apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

[ros2] lint the pcl_ros code base to try and get a green build :) (#406)

Browse Source 
* Lint!

* Fix flake8 errors

* Fix clang-tidy errors

* Remove [[maybe_unused]]
This commit is contained in:
Andrew Symington 2023-02-24 13:03:08 -08:00 committed by GitHub
parent 3966b71ad6
commit 1e544f132e
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
14 changed files with 110 additions and 105 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

56
pcl_ros/cfg/SACSegmentation_common.py
View File

@ -1,8 +1,8 @@
#! /usr/bin/env python #! /usr/bin/env python
from dynamic_reconfigure.parameter_generator_catkin import int_t
from dynamic_reconfigure.parameter_generator_catkin import double_t
from dynamic_reconfigure.parameter_generator_catkin import bool_t from dynamic_reconfigure.parameter_generator_catkin import bool_t
from dynamic_reconfigure.parameter_generator_catkin import double_t
from dynamic_reconfigure.parameter_generator_catkin import int_t
from dynamic_reconfigure.parameter_generator_catkin import str_t from dynamic_reconfigure.parameter_generator_catkin import str_t
# set up parameters that we care about # set up parameters that we care about
@ -11,37 +11,37 @@ PACKAGE = 'pcl_ros'
def add_common_parameters(gen): def add_common_parameters(gen):
# add(self, name, paramtype, level, description, default = None, min = None, # add(self, name, paramtype, level, description, default = None, min = None,
# max = None, edit_method = "") # max = None, edit_method = '')
gen.add("max_iterations", int_t, 0, gen.add('max_iterations', int_t, 0,
"The maximum number of iterations the algorithm will run for", 'The maximum number of iterations the algorithm will run for',
50, 0, 100000) 50, 0, 100000)
gen.add("probability", double_t, 0, gen.add('probability', double_t, 0,
"The desired probability of choosing at least one sample free from outliers", 'The desired probability of choosing at least one sample free from outliers',
0.99, 0.5, 0.99) 0.99, 0.5, 0.99)
gen.add("distance_threshold", double_t, 0, gen.add('distance_threshold', double_t, 0,
"The distance to model threshold", 'The distance to model threshold',
0.02, 0, 1.0) 0.02, 0, 1.0)
gen.add("optimize_coefficients", bool_t, 0, gen.add('optimize_coefficients', bool_t, 0,
"Model coefficient refinement", 'Model coefficient refinement',
True) True)
gen.add("radius_min", double_t, 0, gen.add('radius_min', double_t, 0,
"The minimum allowed model radius (where applicable)", 'The minimum allowed model radius (where applicable)',
0.0, 0, 1.0) 0.0, 0, 1.0)
gen.add("radius_max", double_t, 0, gen.add('radius_max', double_t, 0,
"The maximum allowed model radius (where applicable)", 'The maximum allowed model radius (where applicable)',
0.05, 0, 1.0) 0.05, 0, 1.0)
gen.add("eps_angle", double_t, 0, gen.add('eps_angle', double_t, 0,
("The maximum allowed difference between the model normal " ('The maximum allowed difference between the model normal '
"and the given axis in radians."), 'and the given axis in radians.'),
0.17, 0.0, 1.5707) 0.17, 0.0, 1.5707)
gen.add("min_inliers", int_t, 0, gen.add('min_inliers', int_t, 0,
"The minimum number of inliers a model must have in order to be considered valid.", 'The minimum number of inliers a model must have in order to be considered valid.',
0, 0, 100000) 0, 0, 100000)
gen.add("input_frame", str_t, 0, gen.add('input_frame', str_t, 0,
("The input TF frame the data should be transformed into, " ('The input TF frame the data should be transformed into, '
"if input.header.frame_id is different."), 'if input.header.frame_id is different.'),
"") '')
gen.add("output_frame", str_t, 0, gen.add('output_frame', str_t, 0,
("The output TF frame the data should be transformed into, " ('The output TF frame the data should be transformed into, '
"if input.header.frame_id is different."), 'if input.header.frame_id is different.'),
"") '')

