From a3769159c162a25f203f5b47644830458c5baacd Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 28 Jun 2024 12:09:47 +0000
Subject: [PATCH] style(pre-commit): autofix

---
 .../occupancy_grid_based_validator.param.yaml |  2 +-
 .../launch/object_lanelet_filter.launch.xml   | 20 ++++-----
 .../launch/object_position_filter.launch.xml  | 16 +++----
 ...acle_pointcloud_based_validator.launch.xml | 20 ++++-----
 .../occupancy_grid_based_validator.launch.xml | 44 +++++++++----------
 ...occupancy_grid_based_validator.schema.json |  5 +--
 6 files changed, 52 insertions(+), 55 deletions(-)

diff --git a/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml b/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
index 073c148b21910..710a4bf6963d9 100644
--- a/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
+++ b/perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml
@@ -2,4 +2,4 @@
   ros__parameters:
     mean_threshold: 0.6
     enable_debug: false
-    
+
diff --git a/perception/detected_object_validation/launch/object_lanelet_filter.launch.xml b/perception/detected_object_validation/launch/object_lanelet_filter.launch.xml
index 8f16fbc7ed57e..e159399a702bf 100644
--- a/perception/detected_object_validation/launch/object_lanelet_filter.launch.xml
+++ b/perception/detected_object_validation/launch/object_lanelet_filter.launch.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml" />
-	<arg name="vector_map_topic" default="/map/vector_map" />
-	<arg name="input/object" default="in_objects" />
-	<arg name="output/object" default="out_objects" />
-	<node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen">
-		<remap from="input/vector_map" to="$(var vector_map_topic)" />
-		<remap from="input/object" to="$(var input/object)" />
-		<remap from="output/object" to="$(var output/object)" />
-		<param from="$(var object_lanelet_filter_param_file)" />
-	</node>
+  <arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
+  <arg name="vector_map_topic" default="/map/vector_map"/>
+  <arg name="input/object" default="in_objects"/>
+  <arg name="output/object" default="out_objects"/>
+  <node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen">
+    <remap from="input/vector_map" to="$(var vector_map_topic)"/>
+    <remap from="input/object" to="$(var input/object)"/>
+    <remap from="output/object" to="$(var output/object)"/>
+    <param from="$(var object_lanelet_filter_param_file)"/>
+  </node>
 </launch>
diff --git a/perception/detected_object_validation/launch/object_position_filter.launch.xml b/perception/detected_object_validation/launch/object_position_filter.launch.xml
index a744aab94661b..8d0376ea15e6b 100644
--- a/perception/detected_object_validation/launch/object_position_filter.launch.xml
+++ b/perception/detected_object_validation/launch/object_position_filter.launch.xml
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml" />
-	<arg name="input/object" default="in_objects" />
-	<arg name="output/object" default="out_objects" />
-	<node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen">
-		<remap from="input/object" to="$(var input/object)" />
-		<remap from="output/object" to="$(var output/object)" />
-		<param from="$(var object_position_filter_param_file)" />
-	</node>
+  <arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
+  <arg name="input/object" default="in_objects"/>
+  <arg name="output/object" default="out_objects"/>
+  <node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen">
+    <remap from="input/object" to="$(var input/object)"/>
+    <remap from="output/object" to="$(var output/object)"/>
+    <param from="$(var object_position_filter_param_file)"/>
+  </node>
 </launch>
diff --git a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
index fe5690699ac42..07a6bfbdb901d 100644
--- a/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml" />
-	<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" />
-	<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud" />
-	<arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects" />
-	<node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen">
-		<remap from="~/input/detected_objects" to="$(var input/detected_objects)" />
-		<remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)" />
-		<remap from="~/output/objects" to="$(var output/objects)" />
-		<param from="$(var obstacle_pointcloud_based_validator_param_file)" />
-	</node>
+  <arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml"/>
+  <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/>
+  <arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
+  <arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects"/>
+  <node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen">
+    <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
+    <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/>
+    <remap from="~/output/objects" to="$(var output/objects)"/>
+    <param from="$(var obstacle_pointcloud_based_validator_param_file)"/>
+  </node>
 </launch>
diff --git a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
index de09ae71a5f4d..4a2ae76caa912 100644
--- a/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
+++ b/perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
@@ -1,25 +1,25 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml" />
-	<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" />
-	<arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects" />
-	<arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" />
-	<arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map" />
-	<arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml" />
-	<arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml" />
-	<node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
-		<remap from="~/input/laserscan" to="$(var input/laserscan)" />
-		<remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)" />
-		<param name="input_obstacle_pointcloud" value="false" />
-		<param name="input_obstacle_and_raw_pointcloud" value="false" />
-		<param name="updater_type" value="binary_bayes_filter" />
-		<param from="$(var occupancy_grid_map_param_path)" />
-		<param from="$(var occupancy_grid_map_updater_param_path)" />
-	</node>
-	<node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen">
-		<remap from="~/input/detected_objects" to="$(var input/detected_objects)" />
-		<remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)" />
-		<remap from="~/output/objects" to="$(var output/objects)" />
-		<param from="$(var occupancy_grid_based_validator_param_file)" />
-	</node>
+  <arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml"/>
+  <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/>
+  <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects"/>
+  <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan"/>
+  <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/>
+  <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
+  <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/>
+  <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
+    <remap from="~/input/laserscan" to="$(var input/laserscan)"/>
+    <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
+    <param name="input_obstacle_pointcloud" value="false"/>
+    <param name="input_obstacle_and_raw_pointcloud" value="false"/>
+    <param name="updater_type" value="binary_bayes_filter"/>
+    <param from="$(var occupancy_grid_map_param_path)"/>
+    <param from="$(var occupancy_grid_map_updater_param_path)"/>
+  </node>
+  <node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen">
+    <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
+    <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
+    <remap from="~/output/objects" to="$(var output/objects)"/>
+    <param from="$(var occupancy_grid_based_validator_param_file)"/>
+  </node>
 </launch>
diff --git a/perception/detected_object_validation/schema/occupancy_grid_based_validator.schema.json b/perception/detected_object_validation/schema/occupancy_grid_based_validator.schema.json
index a792a1e817ab9..918e94cd9847e 100644
--- a/perception/detected_object_validation/schema/occupancy_grid_based_validator.schema.json
+++ b/perception/detected_object_validation/schema/occupancy_grid_based_validator.schema.json
@@ -17,10 +17,7 @@
           "description": "Whether to display debug images or not?"
         }
       },
-      "required": [
-        "mean_threshold",
-        "enable_debug"
-      ],
+      "required": ["mean_threshold", "enable_debug"],
       "additionalProperties": false
     }
   },