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

@@ -5365,8 +5365,7 @@ TEST(Trajectory, removeFirstInvalidOrientationPoints)
   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(

control/smart_mpc_trajectory_follower/smart_mpc_trajectory_follower/scripts/drive_controller.py

@@ -560,12 +560,12 @@ def update_input_queue(
                     np.array(time_stamp), np.array(steer_history)
                 )
 
-                self.acc_input_queue[
-                    drive_functions.acc_ctrl_queue_size - acc_num :
-                ] = acc_interpolate(time_stamp_acc)
-                self.steer_input_queue[
-                    drive_functions.steer_ctrl_queue_size - steer_num :
-                ] = steer_interpolate(time_stamp_steer)
+                self.acc_input_queue[drive_functions.acc_ctrl_queue_size - acc_num :] = (
+                    acc_interpolate(time_stamp_acc)
+                )
+                self.steer_input_queue[drive_functions.steer_ctrl_queue_size - steer_num :] = (
+                    steer_interpolate(time_stamp_steer)
+                )
 
                 if (
                     acc_num == drive_functions.acc_ctrl_queue_size

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

@@ -42,14 +42,14 @@ 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/probabilistic_occupancy_grid_map/launch/pointcloud_based_occupancy_grid_map.launch.py

@@ -101,15 +101,19 @@ def launch_setup(context, *args, **kwargs):
             remappings=[
                 (
                     "~/input/obstacle_pointcloud",
-                    LaunchConfiguration("input/obstacle_pointcloud")
-                    if not downsample_input_pointcloud
-                    else "obstacle/downsample/pointcloud",
+                    (
+                        LaunchConfiguration("input/obstacle_pointcloud")
+                        if not downsample_input_pointcloud
+                        else "obstacle/downsample/pointcloud"
+                    ),
                 ),
                 (
                     "~/input/raw_pointcloud",
-                    LaunchConfiguration("input/raw_pointcloud")
-                    if not downsample_input_pointcloud
-                    else "raw/downsample/pointcloud",
+                    (
+                        LaunchConfiguration("input/raw_pointcloud")
+                        if not downsample_input_pointcloud
+                        else "raw/downsample/pointcloud"
+                    ),
                 ),
                 ("~/output/occupancy_grid_map", LaunchConfiguration("output")),
             ],

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/sampling_based_planner/path_sampler/src/node.cpp

@@ -423,8 +423,7 @@ std::vector<sampler_common::Path> PathSampler::generateCandidatesFromPreviousPat
       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/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