44
pcl_ros/cfg/common.py
View File

@ -1,8 +1,8 @@
#! /usr/bin/env python #! /usr/bin/env python
from dynamic_reconfigure.parameter_generator_catkin import str_t
from dynamic_reconfigure.parameter_generator_catkin import double_t
from dynamic_reconfigure.parameter_generator_catkin import bool_t from dynamic_reconfigure.parameter_generator_catkin import bool_t
from dynamic_reconfigure.parameter_generator_catkin import double_t
from dynamic_reconfigure.parameter_generator_catkin import str_t
# set up parameters that we care about # set up parameters that we care about
PACKAGE = 'pcl_ros' PACKAGE = 'pcl_ros'
@ -10,27 +10,27 @@ PACKAGE = 'pcl_ros'
def add_common_parameters(gen): def add_common_parameters(gen):
# def add (self, name, paramtype, level, description, default = None, min = None, # def add (self, name, paramtype, level, description, default = None, min = None,
# max = None, edit_method = ""): # max = None, edit_method = ''):
gen.add("filter_field_name", str_t, 0, "The field name used for filtering", "z") gen.add('filter_field_name', str_t, 0, 'The field name used for filtering', 'z')
gen.add("filter_limit_min", double_t, 0, gen.add('filter_limit_min', double_t, 0,
"The minimum allowed field value a point will be considered from", 'The minimum allowed field value a point will be considered from',
0.0, -100000.0, 100000.0) 0.0, -100000.0, 100000.0)
gen.add("filter_limit_max", double_t, 0, gen.add('filter_limit_max', double_t, 0,
"The maximum allowed field value a point will be considered from", 'The maximum allowed field value a point will be considered from',
1.0, -100000.0, 100000.0) 1.0, -100000.0, 100000.0)
gen.add("filter_limit_negative", bool_t, 0, gen.add('filter_limit_negative', bool_t, 0,
("Set to true if we want to return the data outside " ('Set to true if we want to return the data outside '
"[filter_limit_min; filter_limit_max]."), '[filter_limit_min; filter_limit_max].'),
False) False)
gen.add("keep_organized", bool_t, 0, gen.add('keep_organized', bool_t, 0,
("Set whether the filtered points should be kept and set to NaN, " ('Set whether the filtered points should be kept and set to NaN, '
"or removed from the PointCloud, thus potentially breaking its organized structure."), 'or removed from the PointCloud, thus potentially breaking its organized structure.'),
False) False)
gen.add("input_frame", str_t, 0, gen.add('input_frame', str_t, 0,
("The input TF frame the data should be transformed into before processing, " ('The input TF frame the data should be transformed into before processing, '
"if input.header.frame_id is different."), 'if input.header.frame_id is different.'),
"") '')
gen.add("output_frame", str_t, 0, gen.add('output_frame', str_t, 0,
("The output TF frame the data should be transformed into after processing, " ('The output TF frame the data should be transformed into after processing, '
"if input.header.frame_id is different."), 'if input.header.frame_id is different.'),
"") '')

11
pcl_ros/include/pcl_ros/impl/transforms.hpp
View File

@ -37,7 +37,6 @@
#ifndef PCL_ROS__IMPL__TRANSFORMS_HPP_ #ifndef PCL_ROS__IMPL__TRANSFORMS_HPP_
#define PCL_ROS__IMPL__TRANSFORMS_HPP_ #define PCL_ROS__IMPL__TRANSFORMS_HPP_
#include "pcl_ros/transforms.hpp"
#include <pcl/common/transforms.h> #include <pcl/common/transforms.h>
#include <pcl_conversions/pcl_conversions.h> #include <pcl_conversions/pcl_conversions.h>
#include <tf2/convert.h> #include <tf2/convert.h>
@ -45,14 +44,18 @@
#include <tf2/LinearMath/Transform.h> #include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Quaternion.h> #include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Vector3.h> #include <tf2/LinearMath/Vector3.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2_ros/buffer.h> #include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_listener.h>
#include <Eigen/Dense>
#include <string>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp> #include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp/logging.hpp> #include <rclcpp/logging.hpp>
#include <rclcpp/time.hpp> #include <rclcpp/time.hpp>
#include <Eigen/Dense>
#include <string> #include "pcl_ros/transforms.hpp"
using pcl_conversions::fromPCL; using pcl_conversions::fromPCL;
using pcl_conversions::toPCL; using pcl_conversions::toPCL;

