added check_style script to CI

.github/workflows/conda-ci.yml

@@ -10,6 +10,23 @@ on:
   - cron:  '0 2 * * *'
 
 jobs:
+
+  check-style:
+    name: 'Check Style'
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Clone repository
+      uses: actions/checkout@v2
+
+    - name: Install Dependencies
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -qq -y perl
+
+    - name: Check Style
+      run: |
+        perl tests/misc/check_style.pl
+
   build:
     name: '[${{ matrix.os }}@${{ matrix.build_type }}@${{ matrix.ros_distro }}@conda]'
     runs-on: ${{ matrix.os }}

cmake/FindTinyXML2.cmake

@@ -42,7 +42,7 @@ if(TinyXML2_FOUND)
       if(NOT EXISTS ${TINYXML2_LIBRARY_PATH})
         message(FATAL_ERROR "library file path ${TINYXML2_LIBRARY_PATH} does not exist")
       endif()
-      
+
       add_library(tinyxml2::tinyxml2 UNKNOWN IMPORTED)
       set_property(TARGET tinyxml2::tinyxml2 PROPERTY IMPORTED_LOCATION ${TINYXML2_LIBRARY_PATH})
       set_property(TARGET tinyxml2::tinyxml2 PROPERTY INTERFACE_INCLUDE_DIRECTORIES ${TINYXML2_INCLUDE_DIR})

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>yarp-ros2</name>
+  <name>yarp-devices-ros2</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">root</maintainer>

src/devices/frameTransformSet_nwc_ros2/frameTransformSet_nwc_ros2.cpp

@@ -151,7 +151,7 @@ void FrameTransformSet_nwc_ros2::yarpTransformToROS2Transform(const yarp::math::
     geometry_msgs::msg::Transform tempTf;
     geometry_msgs::msg::Vector3 tempTransl;
     geometry_msgs::msg::Quaternion tempRotation;
-    
+
     tempTransl.x = input.translation.tX;
     tempTransl.y = input.translation.tY;
     tempTransl.z = input.translation.tY;
@@ -167,7 +167,7 @@ void FrameTransformSet_nwc_ros2::yarpTransformToROS2Transform(const yarp::math::
     ros2TimeFromYarp(input.isStatic ? yarp::os::Time::now() : input.timestamp,tempStamp);
     tempHeader.stamp = tempStamp;
     tempHeader.frame_id = input.src_frame_id;
-    
+
     output.header = tempHeader;
     output.child_frame_id = input.dst_frame_id;
     output.transform = tempTf;

src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.cpp

@@ -45,7 +45,7 @@ bool Localization2D_nws_ros2::attach(yarp::dev::PolyDriver* poly)
         yCError(LOCALIZATION2D_NWS_ROS2, "Subdevice passed to attach method is invalid");
         return false;
     }
-    
+
    return true;
 }
 
@@ -62,7 +62,7 @@ bool Localization2D_nws_ros2::detach()
 
 void Localization2D_nws_ros2::run()
 {
-	double m_stats_time_curr = yarp::os::Time::now();
+    double m_stats_time_curr = yarp::os::Time::now();
     if (m_stats_time_curr - m_stats_time_last > 5.0)
     {
         yCInfo(LOCALIZATION2D_NWS_ROS2) << "Running";
@@ -102,9 +102,9 @@ void Localization2D_nws_ros2::run()
         {
             yCWarning(LOCALIZATION2D_NWS_ROS2, "The system is not properly localized!");
         }
-        
-		if (1) publish_odometry_on_ROS_topic();
-		if (1) publish_odometry_on_TF_topic();
+
+        if (1) publish_odometry_on_ROS_topic();
+        if (1) publish_odometry_on_TF_topic();
     }
 }
 
@@ -129,7 +129,7 @@ bool Localization2D_nws_ros2::open(yarp::os::Searchable &config)
         }
         m_isDeviceOwned = true;
     }
- 
+
     //wrapper params
     if (config.check("ROS"))
     {
@@ -156,7 +156,7 @@ bool Localization2D_nws_ros2::open(yarp::os::Searchable &config)
     }
     else
     {
-	}
+    }
     if (!config.check("node_name")) {
         yCError(LOCALIZATION2D_NWS_ROS2) << "missing node_name parameter";
         return false;
@@ -167,7 +167,7 @@ bool Localization2D_nws_ros2::open(yarp::os::Searchable &config)
         return false;
     }
     m_period   = config.check("period", yarp::os::Value(0.010), "Period of the thread").asFloat64();
-       
+
     //create the topics
     const std::string m_odom_topic ="/odom";
     const std::string m_tf_topic ="/tf";
@@ -176,7 +176,7 @@ bool Localization2D_nws_ros2::open(yarp::os::Searchable &config)
     m_publisher_odom = m_node->create_publisher<nav_msgs::msg::Odometry>(m_odom_topic, 10);
     m_publisher_tf   = m_node->create_publisher<tf2_msgs::msg::TFMessage>(m_tf_topic, 10);
     yCInfo(LOCALIZATION2D_NWS_ROS2, "Opened topics: %s, %s", m_odom_topic.c_str(), m_tf_topic.c_str());
-        
+
     //start the publishig thread
     setPeriod(m_period);
     start();
@@ -206,7 +206,7 @@ void Localization2D_nws_ros2::publish_odometry_on_TF_topic()
     tsData.transform.translation.x = m_current_odometry.odom_x;
     tsData.transform.translation.y = m_current_odometry.odom_y;
     tsData.transform.translation.z = 0;
-    
+
     if (rosData.transforms.size() == 0)
     {
         rosData.transforms.push_back(tsData);

