Removed ros-linter. Reformatted code as per Studio conventions.

.clang-format

@@ -1,20 +1,74 @@
 ---
-Language: Cpp
 BasedOnStyle: Google
+ColumnLimit: 120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
 
+Standard: Auto
+IndentWidth: 2
+TabWidth: 2
+UseTab: Never
 AccessModifierOffset: -2
-AlignAfterOpenBracket: AlwaysBreak
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles: false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
 BraceWrapping:
+  AfterCaseLabel: true
   AfterClass: true
+  AfterControlStatement: true
+  AfterEnum: true
   AfterFunction: true
   AfterNamespace: true
   AfterStruct: true
-  AfterEnum: true
-BreakBeforeBraces: Custom
-ColumnLimit: 100
-ConstructorInitializerIndentWidth: 0
-ContinuationIndentWidth: 2
-DerivePointerAlignment: false
-PointerAlignment: Middle
-ReflowComments: false
-...
+  AfterUnion: true
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false

.github/workflows/ci-ros-lint.yml

@@ -35,7 +35,7 @@ jobs:
         with:
           distribution: rolling
           linter: cpplint
-          arguments: "--linelength=100 --filter=-whitespace/newline"
+          arguments: "--linelength=120 --filter=-whitespace/newline"
           package-name: robotiq_driver
             robotiq_controllers
             robotiq_description

robotiq_controllers/include/robotiq_controllers/robotiq_activation_controller.hpp

@@ -40,19 +40,17 @@ class RobotiqActivationController : public controller_interface::ControllerInter
 
   controller_interface::InterfaceConfiguration state_interface_configuration() const override;
 
-  controller_interface::return_type update(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  controller_interface::return_type update(const rclcpp::Time& time, const rclcpp::Duration& period) override;
 
-  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State& previous_state) override;
 
-  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State& previous_state) override;
 
   CallbackReturn on_init() override;
 
 private:
-  bool reactivateGripper(
-    std_srvs::srv::Trigger::Request::SharedPtr req,
-    std_srvs::srv::Trigger::Response::SharedPtr resp);
+  bool reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr req,
+                         std_srvs::srv::Trigger::Response::SharedPtr resp);
 
   static constexpr double ASYNC_WAITING = 2.0;
   enum CommandInterfaces

robotiq_controllers/src/robotiq_activation_controller.cpp

@@ -30,8 +30,7 @@
 
 namespace robotiq_controllers
 {
-controller_interface::InterfaceConfiguration
-RobotiqActivationController::command_interface_configuration() const
+controller_interface::InterfaceConfiguration RobotiqActivationController::command_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration config;
   config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
@@ -42,71 +41,75 @@ RobotiqActivationController::command_interface_configuration() const
   return config;
 }
 
-controller_interface::InterfaceConfiguration
-RobotiqActivationController::state_interface_configuration() const
+controller_interface::InterfaceConfiguration RobotiqActivationController::state_interface_configuration() const
 {
   controller_interface::InterfaceConfiguration config;
   config.type = controller_interface::interface_configuration_type::INDIVIDUAL;
 
   return config;
 }
 
-controller_interface::return_type RobotiqActivationController::update(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+controller_interface::return_type RobotiqActivationController::update(const rclcpp::Time& /*time*/,
+                                                                      const rclcpp::Duration& /*period*/)
 {
   return controller_interface::return_type::OK;
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-RobotiqActivationController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
+RobotiqActivationController::on_activate(const rclcpp_lifecycle::State& /*previous_state*/)
 {
   // Check command interfaces.
-  if (command_interfaces_.size() != 2) {
-    RCLCPP_ERROR(
-      get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
-      command_interfaces_.size());
+  if (command_interfaces_.size() != 2)
+  {
+    RCLCPP_ERROR(get_node()->get_logger(), "Expected %d command interfaces, but got %zu.", 2,
+                 command_interfaces_.size());
     return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
   }
 
-  try {
+  try
+  {
     // Create service for re-activating the gripper.
     reactivate_gripper_srv_ = get_node()->create_service<std_srvs::srv::Trigger>(
-      "~/reactivate_gripper",
-      [this](
-        std_srvs::srv::Trigger::Request::SharedPtr req,
-        std_srvs::srv::Trigger::Response::SharedPtr resp) { this->reactivateGripper(req, resp); });
-  } catch (...) {
+        "~/reactivate_gripper",
+        [this](std_srvs::srv::Trigger::Request::SharedPtr req, std_srvs::srv::Trigger::Response::SharedPtr resp) {
+          this->reactivateGripper(req, resp);
+        });
+  }
+  catch (...)
+  {
     return LifecycleNodeInterface::CallbackReturn::ERROR;
   }
   return LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
+RobotiqActivationController::on_deactivate(const rclcpp_lifecycle::State& /*previous_state*/)
 {
-  try {
+  try
+  {
     reactivate_gripper_srv_.reset();
-  } catch (...) {
+  }
+  catch (...)
+  {
     return LifecycleNodeInterface::CallbackReturn::ERROR;
   }
 
   return LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
-RobotiqActivationController::on_init()
+rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotiqActivationController::on_init()
 {
   return LifecycleNodeInterface::CallbackReturn::SUCCESS;
 }
 
-bool RobotiqActivationController::reactivateGripper(
-  std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
-  std_srvs::srv::Trigger::Response::SharedPtr resp)
+bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
+                                                    std_srvs::srv::Trigger::Response::SharedPtr resp)
 {
   command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
   command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
 
-  while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING) {
+  while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
+  {
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
   }
   resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
@@ -117,5 +120,4 @@ bool RobotiqActivationController::reactivateGripper(
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(
-  robotiq_controllers::RobotiqActivationController, controller_interface::ControllerInterface)
+PLUGINLIB_EXPORT_CLASS(robotiq_controllers::RobotiqActivationController, controller_interface::ControllerInterface)

robotiq_driver/include/robotiq_driver/crc.hpp

@@ -31,4 +31,4 @@
 #include <cstdint>
 #include <vector>
 
-uint16_t computeCRC(const std::vector<uint8_t> & cmd);
+uint16_t computeCRC(const std::vector<uint8_t>& cmd);

robotiq_driver/include/robotiq_driver/default_driver.hpp

@@ -28,12 +28,10 @@
 
 #pragma once
 
-#include <serial/serial.h>
-
 #include <robotiq_driver/driver.hpp>
+#include <serial/serial.h>
 #include <string>
 #include <vector>
-
 /**
  * @brief This class is responsible for communicating with the gripper via a serial port, and maintaining a record of
  * the gripper's current state.
@@ -44,7 +42,7 @@ namespace robotiq_driver
 class DefaultDriver : public Driver
 {
 public:
-  explicit DefaultDriver(const std::string & com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);
+  explicit DefaultDriver(const std::string& com_port = "/dev/ttyUSB0", uint8_t slave_id = 0x09);
 
   bool connect() override;
   void disconnect() override;
@@ -101,8 +99,7 @@ class DefaultDriver : public Driver
 
 private:
   std::vector<uint8_t> create_read_command(uint16_t first_register, uint8_t num_registers);
-  std::vector<uint8_t> create_write_command(
-    uint16_t first_register, const std::vector<uint16_t> & data);
+  std::vector<uint8_t> create_write_command(uint16_t first_register, const std::vector<uint16_t>& data);
 
   /**
    * @brief read response from the gripper.
@@ -118,7 +115,7 @@ class DefaultDriver : public Driver
    * @param cmd The command.
    * @throw serial::IOException on failure to successfully communicate with gripper port
    */
-  void send_command(const std::vector<uint8_t> & cmd);
+  void send_command(const std::vector<uint8_t>& cmd);
 
   /**
    * @brief Read the current status of the gripper, and update member variables as appropriate.

robotiq_driver/include/robotiq_driver/default_driver_factory.hpp

@@ -28,11 +28,13 @@
 
 #pragma once
 
-#include <hardware_interface/hardware_info.hpp>
-#include <memory>
 #include <robotiq_driver/default_driver_factory.hpp>
 #include <robotiq_driver/driver_factory.hpp>
 
+#include <hardware_interface/hardware_info.hpp>
+
+#include <memory>
+
 namespace robotiq_driver
 {
 /**
@@ -48,11 +50,10 @@ class DefaultDriverFactory : public DriverFactory
    * @param info The hardware information.
    * @return A driver to interact with the hardware.
    */
-  std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo & info) const;
+  std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo& info) const;
 
 protected:
   // Seam for testing.
-  virtual std::unique_ptr<Driver> create_driver(
-    const hardware_interface::HardwareInfo & info) const;
+  virtual std::unique_ptr<Driver> create_driver(const hardware_interface::HardwareInfo& info) const;
 };
 }  // namespace robotiq_driver

robotiq_driver/include/robotiq_driver/driver_factory.hpp

@@ -46,6 +46,6 @@ namespace robotiq_driver
 class DriverFactory
 {
 public:
-  virtual std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo & info) const = 0;
+  virtual std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo& info) const = 0;
 };
 }  // namespace robotiq_driver