2
pcl_ros/include/pcl_ros/io/bag_io.hpp
View File

@ -38,11 +38,11 @@
#ifndef PCL_ROS__IO__BAG_IO_HPP_ #ifndef PCL_ROS__IO__BAG_IO_HPP_
#define PCL_ROS__IO__BAG_IO_HPP_ #define PCL_ROS__IO__BAG_IO_HPP_
#include <pcl_ros/pcl_nodelet.hpp>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <rosbag/bag.h> #include <rosbag/bag.h>
#include <rosbag/view.h> #include <rosbag/view.h>
#include <string> #include <string>
#include <pcl_ros/pcl_nodelet.hpp>
namespace pcl_ros namespace pcl_ros
{ {

33
pcl_ros/include/pcl_ros/pcl_node.hpp
View File

@ -44,30 +44,25 @@
#ifndef PCL_ROS__PCL_NODE_HPP_ #ifndef PCL_ROS__PCL_NODE_HPP_
#define PCL_ROS__PCL_NODE_HPP_ #define PCL_ROS__PCL_NODE_HPP_
#include <sensor_msgs/msg/point_cloud2.hpp>
// PCL includes
#include <pcl_msgs/msg/point_indices.hpp>
#include <pcl_msgs/msg/model_coefficients.hpp>
#include <pcl/pcl_base.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
// ROS Nodelet includes
// #include <nodelet_topic_tools/nodelet_lazy.h> // TODO(daisukes): lazy subscription
#include <message_filters/subscriber.h> #include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h> #include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h> #include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h> #include <message_filters/sync_policies/approximate_time.h>
#include <pcl/pcl_base.h>
// Include TF #include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_listener.h>
#include <tf2_ros/buffer.h> #include <tf2_ros/buffer.h>
// #include <nodelet_topic_tools/nodelet_lazy.h> // TODO(daisukes): lazy subscription
// STL
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
// ROS2 includes
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_msgs/msg/point_indices.hpp>
#include <pcl_msgs/msg/model_coefficients.hpp>
// #include "pcl_ros/point_cloud.hpp" // #include "pcl_ros/point_cloud.hpp"
@ -199,9 +194,9 @@ protected:
bool approximate_sync_; bool approximate_sync_;
/** \brief TF listener object. */ /** \brief TF listener object. */
tf2_ros::TransformListener tf_listener_;
tf2_ros::Buffer tf_buffer_; tf2_ros::Buffer tf_buffer_;
tf2_ros::TransformListener tf_listener_;
/** \brief Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero). /** \brief Test whether a given PointCloud message is "valid" (i.e., has points, and width and height are non-zero).
* \param cloud the point cloud to test * \param cloud the point cloud to test
* \param topic_name an optional topic name (only used for printing, defaults to "input") * \param topic_name an optional topic name (only used for printing, defaults to "input")
@ -249,7 +244,9 @@ protected:
* \param topic_name an optional topic name (only used for printing, defaults to "indices") * \param topic_name an optional topic name (only used for printing, defaults to "indices")
*/ */
inline bool inline bool
isValid(const PointIndicesConstPtr & indices, const std::string & topic_name = "indices") isValid(
const PointIndicesConstPtr & /*indices*/,
const std::string & /*topic_name*/ = "indices")
{ {
/*if (indices->indices.empty ()) /*if (indices->indices.empty ())
{ {
@ -269,7 +266,9 @@ protected:
* \param topic_name an optional topic name (only used for printing, defaults to "model") * \param topic_name an optional topic name (only used for printing, defaults to "model")
*/ */
inline bool inline bool
isValid(const ModelCoefficientsConstPtr & model, const std::string & topic_name = "model") isValid(
const ModelCoefficientsConstPtr & /*model*/,
const std::string & /*topic_name*/ = "model")
{ {
/*if (model->values.empty ()) /*if (model->values.empty ())
{ {

