Formatting

Signed-off-by: Christopher Strøm <[email protected]>

.clang-format

@@ -132,6 +132,4 @@ StatementMacros:
   - QT_REQUIRE_VERSION
 TabWidth:        8
 UseCRLF:         false
-UseTab:          Never
-...
-
+UseTab:          Never

CMakeLists.txt

@@ -22,7 +22,8 @@ install(
   DIRECTORY include/
   DESTINATION include/${PROJECT_NAME}
 )
-install(DIRECTORY launch
+install(
+  DIRECTORY launch
   DESTINATION share/${PROJECT_NAME}
 )
 

include/ros_stim300_driver/ros_stim300_driver.hpp

@@ -1,13 +1,13 @@
 #ifndef ROS_STIM300_DRIVER_ROS_STIM300_DRIVER_HPP
 #define ROS_STIM300_DRIVER_ROS_STIM300_DRIVER_HPP
 
-#include "stim300_driver/driver_stim300.hpp"
-#include "stim300_driver/serial_unix.hpp"
+#include "iostream"
 #include "math.h"
 #include "rclcpp/rclcpp.hpp"
 #include "sensor_msgs/msg/imu.hpp"
 #include "std_srvs/srv/trigger.hpp"
-#include "iostream"
+#include "stim300_driver/driver_stim300.hpp"
+#include "stim300_driver/serial_unix.hpp"
 #include <vector>
 
 constexpr int NUMBER_OF_CALIBRATION_SAMPLES{100};
@@ -22,45 +22,44 @@ constexpr double GYRO_X_PEAK_TO_PEAK_NOISE{0.0002};
 constexpr double GYRO_Y_PEAK_TO_PEAK_NOISE{0.0002};
 constexpr double GYRO_Z_PEAK_TO_PEAK_NOISE{0.0002};
 
-struct Quaternion
-{
-    double w, x, y, z;
+struct Quaternion {
+  double w, x, y, z;
 };
 
 struct EulerAngles {
-    double roll, pitch, yaw;
+  double roll, pitch, yaw;
 };
 
-Quaternion FromRPYToQuaternion(EulerAngles angles); // yaw (Z), pitch (Y), roll (X)
-
+Quaternion
+FromRPYToQuaternion(EulerAngles angles); // yaw (Z), pitch (Y), roll (X)
 
-class Stim300DriverNode : public rclcpp::Node
-{
+class Stim300DriverNode : public rclcpp::Node {
 public:
-    Stim300DriverNode();
+  Stim300DriverNode();
 
 private:
-    void timerCallback();
+  void timerCallback();
 
-    bool responseCalibrateIMU(const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
-                          std::shared_ptr<std_srvs::srv::Trigger::Response> response);
+  bool responseCalibrateIMU(
+      const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+      std::shared_ptr<std_srvs::srv::Trigger::Response> response);
 
-    rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
-    rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr calibration_service_;
-    rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr imu_publisher_;
+  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr calibration_service_;
+  rclcpp::TimerBase::SharedPtr timer_;
 
-    bool calibration_mode_ = false;
+  bool calibration_mode_ = false;
 
-    std::string device_name_;
-    double variance_gyro_;
-    double variance_acc_;
-    double gravity_;
-    double sample_rate_;
+  std::string device_name_;
+  double variance_gyro_;
+  double variance_acc_;
+  double gravity_;
+  double sample_rate_;
 
-    sensor_msgs::msg::Imu stim300msg_;
+  sensor_msgs::msg::Imu stim300msg_;
 
-    std::unique_ptr<SerialUnix> serial_driver_;
-    std::unique_ptr<DriverStim300> driver_stim300_;
+  std::unique_ptr<SerialUnix> serial_driver_;
+  std::unique_ptr<DriverStim300> driver_stim300_;
 };
 
-#endif  // ROS_STIM300_DRIVER_ROS_STIM300_DRIVER_HPP
+#endif // ROS_STIM300_DRIVER_ROS_STIM300_DRIVER_HPP

launch/stim300_driver.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
         ),
         Node(
             package='driver_stim300',
-            executable='stim300_driver_node',
+            executable='ros_stim300_driver_node',
             name='stim300driver',
             parameters=[{
                 'device_name': LaunchConfiguration('device_name'),