style(pre-commit): autofix

common/component_interface_utils/include/component_interface_utils/rclcpp.hpp

@@ -94,8 +94,7 @@ class NodeAdaptor
     C & cli, S & srv, CallbackGroup group, std::optional<double> timeout = std::nullopt) const
   {
     init_cli(cli);
-    init_srv(
-      srv, [cli, timeout](auto req, auto res) { *res = *cli->call(req, timeout); }, group);
+    init_srv(srv, [cli, timeout](auto req, auto res) { *res = *cli->call(req, timeout); }, group);
   }
 
   /// Create a subscription wrapper.

common/motion_utils/test/src/trajectory/test_trajectory.cpp

@@ -5379,8 +5379,7 @@ TEST(Trajectory, removeInvalidOrientationPoints)
   auto traj = generateTestTrajectory<Trajectory>(10, 1.0, 1.0);
 
   // no invalid points
-  testRemoveInvalidOrientationPoints(
-    traj, [](Trajectory &) {}, traj.points.size());
+  testRemoveInvalidOrientationPoints(traj, [](Trajectory &) {}, traj.points.size());
 
   // invalid point at the end
   testRemoveInvalidOrientationPoints(

common/tensorrt_common/src/simple_profiler.cpp

@@ -96,15 +96,10 @@ std::ostream & operator<<(std::ostream & out, SimpleProfiler & value)
   {
     out << "index, " << std::setw(12);
     out << std::setw(maxLayerNameLength) << layerNameStr << " ";
-    out << std::setw(12) << "Runtime"
-        << "%,"
-        << " ";
-    out << std::setw(12) << "Invocations"
-        << " , ";
-    out << std::setw(12) << "Runtime[ms]"
-        << " , ";
-    out << std::setw(12) << "Avg Runtime[ms]"
-        << " ,";
+    out << std::setw(12) << "Runtime" << "%," << " ";
+    out << std::setw(12) << "Invocations" << " , ";
+    out << std::setw(12) << "Runtime[ms]" << " , ";
+    out << std::setw(12) << "Avg Runtime[ms]" << " ,";
     out << std::setw(12) << "Min Runtime[ms]" << std::endl;
   }
   int index = value.m_index;
@@ -114,8 +109,7 @@ std::ostream & operator<<(std::ostream & out, SimpleProfiler & value)
         out << i << ",   ";
         out << std::setw(maxLayerNameLength) << elem.first << ",";
         out << std::setw(12) << std::fixed << std::setprecision(1)
-            << (elem.second.time * 100.0F / totalTime) << "%"
-            << ",";
+            << (elem.second.time * 100.0F / totalTime) << "%" << ",";
         out << std::setw(12) << elem.second.count << ",";
         out << std::setw(12) << std::fixed << std::setprecision(2) << elem.second.time << ", ";
         out << std::setw(12) << std::fixed << std::setprecision(2)

common/tensorrt_common/src/tensorrt_common.cpp

@@ -302,8 +302,7 @@ void TrtCommon::printNetworkInfo(const std::string & onnx_file_path)
       total_gflops += gflops;
       total_params += num_weights;
       std::cout << "L" << i << " [conv " << k_dims.d[0] << "x" << k_dims.d[1] << " (" << groups
-                << ") "
-                << "/" << s_dims.d[0] << "] " << dim_in.d[3] << "x" << dim_in.d[2] << "x"
+                << ") " << "/" << s_dims.d[0] << "] " << dim_in.d[3] << "x" << dim_in.d[2] << "x"
                 << dim_in.d[1] << " -> " << dim_out.d[3] << "x" << dim_out.d[2] << "x"
                 << dim_out.d[1];
       std::cout << " weights:" << num_weights;
@@ -368,8 +367,7 @@ bool TrtCommon::buildEngineFromOnnx(
     if (num_available_dla > 0) {
       std::cout << "###" << num_available_dla << " DLAs are supported! ###" << std::endl;
     } else {
-      std::cout << "###Warning : "
-                << "No DLA is supported! ###" << std::endl;
+      std::cout << "###Warning : " << "No DLA is supported! ###" << std::endl;
     }
     config->setDefaultDeviceType(nvinfer1::DeviceType::kDLA);
     config->setDLACore(build_config_->dla_core_id);

evaluator/kinematic_evaluator/include/kinematic_evaluator/parameters.hpp

@@ -27,7 +27,7 @@ namespace kinematic_diagnostics
 struct Parameters
 {
   std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{};  // default values to false
-};                                                                // struct Parameters
+};  // struct Parameters
 