10
pcl_ros/include/pcl_ros/point_cloud.hpp
View File

@ -44,12 +44,12 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <pcl/point_cloud.h> #include <pcl/point_cloud.h>
#include <pcl/pcl_config.h> // for PCL_VERSION_COMPARE #include <pcl/pcl_config.h> // for PCL_VERSION_COMPARE
#if PCL_VERSION_COMPARE(>=, 1, 11, 0) #if PCL_VERSION_COMPARE(>=, 1, 11, 0)
#include <pcl/type_traits.h> #include <pcl/type_traits.h>
#else #else
#include <pcl/point_traits.h> #include <pcl/point_traits.h>
#endif // PCL_VERSION_COMPARE(>=, 1, 11, 0) #endif // PCL_VERSION_COMPARE(>=, 1, 11, 0)
#include <pcl/for_each_type.h> #include <pcl/for_each_type.h>
#include <pcl/conversions.h> #include <pcl/conversions.h>
#if ROS_POINTER_COMPATIBILITY_IMPLEMENTED #if ROS_POINTER_COMPATIBILITY_IMPLEMENTED
@ -61,9 +61,6 @@
#endif #endif
#include <pcl_conversions/pcl_conversions.h> #include <pcl_conversions/pcl_conversions.h>
#include <sensor_msgs/PointCloud2.h> #include <sensor_msgs/PointCloud2.h>
#include <boost/foreach.hpp> // for BOOST_FOREACH
#include <boost/mpl/size.hpp>
#include <boost/ref.hpp>
#include <string> #include <string>
#include <utility> #include <utility>
#include <vector> #include <vector>
@ -71,6 +68,9 @@
#include <type_traits> #include <type_traits>
#include <memory> #include <memory>
#endif #endif
#include <boost/foreach.hpp> // for BOOST_FOREACH
#include <boost/mpl/size.hpp>
#include <boost/ref.hpp>
namespace pcl namespace pcl
{ {

4
pcl_ros/include/pcl_ros/transforms.hpp
View File

@ -41,11 +41,11 @@
#include <tf2/LinearMath/Transform.h> #include <tf2/LinearMath/Transform.h>
#include <tf2_ros/buffer.h> #include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_listener.h>
#include <Eigen/Dense>
#include <string>
#include <rclcpp/time.hpp> #include <rclcpp/time.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp> #include <sensor_msgs/msg/point_cloud2.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp> #include <geometry_msgs/msg/transform_stamped.hpp>
#include <Eigen/Dense>
#include <string>
namespace pcl_ros namespace pcl_ros
{ {

2
pcl_ros/src/pcl_ros/io/pcd_io.cpp
View File

@ -36,8 +36,8 @@
*/ */
#include <pluginlib/class_list_macros.h> #include <pluginlib/class_list_macros.h>
#include <pcl_ros/io/pcd_io.hpp>
#include <string> #include <string>
#include <pcl_ros/io/pcd_io.hpp>
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
void void

9
pcl_ros/src/test/test_tf_message_filter_pcl.cpp
View File

@ -38,10 +38,6 @@
#include <tf/transform_listener.h> #include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h> #include <tf/transform_broadcaster.h>
#include <boost/bind.hpp>
#include <boost/scoped_ptr.hpp>
#include <pcl_ros/point_cloud.hpp>
#include <pcl_conversions/pcl_conversions.h> #include <pcl_conversions/pcl_conversions.h>
#include <ros/ros.h> #include <ros/ros.h>
@ -52,6 +48,11 @@
#include <string> #include <string>
#include <vector> #include <vector>
#include <boost/bind.hpp>
#include <boost/scoped_ptr.hpp>
#include <pcl_ros/point_cloud.hpp>
// using a random point type, as we want to make sure that it does work with // using a random point type, as we want to make sure that it does work with
// other points than just XYZ // other points than just XYZ
typedef pcl::PointCloud<pcl::PointXYZRGBNormal> PCDType; typedef pcl::PointCloud<pcl::PointXYZRGBNormal> PCDType;

13
pcl_ros/src/transforms.cpp
View File

@ -36,6 +36,7 @@
#include "pcl_ros/transforms.hpp" #include "pcl_ros/transforms.hpp"
#include "pcl_ros/impl/transforms.hpp" #include "pcl_ros/impl/transforms.hpp"
#include <pcl/common/transforms.h> #include <pcl/common/transforms.h>
#include <pcl/point_types.h> #include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h> #include <pcl_conversions/pcl_conversions.h>
@ -43,18 +44,20 @@
#include <tf2/exceptions.h> #include <tf2/exceptions.h>
#include <tf2/LinearMath/Transform.h> #include <tf2/LinearMath/Transform.h>
#include <tf2/LinearMath/Vector3.h> #include <tf2/LinearMath/Vector3.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <tf2_ros/buffer.h> #include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h> #include <tf2_ros/transform_listener.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/time.hpp>
#include <Eigen/Dense> #include <Eigen/Dense>
#include <cmath> #include <cmath>
#include <limits> #include <limits>
#include <string> #include <string>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp/logging.hpp>
#include <rclcpp/time.hpp>
namespace pcl_ros namespace pcl_ros
{ {
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////

