style(pre-commit): autofix

dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.cpp

@@ -25,22 +25,21 @@ DummyGearCmdPublisher::DummyGearCmdPublisher(const rclcpp::NodeOptions & node_op
   // Subscriber
 
   // Publisher
-  pub_gear_cmd_ = create_publisher<autoware_auto_vehicle_msgs::msg::GearCommand>(
-    "~/output/gear_cmd", 10);
+  pub_gear_cmd_ =
+    create_publisher<autoware_auto_vehicle_msgs::msg::GearCommand>("~/output/gear_cmd", 10);
 
   // Service
 
   // Client
 
   // Timer
   using namespace std::literals::chrono_literals;
-  timer_ = rclcpp::create_timer(
-    this, get_clock(), 1s, std::bind(&DummyGearCmdPublisher::onTimer, this));
+  timer_ =
+    rclcpp::create_timer(this, get_clock(), 1s, std::bind(&DummyGearCmdPublisher::onTimer, this));
 
   // State
 
   // Diagnostics
-
 }
 
 void DummyGearCmdPublisher::onTimer()

dummy/dummy_gear_cmd_publisher/src/dummy_gear_cmd_publisher.hpp

@@ -12,13 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef DUMMY_GEAR_CMD_PUBLISHER__DUMMY_GEAR_CMD_PUBLISHER_HPP_
-#define DUMMY_GEAR_CMD_PUBLISHER__DUMMY_GEAR_CMD_PUBLISHER_HPP_
+#ifndef DUMMY_GEAR_CMD_PUBLISHER_HPP_
+#define DUMMY_GEAR_CMD_PUBLISHER_HPP_
 
 // include
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
+
 namespace dummy_gear_cmd_publisher
 {
 
@@ -48,8 +49,7 @@ class DummyGearCmdPublisher : public rclcpp::Node
   // State
 
   // Diagnostics
-
 };
 }  // namespace dummy_gear_cmd_publisher
 
-#endif  // DUMMY_GEAR_CMD_PUBLISHER__DUMMY_GEAR_CMD_PUBLISHER_HPP_
+#endif  // DUMMY_GEAR_CMD_PUBLISHER_HPP_

launch/tier4_control_launch/launch/control.launch.py

@@ -30,13 +30,15 @@
 from launch_ros.substitutions import FindPackageShare
 import yaml
 
+
 def get_control_cmd_topic(context):
-    is_redundant = LaunchConfiguration('launch_redundancy_system_components').perform(context)
-    system_run_mode = LaunchConfiguration('system_run_mode').perform(context)
+    is_redundant = LaunchConfiguration("launch_redundancy_system_components").perform(context)
+    system_run_mode = LaunchConfiguration("system_run_mode").perform(context)
+
+    if is_redundant.lower() == "true" and system_run_mode.lower() == "planning_simulation":
+        return "/main/control/command/control_cmd"
+    return "/control/command/control_cmd"
 
-    if is_redundant.lower() == 'true' and system_run_mode.lower() == 'planning_simulation':
-        return '/main/control/command/control_cmd'
-    return '/control/command/control_cmd'
 
 def launch_setup(context, *args, **kwargs):
     with open(LaunchConfiguration("vehicle_param_file").perform(context), "r") as f:

system/control_cmd_switcher/src/control_cmd_switcher/control_cmd_switcher.cpp

@@ -22,15 +22,13 @@ ControlCmdSwitcher::ControlCmdSwitcher(const rclcpp::NodeOptions & node_options)
 : Node("control_cmd_switcher", node_options)
 {
   // Subscriber
-  sub_main_control_cmd_ =
-    create_subscription<autoware_control_msgs::msg::Control>(
-      "~/input/main/control_cmd", rclcpp::QoS{10},
-      std::bind(&ControlCmdSwitcher::onMainControlCmd, this, std::placeholders::_1));
+  sub_main_control_cmd_ = create_subscription<autoware_control_msgs::msg::Control>(
+    "~/input/main/control_cmd", rclcpp::QoS{10},
+    std::bind(&ControlCmdSwitcher::onMainControlCmd, this, std::placeholders::_1));
 