 }  // namespace kinematic_diagnostics
 

evaluator/kinematic_evaluator/test/test_kinematic_evaluator_node.cpp

@@ -67,9 +67,7 @@ class EvalTest : public ::testing::Test
     tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(dummy_node);
   }
 
-  ~EvalTest() override
-  { /*rclcpp::shutdown();*/
-  }
+  ~EvalTest() override { /*rclcpp::shutdown();*/ }
 
   void setTargetMetric(kinematic_diagnostics::Metric metric)
   {

evaluator/localization_evaluator/include/localization_evaluator/parameters.hpp

@@ -27,7 +27,7 @@ namespace localization_diagnostics
 struct Parameters
 {
   std::array<bool, static_cast<size_t>(Metric::SIZE)> metrics{};  // default values to false
-};                                                                // struct Parameters
+};  // struct Parameters
 
 }  // namespace localization_diagnostics
 

launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -501,9 +501,11 @@ def launch_setup(context, *args, **kwargs):
     components.extend(
         pipeline.create_single_frame_obstacle_segmentation_components(
             input_topic=LaunchConfiguration("input/pointcloud"),
-            output_topic=pipeline.single_frame_obstacle_seg_output
-            if pipeline.use_single_frame_filter or pipeline.use_time_series_filter
-            else pipeline.output_topic,
+            output_topic=(
+                pipeline.single_frame_obstacle_seg_output
+                if pipeline.use_single_frame_filter or pipeline.use_time_series_filter
+                else pipeline.output_topic
+            ),
         )
     )
 
@@ -512,18 +514,20 @@ def launch_setup(context, *args, **kwargs):
         components.extend(
             pipeline.create_single_frame_outlier_filter_components(
                 input_topic=pipeline.single_frame_obstacle_seg_output,
-                output_topic=relay_topic
-                if pipeline.use_time_series_filter
-                else pipeline.output_topic,
+                output_topic=(
+                    relay_topic if pipeline.use_time_series_filter else pipeline.output_topic
+                ),
                 context=context,
             )
         )
     if pipeline.use_time_series_filter:
         components.extend(
             pipeline.create_time_series_outlier_filter_components(
-                input_topic=relay_topic
-                if pipeline.use_single_frame_filter
-                else pipeline.single_frame_obstacle_seg_output,
+                input_topic=(
+                    relay_topic
+                    if pipeline.use_single_frame_filter
+                    else pipeline.single_frame_obstacle_seg_output
+                ),
                 output_topic=pipeline.output_topic,
             )
         )

perception/image_projection_based_fusion/src/roi_pointcloud_fusion/node.cpp

@@ -41,14 +41,14 @@ RoiPointCloudFusionNode::RoiPointCloudFusionNode(const rclcpp::NodeOptions & opt
   cluster_debug_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("debug/clusters", 1);
 }
 
-void RoiPointCloudFusionNode::preprocess(__attribute__((unused))
-                                         sensor_msgs::msg::PointCloud2 & pointcloud_msg)
+void RoiPointCloudFusionNode::preprocess(
+  __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
 {
   return;
 }
 
-void RoiPointCloudFusionNode::postprocess(__attribute__((unused))
-                                          sensor_msgs::msg::PointCloud2 & pointcloud_msg)
+void RoiPointCloudFusionNode::postprocess(
+  __attribute__((unused)) sensor_msgs::msg::PointCloud2 & pointcloud_msg)
 {
   const auto objects_sub_count = pub_objects_ptr_->get_subscription_count() +
                                  pub_objects_ptr_->get_intra_process_subscription_count();

perception/tensorrt_yolox/src/tensorrt_yolox.cpp

@@ -956,7 +956,7 @@ void TrtYoloX::generateYoloxProposals(
         objects.push_back(obj);
       }
     }  // class loop
-  }    // point anchor loop
+  }  // point anchor loop
 }
 
 void TrtYoloX::qsortDescentInplace(ObjectArray & face_objects, int left, int right) const

planning/behavior_path_avoidance_module/src/debug.cpp

@@ -257,8 +257,7 @@ MarkerArray createEgoStatusMarkerArray(
     std::ostringstream string_stream;
     string_stream << std::fixed << std::setprecision(2) << std::boolalpha;
     string_stream << "avoid_req:" << data.avoid_required << ","
-                  << "yield_req:" << data.yield_required << ","
-                  << "safe:" << data.safe;
+                  << "yield_req:" << data.yield_required << "," << "safe:" << data.safe;
     marker.text = string_stream.str();
 
     msg.markers.push_back(marker);

