Format trailing whitespaces and newlines for all files

SCHUNK-SE-Co-KG · Apr 21, 2024 · 1c4a57e · 1c4a57e
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diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,4 @@
 /build/
 /install/
 /log/
-/.vscode
+/.vscode
diff --git a/LICENSES/license_notice.cpp b/LICENSES/license_notice.cpp
@@ -4,12 +4,12 @@
 // under the terms of the GNU General Public License as published by the Free
 // Software Foundation, either version 3 of the License, or (at your option)
 // any later version.
-// 
+//
 // This program is distributed in the hope that it will be useful, but WITHOUT
 // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 // more details.
-// 
+//
 // You should have received a copy of the GNU General Public License along with
 // this program. If not, see <https://www.gnu.org/licenses/>.
 // --------------------------------------------------------------------------------
diff --git a/LICENSES/license_notice.py b/LICENSES/license_notice.py
@@ -4,12 +4,12 @@
 # under the terms of the GNU General Public License as published by the Free
 # Software Foundation, either version 3 of the License, or (at your option)
 # any later version.
-# 
+#
 # This program is distributed in the hope that it will be useful, but WITHOUT
 # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 # more details.
-# 
+#
 # You should have received a copy of the GNU General Public License along with
 # this program. If not, see <https://www.gnu.org/licenses/>.
 # --------------------------------------------------------------------------------
diff --git a/README.md b/README.md
@@ -45,7 +45,7 @@ sudo apt update -qq
 rosdep update
 rosdep install --from-paths ./ --ignore-src -y
 cd ..
-colcon build --symlink-install --packages-select schunk_egu_egk_gripper_driver schunk_egu_egk_gripper_library schunk_egu_egk_gripper_interfaces  
+colcon build --symlink-install --packages-select schunk_egu_egk_gripper_driver schunk_egu_egk_gripper_library schunk_egu_egk_gripper_interfaces
 ```
 
 ## Getting started
@@ -130,7 +130,7 @@ All other services can be used whenever you like. (**Note:** Fast stop is an abo
 
 `reconnect` is the only method for altering the IP address during runtime. If nothing is connected to the IP address or a gripper is connected, it undergoes a change. If something else is linked to this IP, errors will occur, and the old address will be retained in such cases. Exercise caution when using this service!
 
-With `parameter_get` and `parameter_set` you can read and set all allowed Parameter of the gripper. For getting and setting you need always the parameter instance. After that 
+With `parameter_get` and `parameter_set` you can read and set all allowed Parameter of the gripper. For getting and setting you need always the parameter instance. After that
 
 ## Parameters
 
@@ -170,7 +170,7 @@ Open:
 - Plugins/Services/Service Caller: For calling services.
 - Plugins/Topic/Topic Monitor: For viewing all messages.
 
-Additionally, you can refer to 'gripper_example.cpp' for guidance on using this driver in your code. To run the example, start 'schunk.launch.py' (or 'schunk_rqt_launch.py') and then execute the example:  
+Additionally, you can refer to 'gripper_example.cpp' for guidance on using this driver in your code. To run the example, start 'schunk.launch.py' (or 'schunk_rqt_launch.py') and then execute the example:
 **!!!WARNING!!! This will move the gripper jaws**
 ```
 ros2 run schunk_gripper schunk_example

diff --git a/schunk_egu_egk_gripper_driver/CMakeLists.txt b/schunk_egu_egk_gripper_driver/CMakeLists.txt
@@ -50,7 +50,7 @@ ament_target_dependencies(${PROJECT_NAME}
   rclcpp_action
   rclcpp_components
   diagnostic_updater
-  diagnostic_msgs 
+  diagnostic_msgs
   schunk_egu_egk_gripper_interfaces
 )
 target_link_libraries(${PROJECT_NAME}
@@ -82,4 +82,3 @@ endif()
 
