Lint

admittance_controller/include/admittance_controller/admittance_rule.hpp

@@ -168,7 +168,7 @@ class AdmittanceRule
    * Calculates the admittance rule from given the robot's current joint angles. The admittance
    * controller state input is updated with the new calculated values. A boolean value is returned
    * indicating if any of the kinematics plugin calls failed.
-   * \param[in] admittance_state contains all the information needed to calculate 
+   * \param[in] admittance_state contains all the information needed to calculate
    * the admittance offset
    * \param[in] dt controller period
    * \param[out] success true if no calls to the kinematics interface fail

admittance_controller/test/test_admittance_controller.cpp

@@ -247,7 +247,7 @@ TEST_F(AdmittanceControllerTest, publish_status_success)
   EXPECT_NEAR(msg.wrench_base.wrench.force.x, 0.0, 0.03);
   EXPECT_NEAR(msg.wrench_base.wrench.force.y, 0.0, 0.03);
   EXPECT_NEAR(msg.wrench_base.wrench.force.z, 23.0, 0.03);
-  EXPECT_NEAR(msg.wrench_base.wrench.torque.x, 0.1*23, 0.03);
+  EXPECT_NEAR(msg.wrench_base.wrench.torque.x, 0.1 * 23, 0.03);
   EXPECT_NEAR(msg.wrench_base.wrench.torque.y, 0.0, 0.03);
   EXPECT_NEAR(msg.wrench_base.wrench.torque.z, 0.0, 0.03);
 
@@ -268,7 +268,7 @@ TEST_F(AdmittanceControllerTest, compensation_success)
   ASSERT_EQ(controller_->on_configure(rclcpp_lifecycle::State()), NODE_SUCCESS);
   ASSERT_EQ(controller_->on_activate(rclcpp_lifecycle::State()), NODE_SUCCESS);
   // set the force on the force torque sensor to simulate gravity pulling
-  fts_state_values_ = {0.0, 0.0, -23.0, -0.1*23, 0, 0.0};
+  fts_state_values_ = {0.0, 0.0, -23.0, -0.1 * 23, 0, 0.0};
   broadcast_tfs();
   ASSERT_EQ(
     controller_->update(rclcpp::Time(0), rclcpp::Duration::from_seconds(0.01)),

admittance_controller/test/test_admittance_controller.hpp

@@ -253,7 +253,7 @@ class AdmittanceControllerTest : public ::testing::Test
     transform_stamped.transform.rotation.y = 0;
     transform_stamped.transform.rotation.z = 0;
     transform_stamped.transform.rotation.w = 1;
-  
+
     transform_stamped.child_frame_id = ik_tip_frame_;
     // world to kinematic tip frame
     br.sendTransform(transform_stamped);
@@ -290,8 +290,8 @@ class AdmittanceControllerTest : public ::testing::Test
     auto subs_callback = [&](const ControllerStateMsg::SharedPtr) {};
     std::string topic = controller_->get_node()->get_name();
     topic += "/status";
-    auto subscription = test_subscription_node_->create_subscription<ControllerStateMsg>(
-      topic, 10, subs_callback);
+    auto subscription =
+      test_subscription_node_->create_subscription<ControllerStateMsg>(topic, 10, subs_callback);
 
     // call update to publish the test value
     ASSERT_EQ(

admittance_controller/test/test_params.yaml

@@ -70,7 +70,7 @@ test_admittance_controller:
         name: "gravity_compensation"
         params:
           world_frame: "fixed_world_frame"
-          sensor_frame: "ft_mount"  
+          sensor_frame: "ft_mount"
           CoG:
             pos: [0.0, 0.1, 0.0]  # in sensor_frame
             force: [0.0, 0.0, -23.0]  # -gravity_acc * mass  in world_frame
@@ -168,7 +168,7 @@ test_admittance_controller_no_mass:
         name: "gravity_compensation"
         params:
           world_frame: "fixed_world_frame"
-          sensor_frame: "ft_mount"  
+          sensor_frame: "ft_mount"
           CoG:
             pos: [0.0, 0.0, 0.0]  # in sensor_frame
             force: [0.0, 0.0, 0.0]  # -gravity_acc * mass  in world_frame
@@ -211,4 +211,4 @@ test_admittance_controller_no_mass:
         - 214.3
         - 214.4
         - 214.5
-        - 214.6
+        - 214.6