
  this, "image", std::bind(
- &RectifyNode::imageCb,
- this, std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
+  &RectifyNode::imageCb,
+  this, std::placeholders::_1, std::placeholders::_2), "raw", qos_profile);
  }
  };
  pub_rect_ = image_transport::create_publisher(this, "image_rect", qos_profile, pub_options);

image_proc/src/resize.cpp

@@ -55,14 +55,11 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
  // Create image pub with connection callback
  rclcpp::PublisherOptions pub_options;
  pub_options.event_callbacks.matched_callback =
- [this](rclcpp::MatchedInfo&)
+ [this](rclcpp::MatchedInfo &)
  {
- if (pub_image_.getNumSubscribers() == 0)
- {
+ if (pub_image_.getNumSubscribers() == 0) {
  sub_image_.shutdown();
- }
- else if (!sub_image_)
- {
+ } else if (!sub_image_) {
  auto qos_profile = getTopicQosProfile(this, "image/image_raw");
  sub_image_ = image_transport::create_camera_subscription(
  this, "image/image_raw",
@@ -72,7 +69,8 @@ ResizeNode::ResizeNode(const rclcpp::NodeOptions & options)
  std::placeholders::_2), "raw", qos_profile);
  }
  };
- pub_image_ = image_transport::create_camera_publisher(this, "resize/image_raw", qos_profile, pub_options);
+ pub_image_ = image_transport::create_camera_publisher(
+ this, "resize/image_raw", qos_profile, pub_options);
 
  interpolation_ = this->declare_parameter("interpolation", 1);
  use_scale_ = this->declare_parameter("use_scale", true);