planning/behavior_path_planner/src/planner_manager.cpp

@@ -953,15 +953,13 @@ void PlannerManager::print() const
   string_stream << "\n";
   string_stream << "approved modules  : ";
   for (const auto & m : approved_module_ptrs_) {
-    string_stream << "[" << m->name() << "(" << get_status(m) << ")"
-                  << "]->";
+    string_stream << "[" << m->name() << "(" << get_status(m) << ")" << "]->";
   }
 
   string_stream << "\n";
   string_stream << "candidate module  : ";
   for (const auto & m : candidate_module_ptrs_) {
-    string_stream << "[" << m->name() << "(" << get_status(m) << ")"
-                  << "]->";
+    string_stream << "[" << m->name() << "(" << get_status(m) << ")" << "]->";
   }
 
   string_stream << "\n";

planning/freespace_planning_algorithms/test/src/test_freespace_planning_algorithms.cpp

@@ -306,8 +306,7 @@ bool test_algorithm(enum AlgorithmType algo_type, bool dump_rosbag = false)
       cost = algo->getWaypoints().compute_length();
     }
 
-    std::cout << "plan success : " << msec << "[msec]"
-              << ", solution cost : " << cost << std::endl;
+    std::cout << "plan success : " << msec << "[msec]" << ", solution cost : " << cost << std::endl;
     const auto result = algo->getWaypoints();
     geometry_msgs::msg::PoseArray trajectory;
     for (const auto & pose : result.waypoints) {

planning/mission_planner/src/lanelet2_plugins/default_planner.cpp

@@ -391,8 +391,7 @@ PlannerPlugin::LaneletRoute DefaultPlanner::plan(const RoutePoints & points)
 
   std::stringstream log_ss;
   for (const auto & point : points) {
-    log_ss << "x: " << point.position.x << " "
-           << "y: " << point.position.y << std::endl;
+    log_ss << "x: " << point.position.x << " " << "y: " << point.position.y << std::endl;
   }
   RCLCPP_DEBUG_STREAM(
     logger, "start planning route with check points: " << std::endl

planning/sampling_based_planner/frenet_planner/include/frenet_planner/structures.hpp

@@ -141,8 +141,7 @@ struct Trajectory : sampler_common::Trajectory
 inline std::ostream & operator<<(std::ostream & os, const SamplingParameter & sp)
 {
   const auto & s = sp.target_state;
-  return os << "["
-            << "T=" << sp.target_duration << ", s=" << s.position.s << ", d=" << s.position.d
+  return os << "[" << "T=" << sp.target_duration << ", s=" << s.position.s << ", d=" << s.position.d
             << ", s'=" << s.longitudinal_velocity << ", d'=" << s.lateral_velocity
             << ", s\"=" << s.longitudinal_acceleration << ", d\"=" << s.lateral_acceleration << "]";
 }

planning/sampling_based_planner/path_sampler/src/node.cpp

@@ -421,8 +421,7 @@ std::vector<TrajectoryPoint> PathSampler::generatePath(const PlannerData & plann
         size_t reuse_idx = 0;
         for (reuse_idx = 0; reuse_idx + 1 < prev_path_->lengths.size() &&
                             prev_path_->lengths[reuse_idx] < reuse_length;
-             ++reuse_idx)
-          ;
+             ++reuse_idx);
         if (reuse_idx == 0UL) continue;
         const auto reused_path = *prev_path_->subset(0UL, reuse_idx);
         reuse_state.curvature = reused_path.curvatures.back();

sensing/pointcloud_preprocessor/src/passthrough_filter/passthrough_uint16.cpp

@@ -242,7 +242,7 @@ void pcl::PassThroughUInt16<pcl::PCLPointCloud2>::applyFilter(PCLPointCloud2 & o
         nr_p++;
       }
       output.width = nr_p;
-    }       // !keep_organized_
+    }  // !keep_organized_
   } else {  // No distance filtering, process all data.
             // No need to check for is_organized here as we did it above
     for (int cp = 0; cp < nr_points; ++cp, xyz_offset += input_->point_step) {

sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp

@@ -226,9 +226,7 @@ void Lanelet2MapFilterComponent::pointcloudCallback(const PointCloud2ConstPtr cl
   if (!transformPointCloud("map", cloud_msg, input_transformed_cloud_ptr.get())) {
     RCLCPP_ERROR_STREAM_THROTTLE(
       this->get_logger(), *this->get_clock(), std::chrono::milliseconds(10000).count(),
-      "Failed transform from "
-        << "map"
-        << " to " << cloud_msg->header.frame_id);
+      "Failed transform from " << "map" << " to " << cloud_msg->header.frame_id);
     return;
   }
   pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

sensing/tier4_pcl_extensions/include/tier4_pcl_extensions/voxel_grid_nearest_centroid_impl.hpp

