changed clang-format style to Google; updated clang-format runner in …

…GH workflows to use modern pip version of clang-format

Signed-off-by: Peter Geurts <[email protected]>

.clang-format

@@ -2,8 +2,9 @@
 # 
 # SPDX-License-Identifier: Apache-2.0
 Language: Cpp
-BasedOnStyle: LLVM
+BasedOnStyle: Google 
 
+InsertNewlineAtEOF: true
 SeparateDefinitionBlocks: Always
 SortIncludes: true
 IncludeBlocks: Regroup

.github/workflows/linting.yml

@@ -37,8 +37,8 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
-      - run: sudo apt update && sudo apt install -y clang-format
-      - run: find ros2_ws/src -iname '*.h' -o -iname '*.hpp' -o -iname '*.cpp' | xargs clang-format --dry-run --Werror
+      - run: python3 -m pip install clang-format
+      - run: find ros2_ws/src -iname '*.h' -o -iname '*.hpp' -o -iname '*.cpp' | xargs clang-format --dry-run --Werror --style=file
 
   doxygen:
     runs-on: ubuntu-latest

ros2_ws/src/rcdt_moveit/include/moveit_manager.hpp

@@ -2,12 +2,13 @@
 //
 // # SPDX-License-Identifier: Apache-2.0
 
+#include <moveit_visual_tools/moveit_visual_tools.h>
+
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <moveit/move_group_interface/move_group_interface.hpp>
 #include <moveit/planning_scene_interface/planning_scene_interface.hpp>
 #include <moveit/robot_model/joint_model_group.hpp>
 #include <moveit_msgs/srv/servo_command_type.hpp>
-#include <moveit_visual_tools/moveit_visual_tools.h>
 #include <rcdt_messages/srv/add_marker.hpp>
 #include <rcdt_messages/srv/add_object.hpp>
 #include <rcdt_messages/srv/define_goal_pose.hpp>
@@ -33,23 +34,23 @@ typedef rcdt_messages::srv::ExpressPoseInOtherFrame ExpressPoseInOtherFrame;
  * Class to interact with the Moveit framework.
  */
 class MoveitManager {
-public:
+ public:
   /**
    * @brief constructor for the MoveitManager class.
    * @param node The ROS2 node to attach to.
    */
   MoveitManager(rclcpp::Node::SharedPtr node);
 
-private:
+ private:
   rclcpp::Node::SharedPtr node; /**< ROS2 node with MoveIt Services */
   rclcpp::Node::SharedPtr
       client_node; /**< ROS2 node with ExpressPoseInOtherFrame Client */
   moveit::planning_interface::MoveGroupInterface
       move_group; /**< Interface for setting joint/pose goals */
   moveit::planning_interface::PlanningSceneInterface
       planning_scene_interface; /**< Interface for adding collision objects */
-  const moveit::core::JointModelGroup
-      *joint_model_group; /**< Joint models for planning trajectories */
+  const moveit::core::JointModelGroup*
+      joint_model_group; /**< Joint models for planning trajectories */
   moveit_visual_tools::MoveItVisualTools
       moveit_visual_tools; /**< Visualization tools */
   PoseStamped goal_pose;   /**< Goal pose to move end-effector to */
@@ -93,8 +94,8 @@ class MoveitManager {
                      std::shared_ptr<Trigger::Response> response);
 
   rclcpp::Service<DefineGoalPose>::SharedPtr
-      define_goal_pose_service; /**< Service to define goal pose for arm to move
-                                   to */
+      define_goal_pose_service; /**< Service to define goal
+                                   pose for arm to move to */
 
   /**
    * @brief Callback to define goal pose for arm to move to.
@@ -115,9 +116,9 @@ class MoveitManager {
    * translation.
    * @param response Response indicating whether the service call succeeded.
    */
-  void
-  transform_goal_pose(const std::shared_ptr<TransformGoalPose::Request> request,
-                      std::shared_ptr<TransformGoalPose::Response> response);
+  void transform_goal_pose(
+      const std::shared_ptr<TransformGoalPose::Request> request,
+      std::shared_ptr<TransformGoalPose::Response> response);
 
   rclcpp::Service<MoveToConf>::SharedPtr
       move_to_configuration_service; /**< Service to move to a specified
@@ -132,8 +133,8 @@ class MoveitManager {
                              std::shared_ptr<MoveToConf::Response> response);
 
   rclcpp::Service<MoveHandToPose>::SharedPtr
-      move_hand_to_pose_service; /**< Service to move hand to a specified goal
-                                    Pose */
+      move_hand_to_pose_service; /**< Service to move hand to
+                                    a specified goal Pose */
 
   /**
    * @brief Callback to move arm to a specified goal Pose.
@@ -145,8 +146,8 @@ class MoveitManager {
                          std::shared_ptr<MoveHandToPose::Response> response);
 
   rclcpp::Service<AddMarker>::SharedPtr
-      add_marker_service; /**< Service to add a visual marker at a specified
-                             Pose */
+      add_marker_service; /**< Service to add a visual marker at a
+                             specified Pose */
 
   /**
    * @brief Callback to add a visual marker at a specified location.
@@ -169,9 +170,16 @@ class MoveitManager {
                      std::shared_ptr<Trigger::Response> response);
 
   //   Methods:
-  void initialize_clients();  /**< Initializes the ExpressPoseInOtherFrame
-                                 service client Node and Client */
-  void initialize_services(); /**< Initializes all MoveIt Services */
+  /**
+   * @brief Initializes the ExpressPoseInOtherFrame service client Node and
+   * Client.
+   */
+  void initialize_clients();
+
+  /**
+   * @brief Initializes all MoveIt Services
+   */
+  void initialize_services();
 
   /**
    * @brief Method to change a specified Pose to a world-fixed frame.

ros2_ws/src/rcdt_moveit/src/moveit_manager.cpp

@@ -193,7 +193,7 @@ void MoveitManager::clear_markers(
   response->success = true;
 }
 
-int main(int argc, char **argv) {
+int main(int argc, char** argv) {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions node_options;
   node_options.automatically_declare_parameters_from_overrides(true);