 # Ament package configuration
 ament_package()
-
diff --git a/...k_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp b/...k_egu_egk_gripper_driver/include/schunk_egu_egk_gripper_driver/schunk_gripper_wrapper.hpp
@@ -4,12 +4,12 @@
 // under the terms of the GNU General Public License as published by the Free
 // Software Foundation, either version 3 of the License, or (at your option)
 // any later version.
-// 
+//
 // This program is distributed in the hope that it will be useful, but WITHOUT
 // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 // more details.
-// 
+//
 // You should have received a copy of the GNU General Public License along with
 // this program. If not, see <https://www.gnu.org/licenses/>.
 // --------------------------------------------------------------------------------
@@ -56,7 +56,7 @@ extern  std::map<std::string, const char*> param_inst;
 extern std::map<std::string, std::string> inst_param;
 
 class SchunkGripperNode :  public rclcpp::Node, public Gripper
-{    
+{
     private:
 
     std::mutex lock_service_post;
@@ -86,7 +86,7 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     //Flags
     bool doing_something;
     bool action_active;
-    bool wrong_version;     
+    bool wrong_version;
     //Topic publishing
     void publishJointState();
     void publishState();
@@ -102,7 +102,7 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     //Diagnostic updater
     std::shared_ptr<diagnostic_updater::Updater> gripper_updater;
 
-    std::array<uint8_t,3> old_diagnosis; 
+    std::array<uint8_t,3> old_diagnosis;
     std::string error_str;
     std::string warn_str;
 
@@ -118,10 +118,10 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     void callback_move_parameter(const rclcpp::Parameter &);
 
     double abs_pos_param;
-    std::string actual_command; 
+    std::string actual_command;
     std::shared_ptr<rclcpp::Duration> cycletime;
     rclcpp::Time     last_time;
-    rclcpp::Rate     limiting_rate;    
+    rclcpp::Rate     limiting_rate;
     //Basic Functions
     void publishStateMsg();
     void finishedCommand();
@@ -137,7 +137,7 @@ class SchunkGripperNode :  public rclcpp::Node, public Gripper
     rcl_interfaces::msg::ParameterDescriptor parameter_descriptor(const std::string&);
     rcl_interfaces::msg::FloatingPointRange FloatingPointRange(double, double, double step = 0.0);
     rcl_interfaces::msg::IntegerRange IntegerRange(int64_t, int64_t, uint64_t step = 0);
-    
+
     //Services
     void acknowledge_srv(const std::shared_ptr<Acknowledge::Request>, std::shared_ptr<Acknowledge::Response> );
     void brake_test_srv(const std::shared_ptr<BrakeTest::Request>, std::shared_ptr<BrakeTest::Response> );

diff --git a/schunk_egu_egk_gripper_driver/launch/schunk.launch.py b/schunk_egu_egk_gripper_driver/launch/schunk.launch.py
@@ -4,12 +4,12 @@
 # under the terms of the GNU General Public License as published by the Free
 # Software Foundation, either version 3 of the License, or (at your option)
 # any later version.
-# 
+#
 # This program is distributed in the hope that it will be useful, but WITHOUT
 # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 # more details.
-# 
+#
 # You should have received a copy of the GNU General Public License along with
 # this program. If not, see <https://www.gnu.org/licenses/>.
 # --------------------------------------------------------------------------------
@@ -21,34 +21,34 @@
 