4
pcl_ros/tests/filters/test_filter_component.py
View File

@ -36,9 +36,8 @@ import launch.actions
import launch_ros.actions import launch_ros.actions
import launch_testing.actions import launch_testing.actions
import launch_testing.markers import launch_testing.markers
import pytest
from launch_testing_ros import WaitForTopics from launch_testing_ros import WaitForTopics
import pytest
from sensor_msgs.msg import PointCloud2 from sensor_msgs.msg import PointCloud2
@ -78,6 +77,7 @@ def generate_test_description():
class TestFilter(unittest.TestCase): class TestFilter(unittest.TestCase):
def test_filter_output(self): def test_filter_output(self):
wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0) wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
assert wait_for_topics.wait() assert wait_for_topics.wait()

10
pcl_ros/tests/filters/test_filter_executable.py
View File

@ -36,9 +36,8 @@ import launch.actions
import launch_ros.actions import launch_ros.actions
import launch_testing.actions import launch_testing.actions
import launch_testing.markers import launch_testing.markers
import pytest
from launch_testing_ros import WaitForTopics from launch_testing_ros import WaitForTopics
import pytest
from sensor_msgs.msg import PointCloud2 from sensor_msgs.msg import PointCloud2
@ -49,9 +48,9 @@ def generate_test_description():
filter_executable = os.getenv('FILTER_EXECUTABLE') filter_executable = os.getenv('FILTER_EXECUTABLE')
parameters = ast.literal_eval(os.getenv('PARAMETERS')) if 'PARAMETERS' in os.environ else {} parameters = ast.literal_eval(os.getenv('PARAMETERS')) if 'PARAMETERS' in os.environ else {}
ros_arguments = ["-r", "input:=point_cloud2"] ros_arguments = ['-r', 'input:=point_cloud2']
for key in parameters.keys(): for key in parameters.keys():
ros_arguments.extend(["-p", "{}:={}".format(key, parameters[key])]) ros_arguments.extend(['-p', '{}:={}'.format(key, parameters[key])])
return launch.LaunchDescription([ return launch.LaunchDescription([
@ -72,7 +71,7 @@ def generate_test_description():
launch_ros.actions.Node( launch_ros.actions.Node(
package='pcl_ros', package='pcl_ros',
executable=filter_executable, executable=filter_executable,
output="screen", output='screen',
ros_arguments=ros_arguments ros_arguments=ros_arguments
), ),
launch_testing.actions.ReadyToTest() launch_testing.actions.ReadyToTest()
@ -80,6 +79,7 @@ def generate_test_description():
class TestFilter(unittest.TestCase): class TestFilter(unittest.TestCase):
def test_filter_output(self): def test_filter_output(self):
wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0) wait_for_topics = WaitForTopics([('output', PointCloud2)], timeout=5.0)
assert wait_for_topics.wait() assert wait_for_topics.wait()

4
pcl_ros/tools/bag_to_pcd.cpp
View File

@ -49,11 +49,13 @@ Cloud Data) format.
#include <pcl/common/io.h> #include <pcl/common/io.h>
#include <pcl/io/pcd_io.h> #include <pcl/io/pcd_io.h>
#include <pcl_conversions/pcl_conversions.h> #include <pcl_conversions/pcl_conversions.h>
#include <tf/transform_listener.h> #include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h> #include <tf/transform_broadcaster.h>
#include <boost/filesystem.hpp>
#include <sstream> #include <sstream>
#include <string> #include <string>
#include <boost/filesystem.hpp>
#include "pcl_ros/transforms.hpp" #include "pcl_ros/transforms.hpp"
typedef sensor_msgs::PointCloud2 PointCloud; typedef sensor_msgs::PointCloud2 PointCloud;

13
pcl_ros/tools/pcd_to_pointcloud.cpp
View File

@ -43,21 +43,18 @@
**/ **/
// STL #include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl_conversions/pcl_conversions.h>
#include <chrono> #include <chrono>
#include <string> #include <string>
#include <thread> #include <thread>
// PCL
#include <pcl/common/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
// ROS core
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include "rclcpp_components/register_node_macro.hpp" #include "rclcpp_components/register_node_macro.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp> #include <sensor_msgs/msg/point_cloud2.hpp>
#include <pcl_conversions/pcl_conversions.h>
namespace pcl_ros namespace pcl_ros
{ {