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Lines changed: 32 additions & 27 deletions

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‎localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp‎

Lines changed: 21 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -89,21 +89,21 @@ class NDTScanMatcher : public autoware::agnocast_wrapper::Node
8989

9090
void callback_initial_pose(
9191
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
92-
initial_pose_msg_ptr);
92+
initial_pose_msg_ptr);
9393
void callback_initial_pose_main(
9494
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
95-
initial_pose_msg_ptr);
95+
initial_pose_msg_ptr);
9696

9797
void callback_regularization_pose(
9898
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
99-
pose_conv_msg_ptr);
99+
pose_conv_msg_ptr);
100100

101101
void callback_sensor_points(
102102
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(sensor_msgs::msg::PointCloud2) &
103-
sensor_points_msg_in_sensor_frame);
103+
sensor_points_msg_in_sensor_frame);
104104
bool callback_sensor_points_main(
105105
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(sensor_msgs::msg::PointCloud2) &
106-
sensor_points_msg_in_sensor_frame);
106+
sensor_points_msg_in_sensor_frame);
107107

108108
void service_trigger_node(
109109
const std_srvs::srv::SetBool::Request::SharedPtr req,
@@ -165,33 +165,36 @@ class NDTScanMatcher : public autoware::agnocast_wrapper::Node
165165
AUTOWARE_PUBLISHER_PTR(sensor_msgs::msg::PointCloud2) sensor_aligned_pose_pub_;
166166
AUTOWARE_PUBLISHER_PTR(sensor_msgs::msg::PointCloud2) no_ground_points_aligned_pose_pub_;
167167
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseStamped) ndt_pose_pub_;
168-
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) ndt_pose_with_covariance_pub_;
169168
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseWithCovarianceStamped)
170-
initial_pose_with_covariance_pub_;
169+
ndt_pose_with_covariance_pub_;
170+
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseWithCovarianceStamped)
171+
initial_pose_with_covariance_pub_;
171172
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseArray) multi_ndt_pose_pub_;
172173
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseArray) multi_initial_pose_pub_;
173174
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped) exe_time_pub_;
174-
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped) transform_probability_pub_;
175175
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
176-
nearest_voxel_transformation_likelihood_pub_;
176+
transform_probability_pub_;
177+
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
178+
nearest_voxel_transformation_likelihood_pub_;
177179
AUTOWARE_PUBLISHER_PTR(sensor_msgs::msg::PointCloud2) voxel_score_points_pub_;
178180
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
179-
no_ground_transform_probability_pub_;
181+
no_ground_transform_probability_pub_;
180182
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
181-
no_ground_nearest_voxel_transformation_likelihood_pub_;
183+
no_ground_nearest_voxel_transformation_likelihood_pub_;
182184
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Int32Stamped) iteration_num_pub_;
183185
AUTOWARE_PUBLISHER_PTR(geometry_msgs::msg::PoseStamped) initial_to_result_relative_pose_pub_;
184186
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
185-
initial_to_result_distance_pub_;
187+
initial_to_result_distance_pub_;
186188
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
187-
initial_to_result_distance_old_pub_;
189+
initial_to_result_distance_old_pub_;
188190
AUTOWARE_PUBLISHER_PTR(autoware_internal_debug_msgs::msg::Float32Stamped)
189-
initial_to_result_distance_new_pub_;
191+
initial_to_result_distance_new_pub_;
190192
AUTOWARE_PUBLISHER_PTR(visualization_msgs::msg::MarkerArray) ndt_marker_pub_;
191193
AUTOWARE_PUBLISHER_PTR(visualization_msgs::msg::MarkerArray)
192-
ndt_monte_carlo_initial_pose_marker_pub_;
194+
ndt_monte_carlo_initial_pose_marker_pub_;
193195

194-
AUTOWARE_SERVICE_PTR(autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped) service_;
196+
AUTOWARE_SERVICE_PTR(autoware_internal_localization_msgs::srv::PoseWithCovarianceStamped)
197+
service_;
195198
AUTOWARE_SERVICE_PTR(std_srvs::srv::SetBool) service_trigger_node_;
196199

197200
tf2_ros::TransformBroadcaster tf2_broadcaster_;
@@ -220,7 +223,8 @@ class NDTScanMatcher : public autoware::agnocast_wrapper::Node
220223
std::unique_ptr<DiagnosticsInterface> diagnostics_ndt_align_;
221224
std::unique_ptr<DiagnosticsInterface> diagnostics_trigger_node_;
222225
std::unique_ptr<MapUpdateModule> map_update_module_;
223-
std::unique_ptr<autoware_utils_logging::BasicLoggerLevelConfigure<autoware::agnocast_wrapper::Node>>
226+
std::unique_ptr<
227+
autoware_utils_logging::BasicLoggerLevelConfigure<autoware::agnocast_wrapper::Node>>
224228
logger_configure_;
225229