@@ -221,7 +221,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)
             &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
           centroid[centroid_size - 3] = static_cast<float>((rgb >> 16) & 0x0000ff);
           centroid[centroid_size - 2] = static_cast<float>((rgb >> 8) & 0x0000ff);
-          centroid[centroid_size - 1] = static_cast<float>((rgb)&0x0000ff);
+          centroid[centroid_size - 1] = static_cast<float>((rgb) & 0x0000ff);
         }
         pcl::for_each_type<FieldList>(
           NdCopyPointEigenFunctor<PointT>(input_->points[cp], centroid));
@@ -272,7 +272,7 @@ void pcl::VoxelGridNearestCentroid<PointT>::applyFilter(PointCloud & output)
             &rgb, reinterpret_cast<const char *>(&input_->points[cp]) + rgba_index, sizeof(int));
           centroid[centroid_size - 3] = static_cast<float>((rgb >> 16) & 0x0000ff);
           centroid[centroid_size - 2] = static_cast<float>((rgb >> 8) & 0x0000ff);
-          centroid[centroid_size - 1] = static_cast<float>((rgb)&0x0000ff);
+          centroid[centroid_size - 1] = static_cast<float>((rgb) & 0x0000ff);
         }
         pcl::for_each_type<FieldList>(
           NdCopyPointEigenFunctor<PointT>(input_->points[cp], centroid));

system/system_monitor/include/system_monitor/cpu_monitor/raspi_cpu_monitor.hpp

@@ -35,16 +35,16 @@
 
 #define raspiThermalThrottlingMask (raspiCurrentlyThrottled | raspiSoftTemperatureLimitActive)
 
-#define throttledToString(X)                                                            \
-  (((X)&raspiUnderVoltageDetected)              ? "Under-voltage detected"              \
-   : ((X)&raspiArmFrequencyCapped)              ? "Arm frequency capped"                \
-   : ((X)&raspiCurrentlyThrottled)              ? "Currently throttled"                 \
-   : ((X)&raspiSoftTemperatureLimitActive)      ? "Soft temperature limit active"       \
-   : ((X)&raspiUnderVoltageHasOccurred)         ? "Under-voltage has occurred"          \
-   : ((X)&raspiArmFrequencyCappedHasOccurred)   ? "Arm frequency capped has occurred"   \
-   : ((X)&raspiThrottlingHasOccurred)           ? "Throttling has occurred"             \
-   : ((X)&raspiSoftTemperatureLimitHasOccurred) ? "Soft temperature limit has occurred" \
-                                                : "UNKNOWN")
+#define throttledToString(X)                                                              \
+  (((X) & raspiUnderVoltageDetected)              ? "Under-voltage detected"              \
+   : ((X) & raspiArmFrequencyCapped)              ? "Arm frequency capped"                \
+   : ((X) & raspiCurrentlyThrottled)              ? "Currently throttled"                 \
+   : ((X) & raspiSoftTemperatureLimitActive)      ? "Soft temperature limit active"       \
+   : ((X) & raspiUnderVoltageHasOccurred)         ? "Under-voltage has occurred"          \
+   : ((X) & raspiArmFrequencyCappedHasOccurred)   ? "Arm frequency capped has occurred"   \
+   : ((X) & raspiThrottlingHasOccurred)           ? "Throttling has occurred"             \
+   : ((X) & raspiSoftTemperatureLimitHasOccurred) ? "Soft temperature limit has occurred" \
+                                                  : "UNKNOWN")
 
