Fixed linting.

.clang-format

@@ -0,0 +1,14 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+ColumnLimit: 100
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BreakBeforeBraces: Allman
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: true
+IncludeBlocks: Preserve

.pre-commit-config.yaml

@@ -0,0 +1,143 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+        args: ["--allow-multiple-documents"]
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+        exclude_types: [rst]
+      - id: fix-byte-order-marker
+
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v3.19.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  # PyDocStyle
+  - repo: https://github.com/PyCQA/pydocstyle
+    rev: 6.3.0
+    hooks:
+    - id: pydocstyle
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/psf/black
+    rev: 24.10.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 7.1.1
+    hooks:
+    - id: flake8
+      args: ["--extend-ignore=E501"]
+
+  # CPP hooks
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.3
+    hooks:
+      - id: clang-format
+        args: ['-fallback-style=none', '-i']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+        exclude: .*/conf\.py$
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.2
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.10.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.3.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.29.4
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]

CMakeLists.txt

@@ -40,7 +40,13 @@ install(DIRECTORY
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cpplint
+    ament_cmake_uncrustify
+  )
+  set(ament_cmake_clang_format_CONFIG_FILE .clang-format)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+
 ament_package()

src/marker_server.cpp

@@ -90,9 +90,12 @@ TwistServerNode::TwistServerNode()
       get_node_topics_interface(), get_node_services_interface()))
 {
   getParameters();
-  if (use_stamped_msgs) {
+  if (use_stamped_msgs)
+  {
     vel_stamped_pub = create_publisher<geometry_msgs::msg::TwistStamped>("cmd_vel", 1);
-  } else {
+  } 
+  else
+  {
     vel_pub = create_publisher<geometry_msgs::msg::Twist>("cmd_vel", 1);
   }
   createInteractiveMarkers();
@@ -105,29 +108,41 @@ void TwistServerNode::getParameters()
   rclcpp::Parameter robot_name_param;
   rclcpp::Parameter use_stamped_msgs_param;
 
-  if (this->get_parameter("link_name", link_name_param)) {
+  if (this->get_parameter("link_name", link_name_param))
+  {
     link_name = link_name_param.as_string();
-  } else {
+  }
+  else
+  {
     link_name = "base_link";
   }
 
-  if (this->get_parameter("robot_name", robot_name_param)) {
+  if (this->get_parameter("robot_name", robot_name_param))
+  {
     robot_name = robot_name_param.as_string();
-  } else {
+  }
+  else
+  {
     robot_name = "robot";
   }
 
-  if (this->get_parameter("use_stamped_msgs", use_stamped_msgs_param)) {
+  if (this->get_parameter("use_stamped_msgs", use_stamped_msgs_param))
+  {
     use_stamped_msgs = use_stamped_msgs_param.as_bool();
-  } else {
+  }
+  else
+  {
     use_stamped_msgs = false;
   }
 
   // Ensure parameters are loaded correctly, otherwise, manually set values for linear config
-  if (this->get_parameters("linear_scale", linear_drive_scale_map)) {
+  if (this->get_parameters("linear_scale", linear_drive_scale_map))
+  {
     this->get_parameters("max_positive_linear_velocity", max_positive_linear_velocity_map);
     this->get_parameters("max_negative_linear_velocity", max_negative_linear_velocity_map);
-  } else {
+  }
+  else
+  {
     linear_drive_scale_map["x"] = 1.0;
     max_positive_linear_velocity_map["x"] = 1.0;
     max_negative_linear_velocity_map["x"] = -1.0;
@@ -150,7 +165,8 @@ void TwistServerNode::createInteractiveMarkers()
 
   control.orientation_mode = visualization_msgs::msg::InteractiveMarkerControl::FIXED;
 
-  if (linear_drive_scale_map.find("x") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("x") != linear_drive_scale_map.end())
+  {
     control.orientation.w = 1;
     control.orientation.x = 1;
     control.orientation.y = 0;
@@ -160,7 +176,8 @@ void TwistServerNode::createInteractiveMarkers()
     interactive_marker.controls.push_back(control);
   }
 
-  if (linear_drive_scale_map.find("y") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("y") != linear_drive_scale_map.end())
+  {
     control.orientation.w = 1;
     control.orientation.x = 0;
     control.orientation.y = 0;
@@ -170,7 +187,8 @@ void TwistServerNode::createInteractiveMarkers()
     interactive_marker.controls.push_back(control);
   }
 
-  if (linear_drive_scale_map.find("z") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("z") != linear_drive_scale_map.end())
+  {
     control.orientation.w = 1;
     control.orientation.x = 0;
     control.orientation.y = 1;
@@ -208,27 +226,33 @@ void TwistServerNode::processFeedback(
   vel_msg.angular.z = std::min(vel_msg.angular.z, max_angular_velocity);
   vel_msg.angular.z = std::max(vel_msg.angular.z, -max_angular_velocity);
 
-  if (linear_drive_scale_map.find("x") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("x") != linear_drive_scale_map.end())
+  {
     vel_msg.linear.x = linear_drive_scale_map["x"] * feedback->pose.position.x;
     vel_msg.linear.x = std::min(vel_msg.linear.x, max_positive_linear_velocity_map["x"]);
     vel_msg.linear.x = std::max(vel_msg.linear.x, max_negative_linear_velocity_map["x"]);
   }
 
-  if (linear_drive_scale_map.find("y") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("y") != linear_drive_scale_map.end())
+  {
     vel_msg.linear.y = linear_drive_scale_map["y"] * feedback->pose.position.y;
     vel_msg.linear.y = std::min(vel_msg.linear.y, max_positive_linear_velocity_map["y"]);
     vel_msg.linear.y = std::max(vel_msg.linear.y, max_negative_linear_velocity_map["y"]);
   }
 
-  if (linear_drive_scale_map.find("z") != linear_drive_scale_map.end()) {
+  if (linear_drive_scale_map.find("z") != linear_drive_scale_map.end())
+  {
     vel_msg.linear.z = linear_drive_scale_map["z"] * feedback->pose.position.z;
     vel_msg.linear.z = std::min(vel_msg.linear.z, max_positive_linear_velocity_map["z"]);
     vel_msg.linear.z = std::max(vel_msg.linear.z, max_negative_linear_velocity_map["z"]);
   }
 
-  if (use_stamped_msgs) {
+  if (use_stamped_msgs)
+  {
     stampAndPublish(vel_msg);
-  } else {
+  }
+  else
+  {
     vel_pub->publish(vel_msg);
   }
 
@@ -237,7 +261,8 @@ void TwistServerNode::processFeedback(
   server->applyChanges();
 }
 
-void TwistServerNode::stampAndPublish(geometry_msgs::msg::Twist &msg) {
+void TwistServerNode::stampAndPublish(geometry_msgs::msg::Twist &msg)
+{
   geometry_msgs::msg::TwistStamped stamped_msg;
 
   stamped_msg.twist = msg;