[Code Style] [merge after #566] Format code in aerial_robot_base

.clang-format

@@ -0,0 +1,63 @@
+---
+BasedOnStyle: Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: true
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit: 120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 1
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 90
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+  AfterClass: true
+  AfterControlStatement: 'true'
+  AfterEnum: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false

.github/workflows/uml.yml

@@ -0,0 +1,19 @@
+name: generate plantuml
+on: push
+jobs:
+  generate_plantuml:
+    runs-on: ubuntu-latest
+    name: plantuml
+    steps:
+      - name: checkout
+        uses: actions/checkout@v1
+        with:
+          fetch-depth: 1
+      - name: plantuml
+        id: plantuml
+        uses: grassedge/[email protected]
+        with:
+          path: docs/UMLs
+          message: "Render PlantUML files"
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.gitignore

@@ -6,7 +6,8 @@
 .LSOverride
 
 # Icon must end with two \r
-Icon
+Icon
+
 
 # Thumbnails
 ._*
@@ -101,4 +102,8 @@ tags
 
 
 # python
-*.pyc
+*.pyc
+
+# Jetbrains
+.idea/
+*cmake-build-debug/

.pre-commit-config.yaml

@@ -0,0 +1,32 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v2.3.0
+    hooks:
+      - id: check-yaml
+      - id: check-xml
+      - id: check-json
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-added-large-files
+
+    # Python
+  - repo: https://github.com/psf/black
+    rev: 22.10.0
+    hooks:
+      - id: black
+        language: python
+        args: [--line-length=120]
+
+    # C++
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.3
+    hooks:
+      - id: clang-format
+
+#    # YAML  - still bad support for comments in YAML files
+#  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+#    rev: 0.2.1    # or other specific tag
+#    hooks:
+#      - id: yamlfmt
+#        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '120']

README.md

@@ -22,5 +22,3 @@ catkin build
 
 ## Demo
 Please check instruction in [wiki](https://github.com/JSKAerialRobot/aerial_robot/wiki).
-
-

aerial_robot_base/config/sensors/altimeter/baro.yaml

@@ -1,8 +1,8 @@
 sensor_plugin:
-        altitude:
-                barometer_sub_name: baro
-                baro_noise_sigma: 0.2
-                baro_bias_noise_sigma: 0.001
-                rx_freq: 80.0
-                cutoff_freq: 10.0
-                high_cutoff_freq: 1.0
+  altitude:
+    barometer_sub_name: baro
+    baro_noise_sigma: 0.2
+    baro_bias_noise_sigma: 0.001
+    rx_freq: 80.0
+    cutoff_freq: 10.0
+    high_cutoff_freq: 1.0

aerial_robot_base/config/sensors/altimeter/leddar_one.yaml

@@ -1,9 +1,9 @@
 sensor_plugin:
-        alt:
-                range_noise_sigma:  0.01 #old: 0.005
-                range_sensor_sub_name: leddar_one/range
-                sensor_frame: leddarone
-                reference_frame: fc
-                no_height_offset: true
-                time_sync: false
-                delay: 0
+  alt:
+    range_noise_sigma: 0.01 #old: 0.005
+    range_sensor_sub_name: leddar_one/range
+    sensor_frame: leddarone
+    reference_frame: fc
+    no_height_offset: true
+    time_sync: false
+    delay: 0

aerial_robot_base/config/sensors/altimeter/sonar.yaml

@@ -1,7 +1,6 @@
 sensor_plugin:
-        range_sensor:
-                range_noise_sigma:  0.02
-                range_sensor_sub_name: /sonar
-                ascending_check_range: 0.095                  
-                calibrate_cnt: 10
-
+  range_sensor:
+    range_noise_sigma: 0.02
+    range_sensor_sub_name: /sonar
+    ascending_check_range: 0.095
+    calibrate_cnt: 10

aerial_robot_base/config/sensors/gps/ublox_m8n.yaml

@@ -1,11 +1,11 @@
 sensor_plugin:
-        gps: #single GPS
-                min_est_sat_num: 7
-                vel_noise_sigma:  0.02 #0.05 -> 0.01 -> 0.02
-                pos_noise_sigma:  1.0
-                gps_ros_sub_name: sim/gps/fix
-                sensor_frame: gps
-                ned_flag: true #north(x)-east(y)-down(z) frame
-                time_sync: true
-                delay: -0.45 # daylight: -0.45, night: -0.5
-                #only_use_vel: true # debug
+  gps: #single GPS
+    min_est_sat_num: 7
+    vel_noise_sigma: 0.02 #0.05 -> 0.01 -> 0.02
+    pos_noise_sigma: 1.0
+    gps_ros_sub_name: sim/gps/fix
+    sensor_frame: gps
+    ned_flag: true #north(x)-east(y)-down(z) frame
+    time_sync: true
+    delay: -0.45 # daylight: -0.45, night: -0.5
+    #only_use_vel: true # debug