 class CPUMonitor : public CPUMonitorBase
 {

system/system_monitor/include/system_monitor/gpu_monitor/nvml_gpu_monitor.hpp

@@ -29,17 +29,17 @@
 #include <string>
 #include <vector>
 
-#define reasonToString(X)                                                                  \
-  (((X)&nvmlClocksThrottleReasonGpuIdle)                     ? "GpuIdle"                   \
-   : ((X)&nvmlClocksThrottleReasonApplicationsClocksSetting) ? "ApplicationsClocksSetting" \
-   : ((X)&nvmlClocksThrottleReasonSwPowerCap)                ? "SwPowerCap"                \
-   : ((X)&nvmlClocksThrottleReasonHwSlowdown)                ? "HwSlowdown"                \
-   : ((X)&nvmlClocksThrottleReasonSyncBoost)                 ? "SyncBoost"                 \
-   : ((X)&nvmlClocksThrottleReasonSwThermalSlowdown)         ? "SwThermalSlowdown"         \
-   : ((X)&nvmlClocksThrottleReasonHwThermalSlowdown)         ? "HwThermalSlowdown"         \
-   : ((X)&nvmlClocksThrottleReasonHwPowerBrakeSlowdown)      ? "HwPowerBrakeSlowdown"      \
-   : ((X)&nvmlClocksThrottleReasonDisplayClockSetting)       ? "DisplayClockSetting"       \
-                                                             : "UNKNOWN")
+#define reasonToString(X)                                                                    \
+  (((X) & nvmlClocksThrottleReasonGpuIdle)                     ? "GpuIdle"                   \
+   : ((X) & nvmlClocksThrottleReasonApplicationsClocksSetting) ? "ApplicationsClocksSetting" \
+   : ((X) & nvmlClocksThrottleReasonSwPowerCap)                ? "SwPowerCap"                \
+   : ((X) & nvmlClocksThrottleReasonHwSlowdown)                ? "HwSlowdown"                \
+   : ((X) & nvmlClocksThrottleReasonSyncBoost)                 ? "SyncBoost"                 \
+   : ((X) & nvmlClocksThrottleReasonSwThermalSlowdown)         ? "SwThermalSlowdown"         \
+   : ((X) & nvmlClocksThrottleReasonHwThermalSlowdown)         ? "HwThermalSlowdown"         \
+   : ((X) & nvmlClocksThrottleReasonHwPowerBrakeSlowdown)      ? "HwPowerBrakeSlowdown"      \
+   : ((X) & nvmlClocksThrottleReasonDisplayClockSetting)       ? "DisplayClockSetting"       \
+                                                               : "UNKNOWN")
 
 /**
  * @brief GPU information

vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -286,15 +286,14 @@ void AccelBrakeMapCalibrator::timerCallback()
     "map updating... count: " << update_success_count_ << " / " << update_count_ << "\n\t"
                               << "lack_of_data_count: " << lack_of_data_count_ << "\n\t"
                               << " failed_to_get_pitch_count: " << failed_to_get_pitch_count_
+                              << "\n\t" << "too_large_pitch_count: " << too_large_pitch_count_
+                              << "\n\t" << " too_low_speed_count: " << too_low_speed_count_
+                              << "\n\t" << "too_large_steer_count: " << too_large_steer_count_
+                              << "\n\t" << "too_large_jerk_count: " << too_large_jerk_count_
+                              << "\n\t" << "invalid_acc_brake_count: " << invalid_acc_brake_count_
                               << "\n\t"
-                              << "too_large_pitch_count: " << too_large_pitch_count_ << "\n\t"
-                              << " too_low_speed_count: " << too_low_speed_count_ << "\n\t"
-                              << "too_large_steer_count: " << too_large_steer_count_ << "\n\t"
-                              << "too_large_jerk_count: " << too_large_jerk_count_ << "\n\t"
-                              << "invalid_acc_brake_count: " << invalid_acc_brake_count_ << "\n\t"
                               << "too_large_pedal_spd_count: " << too_large_pedal_spd_count_
-                              << "\n\t"
-                              << "update_fail_count_: " << update_fail_count_ << "\n");
+                              << "\n\t" << "update_fail_count_: " << update_fail_count_ << "\n");
 
   /* valid check */
 
@@ -1031,8 +1030,7 @@ bool AccelBrakeMapCalibrator::updateEachValOffset(
   RCLCPP_DEBUG_STREAM(
     get_logger(), "index: " << ped_idx << ", " << vel_idx
                             << ": map_offset_ = " << map_offset_vec_.at(ped_idx).at(vel_idx)
-                            << " -> " << map_offset << "\t"
-                            << " covariance = " << covariance);
+                            << " -> " << map_offset << "\t" << " covariance = " << covariance);
 
   /* input calculated result and update map */
   map_offset_vec_.at(ped_idx).at(vel_idx) = map_offset;
@@ -1060,8 +1058,7 @@ void AccelBrakeMapCalibrator::updateTotalMapOffset(const double measured_acc, co
   map_offset_ = map_offset_ + coef * error_map_offset;
 
   RCLCPP_DEBUG_STREAM(
-    get_logger(), "map_offset_ = " << map_offset_ << "\t"
-                                   << "covariance = " << covariance_);
+    get_logger(), "map_offset_ = " << map_offset_ << "\t" << "covariance = " << covariance_);
 
   /* update map */
   for (std::size_t ped_idx = 0; ped_idx < update_accel_map_value_.size() - 1; ped_idx++) {