-  sub_sub_control_cmd_ =
-    create_subscription<autoware_control_msgs::msg::Control>(
-      "~/input/sub/control_cmd", rclcpp::QoS{10},
-      std::bind(&ControlCmdSwitcher::onSubControlCmd, this, std::placeholders::_1));
+  sub_sub_control_cmd_ = create_subscription<autoware_control_msgs::msg::Control>(
+    "~/input/sub/control_cmd", rclcpp::QoS{10},
+    std::bind(&ControlCmdSwitcher::onSubControlCmd, this, std::placeholders::_1));
 
   sub_election_status_main_ = create_subscription<tier4_system_msgs::msg::ElectionStatus>(
     "~/input/election/status/main", rclcpp::QoS{10},
@@ -41,8 +39,8 @@ ControlCmdSwitcher::ControlCmdSwitcher(const rclcpp::NodeOptions & node_options)
     std::bind(&ControlCmdSwitcher::onElectionStatus, this, std::placeholders::_1));
 
   // Publisher
-  pub_control_cmd_ = create_publisher<autoware_control_msgs::msg::Control>(
-    "~/output/control_cmd", rclcpp::QoS{1});
+  pub_control_cmd_ =
+    create_publisher<autoware_control_msgs::msg::Control>("~/output/control_cmd", rclcpp::QoS{1});
 
   // Initialize
   use_main_control_cmd_ = true;

system/control_cmd_switcher/src/control_cmd_switcher/control_cmd_switcher.hpp

@@ -34,21 +34,16 @@ class ControlCmdSwitcher : public rclcpp::Node
 
 private:
   // Subscribers
-  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr
-    sub_main_control_cmd_;
-  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr
-    sub_sub_control_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_main_control_cmd_;
+  rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr sub_sub_control_cmd_;
   rclcpp::Subscription<tier4_system_msgs::msg::ElectionStatus>::SharedPtr sub_election_status_main_;
   rclcpp::Subscription<tier4_system_msgs::msg::ElectionStatus>::SharedPtr sub_election_status_sub_;
-  void onMainControlCmd(
-    const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
-  void onSubControlCmd(
-    const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
+  void onMainControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
+  void onSubControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
   void onElectionStatus(const tier4_system_msgs::msg::ElectionStatus::ConstSharedPtr msg);
 
   // Publisher
-  rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr
-    pub_control_cmd_;
+  rclcpp::Publisher<autoware_control_msgs::msg::Control>::SharedPtr pub_control_cmd_;
 
   std::atomic<bool> use_main_control_cmd_;
 };

system/mrm_stop_operator/src/mrm_stop_operator.cpp

@@ -33,8 +33,9 @@ MrmStopOperator::MrmStopOperator(const rclcpp::NodeOptions & node_options)
   sub_velocity_group_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::SubscriptionOptions velocity_options = rclcpp::SubscriptionOptions();
   velocity_options.callback_group = sub_velocity_group_;
-  auto not_executed_callback = []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::
-                                    VelocityReport::ConstSharedPtr msg) {};
+  auto not_executed_callback =
+    []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::VelocityReport::ConstSharedPtr
+         msg) {};
   sub_velocity_ = create_subscription<autoware_vehicle_msgs::msg::VelocityReport>(
     "~/input/velocity", 10, not_executed_callback, velocity_options);
 

system/redundancy_switcher_interface/README.md

@@ -10,11 +10,11 @@ The availability converter subscribes `/system/operation_mode/availability` and
 
 ### Interface
 
-| Interface Type | Interface Name                        | Data Type                                          | Description                   |
-| -------------- | ------------------------------------- | -------------------------------------------------- | ----------------------------- |
-| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability`  | Usable behavior of the ego.   |
-| subscriber     | `/vehicle/status/mrm_state`           | `autoware_vehicle_msgs/msg/ControlModeReport` | Ego control mode.             |
-| udp sender     | none                                  | `struct Availability`                              | Combination of the above two. |
+| Interface Type | Interface Name                        | Data Type                                         | Description                   |
+| -------------- | ------------------------------------- | ------------------------------------------------- | ----------------------------- |
+| subscriber     | `/system/operation_mode/availability` | `tier4_system_msgs/msg/OperationModeAvailability` | Usable behavior of the ego.   |
+| subscriber     | `/vehicle/status/mrm_state`           | `autoware_vehicle_msgs/msg/ControlModeReport`     | Ego control mode.             |
+| udp sender     | none                                  | `struct Availability`                             | Combination of the above two. |
 