aerial_robot_base/config/sensors/gps/ublox_m9n.yaml

@@ -1,11 +1,11 @@
 sensor_plugin:
-        gps: #single GPS
-                min_est_sat_num: 10
-                vel_noise_sigma:  0.02 #0.05 -> 0.01 -> 0.02
-                pos_noise_sigma:  1.0
-                gps_ros_sub_name: sim/gps/fix
-                sensor_frame: gps
-                ned_flag: true #north(x)-east(y)-down(z) frame
-                time_sync: true
-                delay: -0.35 # alternative: -0.25 # Ublox M9N normal: -0.25 ~ 0.35, -0.35 is good @2021.05.24 Kashiwa. TODO: auto-calibra with VIO
-                #only_use_vel: true # debug
+  gps: #single GPS
+    min_est_sat_num: 10
+    vel_noise_sigma: 0.02 #0.05 -> 0.01 -> 0.02
+    pos_noise_sigma: 1.0
+    gps_ros_sub_name: sim/gps/fix
+    sensor_frame: gps
+    ned_flag: true #north(x)-east(y)-down(z) frame
+    time_sync: true
+    delay: -0.35 # alternative: -0.25 # Ublox M9N normal: -0.25 ~ 0.35, -0.35 is good @2021.05.24 Kashiwa. TODO: auto-calibra with VIO
+    #only_use_vel: true # debug

aerial_robot_base/config/sensors/gps/ublox_rtk_m8p.yaml

@@ -2,15 +2,14 @@
 # Note: we need a normal GPS as gps1, otherwise following yaml file would be never loaded
 
 sensor_plugin:
-        gps2: # we need a normal GPS as gps1, otherwise following yaml file would be never loaded
-                rtk: true
-                min_est_sat_num: 10
-                pos_noise_sigma:  1.0
-                gps_ros_sub_name: rtk_gps/fix
-                rtk_pos_sub_name: rtk_gps/rel_pos
-                sensor_frame: rtk_gps
-                ned_flag: true #north(x)-east(y)-down(z) frame
-                time_sync: true
-                delay: -0.25
-                #rtk_offset: false # Please overwrite this parameter in your StateEstimation.yaml. **Not Here!!*. True: set the takeoff point as zero for RTK model, otherwise, the zero point is the base station like mocap. Default is false
-
+  gps2: # we need a normal GPS as gps1, otherwise following yaml file would be never loaded
+    rtk: true
+    min_est_sat_num: 10
+    pos_noise_sigma: 1.0
+    gps_ros_sub_name: rtk_gps/fix
+    rtk_pos_sub_name: rtk_gps/rel_pos
+    sensor_frame: rtk_gps
+    ned_flag: true #north(x)-east(y)-down(z) frame
+    time_sync: true
+    delay: -0.25
+    #rtk_offset: false # Please overwrite this parameter in your StateEstimation.yaml. **Not Here!!*. True: set the takeoff point as zero for RTK model, otherwise, the zero point is the base station like mocap. Default is false

aerial_robot_base/config/sensors/imu/spinal.yaml

@@ -1,9 +1,9 @@
 sensor_plugin:
-        imu:
-                imu_topic_name: imu
-                level_acc_noise_sigma: 0.05
-                z_acc_noise_sigma: 0.05
-                level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter)
-                z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter)
-                angle_bias_noise_sigma: 0.0002 #good for EKF
-                calib_time: 2.0
+  imu:
+    imu_topic_name: imu
+    level_acc_noise_sigma: 0.05
+    z_acc_noise_sigma: 0.05
+    level_acc_bias_noise_sigma: 0.001 # (> 0 means to do the acc bias estimation by kalman filter)
+    z_acc_bias_noise_sigma: 0.001 # (= 0 means not to do the acc bias estimation by kalman filter)
+    angle_bias_noise_sigma: 0.0002 #good for EKF
+    calib_time: 2.0