226230
HyperParameters param_;

‎localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp‎

Lines changed: 11 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -204,9 +204,8 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options)
204204
diagnostics_trigger_node_ =
205205
std::make_unique<DiagnosticsInterface>(this, "trigger_node_service_status");
206206

207-
logger_configure_ =
208-
std::make_unique<autoware_utils_logging::BasicLoggerLevelConfigure<autoware::agnocast_wrapper::Node>>(
209-
this);
207+
logger_configure_ = std::make_unique<
208+
autoware_utils_logging::BasicLoggerLevelConfigure<autoware::agnocast_wrapper::Node>>(this);
210209
}
211210

212211
void NDTScanMatcher::callback_timer()
@@ -225,7 +224,7 @@ void NDTScanMatcher::callback_timer()
225224

226225
void NDTScanMatcher::callback_initial_pose(
227226
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
228-
initial_pose_msg_ptr)
227+
initial_pose_msg_ptr)
229228
{
230229
diagnostics_initial_pose_->clear();
231230

@@ -236,7 +235,7 @@ void NDTScanMatcher::callback_initial_pose(
236235

237236
void NDTScanMatcher::callback_initial_pose_main(
238237
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
239-
initial_pose_msg_ptr)
238+
initial_pose_msg_ptr)
240239
{
241240
diagnostics_initial_pose_->add_key_value(
242241
"topic_time_stamp",
@@ -275,7 +274,7 @@ void NDTScanMatcher::callback_initial_pose_main(
275274

276275
void NDTScanMatcher::callback_regularization_pose(
277276
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(geometry_msgs::msg::PoseWithCovarianceStamped) &
278-
pose_conv_msg_ptr)
277+
pose_conv_msg_ptr)
279278
{
280279
diagnostics_regularization_pose_->clear();
281280

@@ -291,7 +290,7 @@ void NDTScanMatcher::callback_regularization_pose(
291290

292291
void NDTScanMatcher::callback_sensor_points(
293292
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(sensor_msgs::msg::PointCloud2) &
294-
sensor_points_msg_in_sensor_frame)
293+
sensor_points_msg_in_sensor_frame)
295294
{
296295
// clear diagnostics
297296
diagnostics_scan_points_->clear();
@@ -317,7 +316,7 @@ void NDTScanMatcher::callback_sensor_points(
317316

318317
bool NDTScanMatcher::callback_sensor_points_main(
319318
const AUTOWARE_MESSAGE_CONST_SHARED_PTR(sensor_msgs::msg::PointCloud2) &
320-
sensor_points_msg_in_sensor_frame)
319+
sensor_points_msg_in_sensor_frame)
321320
{
322321
const auto exe_start_time = std::chrono::system_clock::now();
323322

@@ -647,7 +646,8 @@ bool NDTScanMatcher::callback_sensor_points_main(
647646
}
648647
{
649648
auto msg = ALLOCATE_OUTPUT_MESSAGE_UNIQUE(nearest_voxel_transformation_likelihood_pub_);
650-
*msg = make_float32_stamped(sensor_ros_time, ndt_result.nearest_voxel_transformation_likelihood);
649+
*msg =
650+
make_float32_stamped(sensor_ros_time, ndt_result.nearest_voxel_transformation_likelihood);
651651
nearest_voxel_transformation_likelihood_pub_->publish(std::move(msg));
652652
}
653653
{
@@ -848,7 +848,8 @@ void NDTScanMatcher::publish_initial_to_result(
848848
initial_pose_cov_msg.pose.pose.position, result_pose_msg.position));
849849
auto initial_to_result_distance_msg =
850850
ALLOCATE_OUTPUT_MESSAGE_UNIQUE(initial_to_result_distance_pub_);
851-
*initial_to_result_distance_msg = make_float32_stamped(sensor_ros_time, initial_to_result_distance);
851+
*initial_to_result_distance_msg =
852+
make_float32_stamped(sensor_ros_time, initial_to_result_distance);
852853
initial_to_result_distance_pub_->publish(std::move(initial_to_result_distance_msg));
853854

854855
const auto initial_to_result_distance_old = static_cast<float>(autoware::localization_util::norm(

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