clang formatting

src/perception/radar_object_detection/radar_vis/include/radar_vis.hpp

@@ -2,23 +2,21 @@
 #define RADAR_VIS_HPP_
 
 #include <string>
+
+#include "radar_msgs/msg/radar_detection.hpp"
+#include "radar_msgs/msg/radar_packet.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 #include "sensor_msgs/msg/point_field.hpp"
 
-#include "radar_msgs/msg/radar_packet.hpp"
-#include "radar_msgs/msg/radar_detection.hpp"
-
-namespace visualization
-{
+namespace visualization {
 
-class RadarVis
-{
-public:
+class RadarVis {
+ public:
   RadarVis();
 
   sensor_msgs::msg::PointCloud2 convert_packet_to_pointcloud(
-    const radar_msgs::msg::RadarPacket::SharedPtr msg);
+      const radar_msgs::msg::RadarPacket::SharedPtr msg);
 };
 
 }  // namespace visualization

src/perception/radar_object_detection/radar_vis/include/radar_vis_node.hpp

@@ -1,41 +1,42 @@
 #ifndef RADAR_VIS_NODE_HPP_
 #define RADAR_VIS_NODE_HPP_
 
+#include "radar_msgs/msg/radar_detection.hpp"
+#include "radar_msgs/msg/radar_packet.hpp"
+#include "radar_vis.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 #include "sensor_msgs/msg/point_field.hpp"
 
-#include "radar_msgs/msg/radar_packet.hpp"
-#include "radar_msgs/msg/radar_detection.hpp"
-
-#include "radar_vis.hpp"
-
 /**
-* @brief Implementation of a Radar visualization node that listens to "processed" topic
-*/
-class RadarVisNode : public rclcpp::Node
-{
-public:
+ * @brief Implementation of a Radar visualization node that listens to
+ * "processed" topic
+ */
+class RadarVisNode : public rclcpp::Node {
+ public:
   RadarVisNode();
 
   /**
-  * @brief A ROS2 subscription node callback used to unpack filtered radar data from the "processed"
-  *    topic. The callback listens to radar packets on this topic and processes them
-  *    in order to visualize them in tools like foxglove and RViz.
-  *
-  * @param msg a raw message from the "processed" topic
-  */
+   * @brief A ROS2 subscription node callback used to unpack filtered radar data
+   * from the "processed" topic. The callback listens to radar packets on this
+   * topic and processes them in order to visualize them in tools like foxglove
+   * and RViz.
+   *
+   * @param msg a raw message from the "processed" topic
+   */
   void process_radar_data_callback(
-    const radar_msgs::msg::RadarPacket::SharedPtr msg);
+      const radar_msgs::msg::RadarPacket::SharedPtr msg);
 
-private:
+ private:
   // ROS2 Subscriber listening to "processed" topic.
   rclcpp::Subscription<radar_msgs::msg::RadarPacket>::SharedPtr raw_sub_;
 
-  // ROS2 Publisher that sends point cloud data to "visualization" topic for foxglove/Rviz.
+  // ROS2 Publisher that sends point cloud data to "visualization" topic for
+  // foxglove/Rviz.
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr raw_pub_;
 
-  // An object containing methods for converting radar packets into point clouds.
+  // An object containing methods for converting radar packets into point
+  // clouds.
   visualization::RadarVis packet_converter_;
 };
 

src/perception/radar_object_detection/radar_vis/src/radar_vis.cpp

@@ -1,19 +1,16 @@
-#include <algorithm>
+#include "radar_vis.hpp"
 
-#include "rclcpp/rclcpp.hpp"
+#include <algorithm>
 
 #include "radar_vis_node.hpp"
-#include "radar_vis.hpp"
+#include "rclcpp/rclcpp.hpp"
 
-namespace visualization
-{
+namespace visualization {
 
-RadarVis::RadarVis()
-{}
+RadarVis::RadarVis() {}
 
 sensor_msgs::msg::PointCloud2 RadarVis::convert_packet_to_pointcloud(
-  const radar_msgs::msg::RadarPacket::SharedPtr msg)
-{
+    const radar_msgs::msg::RadarPacket::SharedPtr msg) {
   std::string radar_frame = "radar_fixed";
   sensor_msgs::msg::PointCloud2 point_cloud;
   sensor_msgs::msg::PointField point_field;
@@ -50,7 +47,7 @@ sensor_msgs::msg::PointCloud2 RadarVis::convert_packet_to_pointcloud(
   point_cloud.fields.push_back(point_field);
 