aerial_robot_base/config/sensors/mocap.yaml

@@ -1,9 +1,9 @@
 sensor_plugin:
-        mocap:
-                pos_noise_sigma: 0.0002
-                angle_sigma: 0.005
-                acc_bias_noise_sigma: 0.001 # force acc bias estimation by kalman filter
-                unhealth_level: 3
-                health_timeout: 0.5
-                time_sync: false
-                mocap_sub_name: mocap/pose
+  mocap:
+    pos_noise_sigma: 0.0002
+    angle_sigma: 0.005
+    acc_bias_noise_sigma: 0.001 # force acc bias estimation by kalman filter
+    unhealth_level: 3
+    health_timeout: 0.5
+    time_sync: false
+    mocap_sub_name: mocap/pose

aerial_robot_base/include/aerial_robot_base/aerial_robot_base.h

@@ -12,27 +12,27 @@ using namespace std;
 
 class AerialRobotBase
 {
- public:
-  AerialRobotBase(ros::NodeHandle nh, ros::NodeHandle nh_private);
+public:
+  AerialRobotBase(const ros::NodeHandle& nh, const ros::NodeHandle& nh_private);
   ~AerialRobotBase();
 
-  void mainFunc(const ros::TimerEvent & e);
+  void mainFunc(const ros::TimerEvent& e);
 
- private:
+private:
   ros::NodeHandle nh_;
   ros::NodeHandle nhp_;
   ros::Timer main_timer_;
 
   boost::shared_ptr<aerial_robot_model::RobotModelRos> robot_model_ros_;
-  boost::shared_ptr<aerial_robot_estimation::StateEstimator>  estimator_;
+  boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator_;
 
   pluginlib::ClassLoader<aerial_robot_navigation::BaseNavigator> navigator_loader_;
   boost::shared_ptr<aerial_robot_navigation::BaseNavigator> navigator_;
 
   pluginlib::ClassLoader<aerial_robot_control::ControlBase> controller_loader_;
   boost::shared_ptr<aerial_robot_control::ControlBase> controller_;
 
-  ros::AsyncSpinner callback_spinner_; // Use 4 threads
-  ros::AsyncSpinner main_loop_spinner_; // Use 1 threads
+  ros::AsyncSpinner callback_spinner_;   // Use 4 threads
+  ros::AsyncSpinner main_loop_spinner_;  // Use 1 threads
   ros::CallbackQueue main_loop_queue_;
 };

aerial_robot_base/launch/external_module/joy_stick.launch

@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 <launch>
 
-  <arg name="robot_name" default="/" />
+    <arg name="robot_name" default="/"/>
 
-  <node pkg="joy" type="joy_node" name="joy_node" ns="$(arg robot_name)" output="screen" >
+    <node pkg="joy" type="joy_node" name="joy_node" ns="$(arg robot_name)" output="screen">
 
-    <param name="dev" value="/dev/input/js0"/>
-    <param name="coalesce_interval" value="0.025"/>
-  </node>
+        <param name="dev" value="/dev/input/js0"/>
+        <param name="coalesce_interval" value="0.025"/>
+    </node>
 </launch>

aerial_robot_base/launch/external_module/mocap.launch

@@ -1,26 +1,26 @@
 <launch>
 
-  <arg name="robot_id" default="1"/>
+    <arg name="robot_id" default="1"/>
 
-  <node pkg="mocap_optitrack"
-    type="mocap_node"
-    name="mocap_node"
-    respawn="false"
-    launch-prefix=""
-    required="true">
-    <rosparam subst_value="true">
-      rigid_bodies:
-         '$(arg robot_id)':
-               pose: mocap/pose
-               pose2d: mocap/ground_pose
-               child_frame_id: baselink
-               parent_frame_id: world
-      optitrack_config:
-         multicast_address: 239.255.42.99
-         command_port: 1510
-         data_port: 1511
-    </rosparam>
-    <remap from="~mocap/pose" to="mocap/pose" />
-  </node>
+    <node pkg="mocap_optitrack"
+          type="mocap_node"
+          name="mocap_node"
+          respawn="false"
+          launch-prefix=""
+          required="true">
+        <rosparam subst_value="true">
+            rigid_bodies:
+            '$(arg robot_id)':
+            pose: mocap/pose
+            pose2d: mocap/ground_pose
+            child_frame_id: baselink
+            parent_frame_id: world
+            optitrack_config:
+            multicast_address: 239.255.42.99
+            command_port: 1510
+            data_port: 1511
+        </rosparam>
+        <remap from="~mocap/pose" to="mocap/pose"/>
+    </node>
 
 </launch>