src/devices/localization2D_nws_ros2/Localization2D_nws_ros2.h

@@ -42,10 +42,10 @@ class Localization2D_nws_ros2 :
     Localization2D_nws_ros2& operator=(const Localization2D_nws_ros2&) = delete;
     Localization2D_nws_ros2& operator=(Localization2D_nws_ros2&&) noexcept = delete;
     ~Localization2D_nws_ros2() override = default;
-    
+
     bool attach(yarp::dev::PolyDriver* poly) override;
     bool detach() override;
-    
+
     // DeviceDriver
     bool open(yarp::os::Searchable& config) override;
     bool close() override;
@@ -56,22 +56,22 @@ class Localization2D_nws_ros2 :
 private:
     void publish_odometry_on_ROS_topic();
     void publish_odometry_on_TF_topic();
-    
+
 private:
     yarp::dev::PolyDriver m_driver;
     yarp::dev::Nav2D::ILocalization2D *m_iLoc = nullptr;
     rclcpp::Node::SharedPtr m_node;
     rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr   m_publisher_odom;
-    rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr  m_publisher_tf;    
+    rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr  m_publisher_tf;
     bool m_isDeviceOwned = false;
 
     std::string m_nodeName;
     std::string m_child_frame_id;
     std::string m_parent_frame_id;
     std::string m_robot_frame;
     std::string m_fixed_frame;
-      
-    
+
+
     double                                  m_stats_time_last;
     double                                  m_period;
     yarp::os::Stamp                         m_loc_stamp;

src/devices/map2D_nws_ros2/Map2D_nws_ros2.h

@@ -80,7 +80,7 @@ class Map2D_nws_ros2 :
 public:
     Map2D_nws_ros2();
     ~Map2D_nws_ros2() override = default;
-    
+
 
     //IMultipleWrapper
     bool attach(yarp::dev::PolyDriver* driver) override;

src/devices/mobileBaseVelocityControl_nws_ros2/MobileBaseVelocityControl_nws_ros2.cpp

@@ -116,4 +116,4 @@ void MobileBaseVelocityControl_nws_ros2::run()
 {
     yCInfo(MOBVEL_NWS_ROS2, "starting");
     rclcpp::spin(m_node);
-}
+}

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2.cpp

@@ -66,7 +66,7 @@ bool Rangefinder2D_nws_ros2::attach(yarp::dev::PolyDriver* driver)
         yCError(RANGEFINDER2D_NWS_ROS2) << "Laser device does not provide horizontal resolution ";
         return false;
     }
-    
+
    return true;
 }
 
@@ -83,7 +83,7 @@ bool Rangefinder2D_nws_ros2::detach()
 void Rangefinder2D_nws_ros2::run()
 {
     auto message = std_msgs::msg::String();
-    
+
     if (m_iDevice!=nullptr)
     {
         bool ret = true;
@@ -92,7 +92,7 @@ void Rangefinder2D_nws_ros2::run()
         double synchronized_timestamp = 0;
         ret &= m_iDevice->getRawData(ranges, &synchronized_timestamp);
         ret &= m_iDevice->getDeviceStatus(status);
-        
+
         if (ret)
         {
             int ranges_size = ranges.size();
@@ -167,19 +167,19 @@ bool Rangefinder2D_nws_ros2::open(yarp::os::Searchable &config)
         }
         m_isDeviceOwned = true;
     }
- 
+
     //wrapper params
     m_topic    = config.check("topic_name",  yarp::os::Value("laser_topic"), "Name of the ROS2 topic").asString();
     m_frame_id = config.check("frame_id",  yarp::os::Value("laser_frame"), "Name of the frameId").asString();
     m_node_name = config.check("node_name",  yarp::os::Value("laser_node"), "Name of the node").asString();
     m_period   = config.check("period", yarp::os::Value(0.010), "Period of the thread").asFloat64();
-       
+
     //create the topic
 
     m_node = NodeCreator::createNode(m_node_name);
     m_publisher = m_node->create_publisher<sensor_msgs::msg::LaserScan>(m_topic, 10);
     yCInfo(RANGEFINDER2D_NWS_ROS2, "Opened topic: %s", m_topic.c_str());
-        
+
     //start the publishig thread
     setPeriod(m_period);
     start();