 ## mrm converter
 
@@ -42,7 +42,7 @@ The log　converter receive udp packets into a structure called `ElectionCommuni
 | udp receiver   | none                                   | `struct ElectionCommunication`                | messages among election nodes. |
 | udp receiver   | none                                   | `struct ElectionStatus`                       | Leader Election status.        |
 | publisher      | `/system/election/communication`       | `tier4_system_msgs/msg/ElectionCommunication` | messages among election nodes. |
-| publisher      | `/system/election/status`              | `autoware_adapi_v1_msgs/msg/MrmState`              | Leader Election status.        |
+| publisher      | `/system/election/status`              | `autoware_adapi_v1_msgs/msg/MrmState`         | Leader Election status.        |
 | publisher      | `/system/fail_safe/over_all/mrm_state` | `autoware_adapi_v1_msgs/msg/mrm_state`        | System-wide MRM status.        |
 
 ## Parameters

system/redundancy_switcher_interface/script/relay_to_sub.py

@@ -55,11 +55,15 @@ def operation_mode_state_callback(self, msg):
         if msg.mode == 2:
             self.operation_mode_autonomous_state = True
             if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
-                self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")
+                self.get_logger().info(
+                    f"Operation mode changed: {self.operation_mode_autonomous_state}"
+                )
         else:
             self.operation_mode_autonomous_state = False
             if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
-                self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")
+                self.get_logger().info(
+                    f"Operation mode changed: {self.operation_mode_autonomous_state}"
+                )
 
     def trajectory_callback(self, msg):
         if self.autonomous_mode or self.operation_mode_autonomous_state == False:

system/redundancy_switcher_interface/src/common/converter/availability_converter.cpp

@@ -43,18 +43,18 @@ void AvailabilityConverter::setSubscriber()
     node_->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::SubscriptionOptions control_mode_options = rclcpp::SubscriptionOptions();
   control_mode_options.callback_group = control_mode_callback_group_;
-  auto not_executed_callback = []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::
-                                    ControlModeReport::ConstSharedPtr msg) {};
+  auto not_executed_callback =
+    []([[maybe_unused]] const typename autoware_vehicle_msgs::msg::ControlModeReport::ConstSharedPtr
+         msg) {};
 
   sub_operation_mode_availability_ =
     node_->create_subscription<tier4_system_msgs::msg::OperationModeAvailability>(
       "~/input/operation_mode_availability", qos,
       std::bind(&AvailabilityConverter::convertToUdp, this, std::placeholders::_1),
       availability_options);
 
-  sub_control_mode_ =
-    node_->create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
-      "~/input/control_mode", qos, not_executed_callback, control_mode_options);
+  sub_control_mode_ = node_->create_subscription<autoware_vehicle_msgs::msg::ControlModeReport>(
+    "~/input/control_mode", qos, not_executed_callback, control_mode_options);
 }
 
 void AvailabilityConverter::convertToUdp(

system/redundancy_switcher_interface/src/common/converter/availability_converter.hpp

@@ -56,8 +56,7 @@ class AvailabilityConverter
   std::unique_ptr<UdpSender<Availability>> udp_availability_sender_;
   rclcpp::CallbackGroup::SharedPtr availability_callback_group_;
   rclcpp::CallbackGroup::SharedPtr control_mode_callback_group_;
-  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
-    sub_control_mode_;
+  rclcpp::Subscription<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr sub_control_mode_;
   rclcpp::Subscription<tier4_system_msgs::msg::OperationModeAvailability>::SharedPtr
     sub_operation_mode_availability_;
 };