Merge branch 'main' into generic-hesai-decoder

.github/workflows/build-and-test-differential.yaml

@@ -55,37 +55,3 @@ jobs:
           verbose: true
           flags: differential
 
-  clang-tidy-differential:
-    runs-on: ubuntu-latest
-    container: ros:humble
-    needs: build-and-test-differential
-    steps:
-      - name: Check out repository
-        uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-
-      - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
-
-      - name: Get modified packages
-        id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
-
-      - name: Get modified files
-        id: get-modified-files
-        uses: tj-actions/changed-files@v35
-        with:
-          files: |
-            **/*.cpp
-            **/*.hpp
-
-      - name: Run clang-tidy
-        if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
-        with:
-          rosdistro: humble
-          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          target-files: ${{ steps.get-modified-files.outputs.all_changed_files }}
-          clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy
-          build-depends-repos: build_depends.repos

nebula_examples/CMakeLists.txt

@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.5)
 project(nebula_examples)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
@@ -31,31 +31,31 @@ include_directories(
 # Offline Lib
 ament_auto_add_library(hesai_ros_offline_extract_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd.cpp
-        )
+)
 target_link_libraries(hesai_ros_offline_extract_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(hesai_ros_offline_extract_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
-        )
+)
 # Extraction for TEST Lib
 ament_auto_add_library(hesai_ros_offline_extract_bag_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
-        )
+)
 target_link_libraries(hesai_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(hesai_ros_offline_extract_bag_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
-        )
+)
 
 ## Velodyne
 # Extraction for TEST Lib
 ament_auto_add_library(velodyne_ros_offline_extract_bag_pcd SHARED
         ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
-        )
+)
 target_link_libraries(velodyne_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
 ament_auto_add_executable(velodyne_ros_offline_extract_bag_pcd_node
         ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
-        )
+)
 
-if (BUILD_TESTING)
+if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
 endif()

nebula_examples/include/hesai/hesai_ros_offline_extract_bag_pcd.hpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_HesaiRosOfflineExtractBag_H
 #define NEBULA_HesaiRosOfflineExtractBag_H
 
@@ -14,6 +28,9 @@
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros

nebula_examples/include/hesai/hesai_ros_offline_extract_pcd.hpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_HesaiRosOfflineExtractSample_H
 #define NEBULA_HesaiRosOfflineExtractSample_H
 
@@ -14,6 +28,9 @@
 #include "pandar_msgs/msg/pandar_packet.hpp"
 #include "pandar_msgs/msg/pandar_scan.hpp"
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros

nebula_examples/include/velodyne/velodyne_ros_offline_extract_bag_pcd.hpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #ifndef NEBULA_VelodyneRosOfflineExtractBag_H
 #define NEBULA_VelodyneRosOfflineExtractBag_H
 
@@ -26,6 +40,9 @@
 
 #include <regex>
 
+#include <memory>
+#include <string>
+
 namespace nebula
 {
 namespace ros

nebula_examples/package.xml

@@ -28,6 +28,9 @@
   <depend>velodyne_msgs</depend>
   <depend>yaml-cpp</depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_bag_pcd.hpp"
 
 #include "rclcpp/serialization.hpp"
@@ -78,7 +92,7 @@ Status HesaiRosOfflineExtractBag::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractBag::GetStatus() { return wrapper_status_; }
+Status HesaiRosOfflineExtractBag::GetStatus() {return wrapper_status_;}
 
 Status HesaiRosOfflineExtractBag::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -105,7 +119,7 @@ Status HesaiRosOfflineExtractBag::GetParameters(
     sensor_configuration.return_mode =
       //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
       nebula::drivers::ReturnModeFromStringHesai(
-        this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -290,7 +304,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
   bool needs_open = true;
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     // reader.open(rosbag_directory.string());
@@ -329,7 +343,7 @@ Status HesaiRosOfflineExtractBag::ReadBag()
           writer_->open(storage_options_w, converter_options_w);
           writer_->create_topic(
             {bag_message->topic_name, "pandar_msgs/msg/PandarScan", rmw_get_serialization_format(),
-             ""});
+              ""});
           needs_open = false;
         }
         writer_->write(bag_message);

nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_bag_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>

nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_pcd.hpp"
 
 #include "rclcpp/serialization.hpp"
@@ -7,9 +21,8 @@
 #include "rosbag2_cpp/reader.hpp"
 #include "rosbag2_cpp/readers/sequential_reader.hpp"
 #include "rosbag2_storage/storage_options.hpp"
-//#include <boost/filesystem/path.hpp>
-//#include <boost/filesystem/operations.hpp>
-#include "rcpputils/filesystem_helper.hpp"
+// #include <boost/filesystem/path.hpp>
+// #include <boost/filesystem/operations.hpp>
 
 #include <regex>
 
@@ -79,7 +92,7 @@ Status HesaiRosOfflineExtractSample::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status HesaiRosOfflineExtractSample::GetStatus() { return wrapper_status_; }
+Status HesaiRosOfflineExtractSample::GetStatus() {return wrapper_status_;}
 
 Status HesaiRosOfflineExtractSample::GetParameters(
   drivers::HesaiSensorConfiguration & sensor_configuration,
@@ -106,7 +119,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
     sensor_configuration.return_mode =
       //      nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string());
       nebula::drivers::ReturnModeFromStringHesai(
-        this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
+      this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model);
   }
   {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
@@ -259,7 +272,7 @@ Status HesaiRosOfflineExtractSample::ReadBag()
 
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     // reader.open(rosbag_directory.string());

nebula_examples/src/hesai/hesai_ros_offline_extract_pcd_main.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "hesai/hesai_ros_offline_extract_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>

nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "velodyne/velodyne_ros_offline_extract_bag_pcd.hpp"
 
 namespace nebula
@@ -42,7 +56,7 @@ Status VelodyneRosOfflineExtractBag::InitializeDriver(
   return driver_ptr_->GetStatus();
 }
 
-Status VelodyneRosOfflineExtractBag::GetStatus() { return wrapper_status_; }
+Status VelodyneRosOfflineExtractBag::GetStatus() {return wrapper_status_;}
 
 Status VelodyneRosOfflineExtractBag::GetParameters(
   drivers::VelodyneSensorConfiguration & sensor_configuration,
@@ -300,7 +314,7 @@ Status VelodyneRosOfflineExtractBag::ReadBag()
   bool needs_open = true;
   storage_options.uri = bag_path;
   storage_options.storage_id = storage_id;
-  converter_options.output_serialization_format = format;  //"cdr";
+  converter_options.output_serialization_format = format;  // "cdr";
   {
     rosbag2_cpp::Reader reader(std::make_unique<rosbag2_cpp::readers::SequentialReader>());
     reader.open(storage_options, converter_options);
@@ -338,7 +352,7 @@ Status VelodyneRosOfflineExtractBag::ReadBag()
           writer_->open(storage_options_w, converter_options_w);
           writer_->create_topic(
             {bag_message->topic_name, "velodyne_msgs/msg/VelodyneScan",
-             rmw_get_serialization_format(), ""});
+              rmw_get_serialization_format(), ""});
           needs_open = false;
         }
         writer_->write(bag_message);

nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp

@@ -1,3 +1,17 @@
+// Copyright 2023 Map IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
 #include "velodyne/velodyne_ros_offline_extract_bag_pcd.hpp"
 
 #include <rclcpp/rclcpp.hpp>