src/devices/rangefinder2D_nws_ros2/Rangefinder2D_nws_ros2.h

@@ -44,7 +44,7 @@ class Rangefinder2D_nws_ros2 :
     //WrapperSingle
     bool attach(yarp::dev::PolyDriver* driver) override;
     bool detach() override;
-    
+
     // DeviceDriver
     bool open(yarp::os::Searchable& config) override;
     bool close() override;

src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2.cpp

@@ -448,4 +448,4 @@ std::string RgbdSensor_nwc_ros2::getLastErrorMsg(yarp::os::Stamp* timeStamp)
 {
     yCError(RGBDSENSOR_NWC_ROS2) << "get last error not yet implemented";
     return "get last error not yet implemented";
-}
+}

src/devices/rgbdSensor_nwc_ros2/RgbdSensor_nwc_ros2.h

@@ -115,7 +115,7 @@ class RgbdSensor_nwc_ros2:
             std::string m_ros2_node_name;
 
             // yarp variables
-            int 	m_verbose{2};
+            int      m_verbose{2};
 
             //ros2 node and subscribers
             Ros2Subscriber<RgbdSensor_nwc_ros2, sensor_msgs::msg::CameraInfo>* sub1;
@@ -178,8 +178,8 @@ class RgbdSensor_nwc_ros2:
             void color_raw_callback(const sensor_msgs::msg::Image::SharedPtr msg);
             void color_info_callback(const sensor_msgs::msg::CameraInfo::SharedPtr msg);
 
-            yarp::dev::IRGBDSensor::RGBDSensor_status     	getSensorStatus() override;
-            std::string 			                        getLastErrorMsg(yarp::os::Stamp* timeStamp = NULL) override;
+            yarp::dev::IRGBDSensor::RGBDSensor_status       getSensorStatus() override;
+            std::string                                     getLastErrorMsg(yarp::os::Stamp* timeStamp = NULL) override;
         };
 
 

src/devices/ros2RGBDConversionUtils/CMakeLists.txt

@@ -15,7 +15,7 @@ target_sources(Ros2RGBDConversionUtils PRIVATE
         Ros2RGBDConversionUtils.h
         ros2PixelCode.h
         ros2PixelCode.cpp)
-                                              
+
 target_include_directories(Ros2RGBDConversionUtils PUBLIC ${CMAKE_CURRENT_LIST_DIR})
 
 target_link_libraries(Ros2RGBDConversionUtils PRIVATE YARP::YARP_os

src/devices/ros2RGBDConversionUtils/Ros2RGBDConversionUtils.cpp

@@ -99,7 +99,7 @@ void yarp::dev::Ros2RGBDConversionUtils::convertDepthImageRos2ToYarpImageOf(sens
 }
 
 
-void yarp::dev::Ros2RGBDConversionUtils::updateStamp(   sensor_msgs::msg::CameraInfo::SharedPtr ros_camera_info_src, 
+void yarp::dev::Ros2RGBDConversionUtils::updateStamp(   sensor_msgs::msg::CameraInfo::SharedPtr ros_camera_info_src,
                                                     std::string& frame_id_dest,
                                                     yarp::os::Stamp& yarp_stamp)
 {
@@ -128,4 +128,3 @@ void yarp::dev::Ros2RGBDConversionUtils::deepCopyImageOf(const DepthImage& src,
         dest.getRawImage()[it] = src.getRawImage()[it];
     }
 }
-

src/devices/ros2RGBDConversionUtils/Ros2RGBDConversionUtils.h

@@ -50,7 +50,7 @@ namespace yarp {
 
     void deepCopyImageOf(const DepthImage& src, DepthImage& dest);
 } // namespace Ros2RGBDConversionUtils
-} // namespace dev 
+} // namespace dev
 } // namespace yarp
 
 #endif //ROS2_RGBD_CONVERSION_UTILS_H

src/devices/ros2Utils/Ros2Spinner.cpp

@@ -36,4 +36,4 @@ void Ros2Spinner::threadRelease()
         rclcpp::shutdown();
         m_spun = false;
     }
-}
+}

src/devices/ros2Utils/Ros2Utils.h

@@ -13,7 +13,7 @@
 class NodeCreator
 {
 public:
-	static rclcpp::Node::SharedPtr createNode(std::string name);
+    static rclcpp::Node::SharedPtr createNode(std::string name);
     static rclcpp::Node::SharedPtr createNode(std::string name, rclcpp::NodeOptions& node_options);
 };
 

tests/misc/CMakeLists.txt

@@ -0,0 +1,12 @@
+# SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# SPDX-FileCopyrightText: 2006-2010 RobotCub Consortium
+# SPDX-License-Identifier: BSD-3-Clause
+
+find_package(Perl QUIET)
+if(PERL_FOUND AND NOT WIN32 AND IS_DIRECTORY "${CMAKE_SOURCE_DIR}/.git")
+  add_test(
+    NAME misc::check_style
+    COMMAND "${PERL_EXECUTABLE}" "${CMAKE_CURRENT_SOURCE_DIR}/check_style.pl"
+    WORKING_DIRECTORY "${CMAKE_SOURCE_DIR}"
+  )
+endif()