   // Convert data to 4 bytes (little endian)
-  uint8_t * tmp_ptr;
+  uint8_t *tmp_ptr;
   for (uint8_t index = 0; index < msg->detections.size(); index++) {
     // Position X - Point Cloud Conversion
     tmp_ptr = reinterpret_cast<uint8_t *>(&(msg->detections[index].pos_x));

src/perception/radar_object_detection/radar_vis/src/radar_vis_node.cpp

@@ -1,29 +1,27 @@
+#include "radar_vis_node.hpp"
+
 #include <memory>
 
-#include "radar_vis_node.hpp"
 #include "radar_vis.hpp"
 
-RadarVisNode::RadarVisNode()
-: Node("radar_vis")
-{
+RadarVisNode::RadarVisNode() : Node("radar_vis") {
   raw_sub_ = this->create_subscription<radar_msgs::msg::RadarPacket>(
-    "processed",
-    1, std::bind(
-      &RadarVisNode::process_radar_data_callback,
-      this, std::placeholders::_1));
-  raw_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("visualization", 20);
+      "processed", 1,
+      std::bind(&RadarVisNode::process_radar_data_callback, this,
+                std::placeholders::_1));
+  raw_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>(
+      "visualization", 20);
 }
 
 void RadarVisNode::process_radar_data_callback(
-  const radar_msgs::msg::RadarPacket::SharedPtr msg)
-{
+    const radar_msgs::msg::RadarPacket::SharedPtr msg) {
   sensor_msgs::msg::PointCloud2 publish_packet_point_cloud;
-  publish_packet_point_cloud = packet_converter_.convert_packet_to_pointcloud(msg);
+  publish_packet_point_cloud =
+      packet_converter_.convert_packet_to_pointcloud(msg);
   raw_pub_->publish(publish_packet_point_cloud);
 }
 
-int main(int argc, char ** argv)
-{
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   rclcpp::spin(std::make_shared<RadarVisNode>());
   rclcpp::shutdown();

src/perception/radar_object_detection/radar_vis/test/radar_vis_test.cpp

@@ -1,15 +1,13 @@
+#include "radar_vis.hpp"
+
 #include <memory>
 #include <string>
 
 #include "gtest/gtest.h"
-#include "rclcpp/rclcpp.hpp"
-
-#include "radar_vis.hpp"
 #include "radar_vis_node.hpp"
+#include "rclcpp/rclcpp.hpp"
 
-
-TEST(RadarVisNodeTest, CheckConvertPacketToPointCloud)
-{
+TEST(RadarVisNodeTest, CheckConvertPacketToPointCloud) {
   visualization::RadarVis test_vis;
   auto msg = std::make_shared<radar_msgs::msg::RadarPacket>();
   radar_msgs::msg::RadarDetection msg_detection;
@@ -46,7 +44,8 @@ TEST(RadarVisNodeTest, CheckConvertPacketToPointCloud)
   EXPECT_EQ(test_point_cloud.fields[3].name, "intensity");
   EXPECT_EQ(test_point_cloud.fields[3].offset, 12);
 
-  // Little Endian Conversion (32 bit float into 4 bytes; each 4 bytes represents one point field)
+  // Little Endian Conversion (32 bit float into 4 bytes; each 4 bytes
+  // represents one point field)
 
   // Position X
   EXPECT_EQ(test_point_cloud.data[0], 0);

watod-config.sh

@@ -12,7 +12,7 @@
 ##	 - simulation			:	starts simulation
 ##   - samples             	:   starts sample ROS2 pubsub nodes
 
-# ACTIVE_MODULES=""
+ACTIVE_MODULES="perception"
 
 ############################## OPTIONAL CONFIGURATIONS ##############################
 ## Name to append to docker containers. DEFAULT = "<your_watcloud_username>"