Merge pull request #150 from tier4/fix/deviation_estimator_fix_by_linter

fix(deviation_estimator): fixed as pointed out by linter

localization/deviation_estimation_tools/deviation_estimator/include/deviation_estimator/validation_module.hpp

@@ -22,6 +22,8 @@
 #include <fmt/core.h>
 
 #include <limits>
+#include <map>
+#include <string>
 #include <utility>
 #include <vector>
 

localization/deviation_estimation_tools/deviation_evaluator/include/deviation_evaluator/deviation_evaluator.hpp

@@ -49,7 +49,7 @@ class DeviationEvaluator : public rclcpp::Node
   {
     double lateral;
     double long_radius;
-    Errors() : lateral(0), long_radius(0){};
+    Errors() : lateral(0), long_radius(0) {}
   };
 
 public:
@@ -89,6 +89,7 @@ class DeviationEvaluator : public rclcpp::Node
 
   void callbackNDTPoseWithCovariance(const PoseWithCovarianceStamped::SharedPtr msg);
 
+  // cspell:words EKFDR, EKFGT
   void callbackEKFDROdom(const Odometry::SharedPtr msg);
 
   void callbackEKFGTOdom(const Odometry::SharedPtr msg);

localization/deviation_estimation_tools/deviation_evaluator/scripts/deviation_evaluation_visualizer.py

@@ -15,15 +15,14 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
+# cspell:words lowerbound
+
 from pathlib import Path
 from threading import Thread
 
 from bag_load_utils import BagFileEvaluator
-import matplotlib.pyplot as plt
 import numpy as np
 from plot_utils import plot_bag_compare
-from plot_utils import plot_thresholds
 import rclpy
 from rclpy.node import Node
 
@@ -41,15 +40,15 @@ def validate_threshold(
     recall: float, threshold: float, lowerbound: float, recall_threshold: float = 0.99
 ):
     if threshold < lowerbound:
-        print(f"Threshold is too small for this vehicle.")
+        print("Threshold is too small for this vehicle.")
     elif recall == np.inf:
         print(
             f"No error larger than {threshold:.3f} [m] observed. Provide more data on deviation_evaluator."
         )
     elif recall > recall_threshold:
         print("Valid threshold!")
     else:
-        print(f"Covariance seems to be too optimistic.")
+        print("Covariance seems to be too optimistic.")
         print("Consider increasing the covariances of the dead reckoning sensors.")
 
     if threshold > lowerbound:
@@ -58,7 +57,7 @@ def validate_threshold(
         print(f"  [NG] lowerbound = {lowerbound:.3f} > {threshold:.3f} = threshold [m]")
 
     if recall == np.inf:
-        print(f"  [NG] recall = INF")
+        print(f"  [NG] recall = {recall}")
     elif recall > recall_threshold:
         print(f"  [OK] recall = {recall:.3f} > {recall_threshold:.3f}")
     else:

localization/deviation_estimation_tools/deviation_evaluator/src/deviation_evaluator.cpp

@@ -12,6 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+// cspell:words EKFDR, EKFGT
+
 #include "deviation_evaluator/deviation_evaluator.hpp"
 
 #include "rclcpp/logging.hpp"
@@ -31,7 +33,7 @@
 // clang-format on
 using std::placeholders::_1;
 
-using namespace std::chrono_literals;
+using std::chrono_literals::operator""s;
 
 double double_round(const double x, const int n) { return std::round(x * pow(10, n)) / pow(10, n); }
 
@@ -154,7 +156,7 @@ void DeviationEvaluator::callbackEKFDROdom(const Odometry::SharedPtr msg)
       rclcpp::Time(dr_pose_queue_.back()->header.stamp).seconds() >
       rclcpp::Time(pose_ptr->header.stamp).seconds()) {
       dr_pose_queue_.clear();
-      RCLCPP_ERROR_STREAM(this->get_logger(), "Timestampe jump detected!");
+      RCLCPP_ERROR_STREAM(this->get_logger(), "Timestamp jump detected!");
     }
   }
   dr_pose_queue_.push_back(pose_ptr);