The module contains 2 functions with similar structure: CombineCloudHandler::process_odometry,CombineCloudHandler::process_twist. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

CombineCloudHandler::combine_pointclouds has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

CombineCloudHandler::convert_to_xyzirc_cloud has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

CombineCloudHandler::convert_to_xyzirc_cloud has 1 complex conditionals with 2 branches, threshold = 2. A complex conditional is an expression inside a branch (e.g. if, for, while) which consists of multiple, logical operators such as AND/OR. The more logical operators in an expression, the more severe the code smell.

CombineCloudHandler::process_twist has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

CombineCloudHandler::process_odometry has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

CombineCloudHandler::convert_to_xyzirc_cloud has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

CombineCloudHandler::combine_pointclouds has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

This module has a mean cyclomatic complexity of 5.86 across 7 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent has a cyclomatic complexity of 20, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PointCloudConcatenateDataSynchronizerComponent::publish_clouds has a cyclomatic complexity of 14, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PointCloudConcatenateDataSynchronizerComponent::cloud_callback has a cyclomatic complexity of 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PointCloudConcatenateDataSynchronizerComponent::check_concat_status has a cyclomatic complexity of 9, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

PointCloudConcatenateDataSynchronizerComponent::publish_clouds has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

PointCloudConcatenateDataSynchronizerComponent::check_concat_status has 3 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

PointCloudConcatenateDataSynchronizerComponent::PointCloudConcatenateDataSynchronizerComponent has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

PointCloudConcatenateDataSynchronizerComponent::cloud_callback has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.

This module has a mean cyclomatic complexity of 5.82 across 11 functions. The mean complexity threshold is 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

PointCloudConcatenateDataSynchronizerComponent::publish_clouds has a nested complexity depth of 4, threshold = 4. This function contains deeply nested logic such as if statements and/or loops. The deeper the nesting, the lower the code health.

This module has 689 lines of code, improve code health by reducing it to 600. The number of Lines of Code in a single file. More Lines of Code lowers the code health.

The module contains 7 functions with similar structure: TestConcatenateNode.test_1_normal_inputs,TestConcatenateNode.test_2_normal_inputs_with_noise,TestConcatenateNode.test_3_abnormal_null_pointcloud,TestConcatenateNode.test_5_abnormal_multiple_pointcloud_drop and 3 more functions. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.

TestConcatenateNode.test_8_abnormal_pointcloud_drop_continue_normal has 89 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

TestConcatenateNode.test_7_abnormal_pointcloud_delay has 81 lines, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

generate_transform_msg has 9 arguments, threshold = 4. This function has too many arguments, indicating a lack of encapsulation. Avoid adding more arguments.

The module contains 2 functions with similar structure: TEST:ConcatenateCloudTest:TestProcessOdometry,TEST:ConcatenateCloudTest:TestProcessTwist. Avoid duplicated, aka copy-pasted, code inside the module. More duplication lowers the code health.