format

scripts/debug_click_ik.py

@@ -5,14 +5,15 @@
 import actionlib
 import sys
 
+
 def click_ik_client():
     # Creates the SimpleActionClient, passing the type of the action
-    client = actionlib.SimpleActionClient('do_click_ik', ClickIkAction)
-    print('created click ik client')
+    client = actionlib.SimpleActionClient("do_click_ik", ClickIkAction)
+    print("created click ik client")
     # Waits until the action server has started up and started
     # listening for goals.
     client.wait_for_server()
-    print('Found server')
+    print("Found server")
     # Creates a goal to send to the action server.
     goal = ClickIkGoal()
     # Sends the goal to the action server.
@@ -23,15 +24,17 @@ def click_ik_client():
     result = client.get_result()
     return result
 
+
 def feedback(msg):
     print(msg)
 
+
 if __name__ == "__main__":
     try:
-    # Initializes a rospy node so that the SimpleActionClient can
-    # publish and subscribe over ROS.
-        rospy.init_node('debug_click_ik')
+        # Initializes a rospy node so that the SimpleActionClient can
+        # publish and subscribe over ROS.
+        rospy.init_node("debug_click_ik")
         result = click_ik_client()
-        print('result: ', result)
+        print("result: ", result)
     except rospy.ROSInterruptException:
-        print("program interrupted before completion", file=sys.stderr)
+        print("program interrupted before completion", file=sys.stderr)

src/perception/click_ik/click_ik.cpp

@@ -17,7 +17,7 @@ namespace mrover {
         }
 
         geometry_msgs::Pose pose;
-        
+
         double offset = 0.1; // make sure we don't collide by moving back a little from the target
         pose.position.x = target_point.value().x - offset;
         pose.position.y = target_point.value().y;

src/perception/click_ik/click_ik.hpp

@@ -14,15 +14,15 @@ namespace mrover {
         IK message;
         ros::Timer timer;
 
-        const Point* mPoints{};
+        Point const* mPoints{};
         std::size_t mNumPoints{};
         std::size_t mPointCloudWidth{};
         std::size_t mPointCloudHeight{};
 
         tf2_ros::Buffer mTfBuffer{};
         tf2_ros::TransformListener mTfListener{mTfBuffer};
         tf2_ros::TransformBroadcaster mTfBroadcaster;
-        
+
     public:
         ClickIkNodelet() = default;
 
@@ -35,7 +35,7 @@ namespace mrover {
 
         void startClickIk();
         void cancelClickIk();
-        
+
         //Taken line for line from percep object detection code
         auto spiralSearchInImg(size_t xCenter, size_t yCenter) -> std::optional<Point>;
     };

src/perception/click_ik/pch.hpp

@@ -11,9 +11,8 @@
 #include <string>
 #include <type_traits>
 #include <unordered_map>
-#include <limits>
-#include <optional>
 
+#include <actionlib/server/simple_action_server.h>
 #include <dynamic_reconfigure/server.h>
 #include <nodelet/loader.h>
 #include <nodelet/nodelet.h>
@@ -24,15 +23,13 @@
 #include <std_srvs/SetBool.h>
 #include <tf2_ros/transform_broadcaster.h>
 #include <tf2_ros/transform_listener.h>
-#include <actionlib/server/simple_action_server.h>
 
+#include <lie.hpp>
 #include <loop_profiler.hpp>
 #include <point.hpp>
-#include <lie.hpp>
 
 
-#include "mrover/ClickIkGoal.h"
+#include "../teleoperation/arm_controller/arm_controller.hpp"
 #include "mrover/ClickIkAction.h"
+#include "mrover/ClickIkGoal.h"
 #include "mrover/IK.h"
-#include "../teleoperation/arm_controller/arm_controller.hpp"
-

src/simulator/simulator.hpp

@@ -422,7 +422,7 @@ namespace mrover {
         template<typename F, typename N, typename V>
         auto forEachWithMotor(N const& names, V const& values, F&& function) -> void {
             if (auto it = mUrdfs.find("rover"); it != mUrdfs.end()) {
-                URDF & rover = it->second;
+                URDF& rover = it->second;
 
                 for (auto const& combined: boost::combine(names, values)) {
                     std::string const& name = boost::get<0>(combined);

src/simulator/simulator.physics.cpp

@@ -43,7 +43,7 @@ namespace mrover {
             }
             // check if arm motor commands have expired
             // TODO(quintin): fix hard-coded names?
-            for (auto const& name : {"arm_a_link", "arm_b_link", "arm_c_link", "arm_d_link", "arm_e_link"}) {
+            for (auto const& name: {"arm_a_link", "arm_b_link", "arm_c_link", "arm_d_link", "arm_e_link"}) {
                 bool expired = std::chrono::duration_cast<std::chrono::milliseconds>(Clock::now() - rover.linkNameToMeta.at(name).lastUpdate).count() > 20;
                 if (expired) {
                     int linkIndex = rover.linkNameToMeta.at(name).index;

src/teleoperation/backend/consumers.py

@@ -109,7 +109,7 @@ def connect(self):
             self.cmd_vel = rospy.Subscriber("/cmd_vel", Twist, self.cmd_vel_callback)
 
             # Action clients
-            self.click_ik_client = actionlib.SimpleActionClient('do_click_ik', ClickIkAction)
+            self.click_ik_client = actionlib.SimpleActionClient("do_click_ik", ClickIkAction)
 
             # Services
             self.laser_service = rospy.ServiceProxy("enable_arm_laser", SetBool)
@@ -805,13 +805,15 @@ def flight_attitude_listener(self):
             self.send(text_data=json.dumps({"type": "flight_attitude", "pitch": pitch, "roll": roll}))
 
             rate.sleep()
-    
+
     def start_click_ik(self, msg) -> None:
         goal = ClickIkGoal()
         goal.pointInImageX = msg["data"]["x"]
         goal.pointInImageY = msg["data"]["y"]
+
         def feedback_cb(feedback: ClickIkFeedback) -> None:
             self.send(text_data=json.dumps({"type": "click_ik_feedback", "distance": feedback.distance}))
+
         self.click_ik_client.send_goal(goal, feedback_cb=feedback_cb)
 
     def cancel_click_ik(self, msg) -> None: