Make ament_cpplint pass (#298)

Collection of hand-made changes to make ament_cpplint pass consisting of:
- whitespace between comments
- line length
- header ordering
- include guard formats
- remove a couple `using namespace std;`
- using c++ casts instead of c-style casts

Signed-off-by: Sean Kelly <sean@seankelly.dev>

pcl_ros/tools/bag_to_pcd.cpp

@@ -44,16 +44,17 @@ Cloud Data) format.
 
  **/
 
-#include <sstream>
-#include <boost/filesystem.hpp>
 #include <rosbag/bag.h>
 #include <rosbag/view.h>
 #include <pcl/io/io.h>
 #include <pcl/io/pcd_io.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include "pcl_ros/transforms.hpp"
 #include <tf/transform_listener.h>
 #include <tf/transform_broadcaster.h>
+#include <boost/filesystem.hpp>
+#include <sstream>
+#include <string>
+#include "pcl_ros/transforms.hpp"
 
 typedef sensor_msgs::PointCloud2 PointCloud;
 typedef PointCloud::Ptr PointCloudPtr;

pcl_ros/tools/convert_pcd_to_image.cpp

@@ -53,6 +53,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <string>
 
 /* ---[ */
 int
@@ -72,12 +73,12 @@ main(int argc, char ** argv)
   pcl::io::loadPCDFile(std::string(argv[1]), cloud);
 
   try {
-    pcl::toROSMsg(cloud, image);  //convert the cloud
+    pcl::toROSMsg(cloud, image);  // convert the cloud
   } catch (std::runtime_error & e) {
     ROS_ERROR_STREAM(
       "Error in converting cloud to image message: " <<
         e.what());
-    return 1; //fail!
+    return 1;  // fail!
   }
   ros::Rate loop_rate(5);
   while (nh.ok()) {

pcl_ros/tools/convert_pointcloud_to_image.cpp

@@ -40,14 +40,14 @@
  **/
 // ROS core
 #include <ros/ros.h>
-//Image message
+// Image message
 #include <sensor_msgs/Image.h>
 #include <sensor_msgs/PointCloud2.h>
-//pcl::toROSMsg
+// pcl::toROSMsg
 #include <pcl/io/pcd_io.h>
-//conversions from PCL custom types
+// conversions from PCL custom types
 #include <pcl_conversions/pcl_conversions.h>
-//stl stuff
+// stl stuff
 #include <string>
 
 class PointCloudToImage
@@ -61,9 +61,9 @@ public:
       return;
     }
     try {
-      pcl::toROSMsg(*cloud, image_);  //convert the cloud
+      pcl::toROSMsg(*cloud, image_);  // convert the cloud
       image_.header = cloud->header;
-      image_pub_.publish(image_);  //publish our cloud image
+      image_pub_.publish(image_);  // publish our cloud image
     } catch (std::runtime_error & e) {
       ROS_ERROR_STREAM(
         "Error in converting cloud to image message: " <<
@@ -78,7 +78,7 @@ public:
       &PointCloudToImage::cloud_cb, this);
     image_pub_ = nh_.advertise<sensor_msgs::Image>(image_topic_, 30);
 
-    //print some info about the node
+    // print some info about the node
     std::string r_ct = nh_.resolveName(cloud_topic_);
     std::string r_it = nh_.resolveName(image_topic_);
     ROS_INFO_STREAM("Listening for incoming data on topic " << r_ct);
@@ -87,18 +87,18 @@ public:
 
 private:
   ros::NodeHandle nh_;
-  sensor_msgs::Image image_; //cache the image message
-  std::string cloud_topic_; //default input
-  std::string image_topic_; //default output
-  ros::Subscriber sub_; //cloud subscriber
-  ros::Publisher image_pub_; //image message publisher
+  sensor_msgs::Image image_;  // cache the image message
+  std::string cloud_topic_;  // default input
+  std::string image_topic_;  // default output
+  ros::Subscriber sub_;  // cloud subscriber
+  ros::Publisher image_pub_;  // image message publisher
 };
 
 int
 main(int argc, char ** argv)
 {
   ros::init(argc, argv, "convert_pointcloud_to_image");
-  PointCloudToImage pci; //this loads up the node
-  ros::spin();  //where she stops nobody knows
+  PointCloudToImage pci;  // this loads up the node
+  ros::spin();  // where she stops nobody knows
   return 0;
 }

pcl_ros/tools/pcd_to_pointcloud.cpp

@@ -43,10 +43,6 @@
 
  **/
 
-// STL
-#include <chrono>
-#include <thread>
-
 // ROS core
 #include <ros/ros.h>
 #include <pcl/io/io.h>
@@ -54,14 +50,17 @@
 #include <pcl/point_types.h>
 #include <pcl_conversions/pcl_conversions.h>
 
-#include "pcl_ros/publisher.hpp"
+// STL
+#include <chrono>
+#include <string>
+#include <thread>
 
-using namespace std;
+#include "pcl_ros/publisher.hpp"
 
 class PCDGenerator
 {
 protected:
-  string tf_frame_;
+  std::string tf_frame_;
   ros::NodeHandle nh_;
   ros::NodeHandle private_nh_;
 
@@ -69,7 +68,7 @@ public:
   // ROS messages
   sensor_msgs::PointCloud2 cloud_;
 
-  string file_name_, cloud_topic_;
+  std::string file_name_, cloud_topic_;
   double wait_;
 
   pcl_ros::Publisher<sensor_msgs::PointCloud2> pub_;
@@ -105,7 +104,7 @@ public:
   bool spin()
   {
     int nr_points = cloud_.width * cloud_.height;
-    string fields_list = pcl::getFieldsList(cloud_);
+    std::string fields_list = pcl::getFieldsList(cloud_);
     double interval = wait_ * 1e+6;
     while (nh_.ok()) {
       ROS_DEBUG_ONCE(
@@ -132,8 +131,6 @@ public:
     }
     return true;
   }
-
-
 };
 
 /* ---[ */
@@ -149,7 +146,7 @@ main(int argc, char ** argv)
   ros::init(argc, argv, "pcd_to_pointcloud");
 
   PCDGenerator c;
-  c.file_name_ = string(argv[1]);
+  c.file_name_ = std::string(argv[1]);
   // check if publishing interval is given
   if (argc == 2) {
     c.wait_ = 0;

pcl_ros/tools/pointcloud_to_pcd.cpp

@@ -53,7 +53,8 @@
 
 #include <Eigen/Geometry>
 
-using namespace std;
+// STL
+#include <string>
 
 /**
 \author Radu Bogdan Rusu
@@ -76,7 +77,7 @@ private:
   tf2_ros::TransformListener tf_listener_;
 
 public:
-  string cloud_topic_;
+  std::string cloud_topic_;
 
   ros::Subscriber sub_;
 
@@ -131,7 +132,6 @@ public:
     } else {
       writer.writeASCII(ss.str(), *cloud, v, q, 8);
     }
-
   }
 
   ////////////////////////////////////////////////////////////////////////////////