 def generate_launch_description():
     container = Node(
-        name='gripper_container',
-        package='rclcpp_components',
-        executable='component_container_mt',
-        output='screen',
+        name="gripper_container",
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
         emulate_tty=True,
     )
-            
+
     load_composable_nodes = LoadComposableNodes(
-        target_container='gripper_container',
+        target_container="gripper_container",
         composable_node_descriptions=[
-                ComposableNode(
-                    package='schunk_egu_egk_gripper_driver',
-                    plugin='SchunkGripperNode',
-                    name='schunk_gripper_driver',
-                    namespace='EGK_50_M_B',
-                    parameters=[
-                            {'IP': '10.49.60.86'},
-                            {'state_frq': 60.0},
-                            {'rate': 10.0},
-                            {'use_brk': False},
-                            {'grp_pos_margin': 2.0},
-                            {'grp_prepos_delta': 5.0},
-                            {'zero_pos_ofs': 0.0},
-                            {'grp_prehold_time': 0},
-                            {'wp_release_delta': 5.0},
-                            {'wp_lost_distance': 1.0},
-                            ]
-                    )
-            ],
+            ComposableNode(
+                package="schunk_egu_egk_gripper_driver",
+                plugin="SchunkGripperNode",
+                name="schunk_gripper_driver",
+                namespace="EGK_50_M_B",
+                parameters=[
+                    {"IP": "10.49.60.86"},
+                    {"state_frq": 60.0},
+                    {"rate": 10.0},
+                    {"use_brk": False},
+                    {"grp_pos_margin": 2.0},
+                    {"grp_prepos_delta": 5.0},
+                    {"zero_pos_ofs": 0.0},
+                    {"grp_prehold_time": 0},
+                    {"wp_release_delta": 5.0},
+                    {"wp_lost_distance": 1.0},
+                ],
+            )
+        ],
     )
     return launch.LaunchDescription([container, load_composable_nodes])
diff --git a/schunk_egu_egk_gripper_driver/launch/schunk_rqt.launch.py b/schunk_egu_egk_gripper_driver/launch/schunk_rqt.launch.py
@@ -4,12 +4,12 @@
 # under the terms of the GNU General Public License as published by the Free
 # Software Foundation, either version 3 of the License, or (at your option)
 # any later version.
-# 
+#
 # This program is distributed in the hope that it will be useful, but WITHOUT
 # ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 # FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 # more details.
-# 
+#
 # You should have received a copy of the GNU General Public License along with
 # this program. If not, see <https://www.gnu.org/licenses/>.
 # --------------------------------------------------------------------------------
@@ -21,39 +21,35 @@
 
 def generate_launch_description():
     container = Node(
-        name='gripper_container',
-        package='rclcpp_components',
-        executable='component_container_mt',
-        output='screen',
+        name="gripper_container",
+        package="rclcpp_components",
+        executable="component_container_mt",
+        output="screen",
         emulate_tty=True,
     )
-    rqt_launch = Node(
-            package='rqt_gui',
-            executable='rqt_gui',
-            name='rqt_gui'
-    )        
+    rqt_launch = Node(package="rqt_gui", executable="rqt_gui", name="rqt_gui")
     load_composable_nodes = LoadComposableNodes(
-        target_container='gripper_container',
+        target_container="gripper_container",
         composable_node_descriptions=[
-                ComposableNode(
-                    package='schunk_gripper',
-                    plugin='SchunkGripperNode',
-                    name='schunk_gripper_driver',
-                    namespace='EGK_50_M_B',
-                    parameters=[
-                            {'state_frq': 10.0},
-                            {'rate': 10.0},
-                            {'IP': '10.49.60.86'},
-                            {'Gripper_Parameter.use_brk': False},
-                            {'Gripper_Parameter.grp_pos_margin': 2.0},
-                            {'Gripper_Parameter.grp_prepos_delta': 5.0},
-                            {'Gripper_Parameter.zero_pos_ofs': 0.0},
-                            {'Gripper_Parameter.grp_prehold_time': 0},
-                            {'Gripper_Parameter.wp_release_delta': 5.0},
-                            {'Gripper_Parameter.wp_lost_distance': 1.0}
-                            ],
-                    )
-            ],
+            ComposableNode(
+                package="schunk_gripper",
+                plugin="SchunkGripperNode",
+                name="schunk_gripper_driver",
+                namespace="EGK_50_M_B",
+                parameters=[
+                    {"state_frq": 10.0},
+                    {"rate": 10.0},
+                    {"IP": "10.49.60.86"},
+                    {"Gripper_Parameter.use_brk": False},
+                    {"Gripper_Parameter.grp_pos_margin": 2.0},
+                    {"Gripper_Parameter.grp_prepos_delta": 5.0},
+                    {"Gripper_Parameter.zero_pos_ofs": 0.0},
+                    {"Gripper_Parameter.grp_prehold_time": 0},
+                    {"Gripper_Parameter.wp_release_delta": 5.0},
+                    {"Gripper_Parameter.wp_lost_distance": 1.0},
+                ],
+            )
+        ],
     )
 
     return launch.LaunchDescription([container, load_composable_nodes, rqt_launch])