ros-controls · christophfroehlich · Apr 1, 2025 · Apr 1, 2025 · Apr 1, 2025
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -56,14 +56,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.1.2
+    rev: 7.2.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.7
+    rev: v20.1.0
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.31.2
+    rev: 0.32.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -247,8 +247,9 @@ ChainableControllerInterface::on_export_reference_interfaces()
   std::vector<hardware_interface::CommandInterface> reference_interfaces;
   for (size_t i = 0; i < exported_reference_interface_names_.size(); ++i)
   {
-    reference_interfaces.emplace_back(hardware_interface::CommandInterface(
-      get_node()->get_name(), exported_reference_interface_names_[i], &reference_interfaces_[i]));
+    reference_interfaces.emplace_back(
+      hardware_interface::CommandInterface(
+        get_node()->get_name(), exported_reference_interface_names_[i], &reference_interfaces_[i]));
   }
   return reference_interfaces;
 }

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -71,8 +71,9 @@ class TestableChainableControllerInterface
   {
     std::vector<hardware_interface::StateInterface> state_interfaces;
 
-    state_interfaces.push_back(hardware_interface::StateInterface(
-      name_prefix_of_interfaces_, "test_state", &state_interfaces_values_[0]));
+    state_interfaces.push_back(
+      hardware_interface::StateInterface(
+        name_prefix_of_interfaces_, "test_state", &state_interfaces_values_[0]));
 
     return state_interfaces;
   }
@@ -82,8 +83,9 @@ class TestableChainableControllerInterface
   {
     std::vector<hardware_interface::CommandInterface> command_interfaces;
 
-    command_interfaces.push_back(hardware_interface::CommandInterface(
-      name_prefix_of_interfaces_, "test_itf", &reference_interfaces_[0]));
+    command_interfaces.push_back(
+      hardware_interface::CommandInterface(
+        name_prefix_of_interfaces_, "test_itf", &reference_interfaces_[0]));
 
     return command_interfaces;
   }

diff --git a/controller_interface/test/test_force_torque_sensor.cpp b/controller_interface/test/test_force_torque_sensor.cpp
@@ -39,9 +39,10 @@ TEST_F(ForceTorqueSensorTest, validate_all_with_default_names)
   ASSERT_EQ(force_torque_sensor_->state_interfaces_.capacity(), size_);
 
   // validate the default interface_names_
-  ASSERT_TRUE(std::equal(
-    force_torque_sensor_->interface_names_.begin(), force_torque_sensor_->interface_names_.end(),
-    full_interface_names_.begin(), full_interface_names_.end()));
+  ASSERT_TRUE(
+    std::equal(
+      force_torque_sensor_->interface_names_.begin(), force_torque_sensor_->interface_names_.end(),
+      full_interface_names_.begin(), full_interface_names_.end()));
 
   // get the interface names
   std::vector<std::string> interface_names = force_torque_sensor_->get_state_interface_names();

diff --git a/controller_interface/test/test_imu_sensor.cpp b/controller_interface/test/test_imu_sensor.cpp
@@ -38,9 +38,10 @@ TEST_F(IMUSensorTest, validate_all)
   ASSERT_EQ(imu_sensor_->state_interfaces_.capacity(), size_);
 
   // validate the default interface_names_
-  ASSERT_TRUE(std::equal(
-    imu_sensor_->interface_names_.begin(), imu_sensor_->interface_names_.end(),
-    full_interface_names_.begin(), full_interface_names_.end()));
+  ASSERT_TRUE(
+    std::equal(
+      imu_sensor_->interface_names_.begin(), imu_sensor_->interface_names_.end(),
+      full_interface_names_.begin(), full_interface_names_.end()));
 
   // get the interface names
   std::vector<std::string> interface_names = imu_sensor_->get_state_interface_names();

diff --git a/controller_interface/test/test_led_rgb_device.cpp b/controller_interface/test/test_led_rgb_device.cpp
@@ -38,9 +38,10 @@ TEST_F(LedDeviceTest, validate_all)
   ASSERT_EQ(led_device_->command_interfaces_.capacity(), size_);
 
   // Validate default interface_names_
-  EXPECT_TRUE(std::equal(
-    led_device_->interface_names_.cbegin(), led_device_->interface_names_.cend(),
-    full_cmd_interface_names_.cbegin(), full_cmd_interface_names_.cend()));
+  EXPECT_TRUE(
+    std::equal(
+      led_device_->interface_names_.cbegin(), led_device_->interface_names_.cend(),
+      full_cmd_interface_names_.cbegin(), full_cmd_interface_names_.cend()));
 
   // Get interface names
   std::vector<std::string> interface_names = led_device_->get_command_interface_names();

diff --git a/controller_interface/test/test_pose_sensor.cpp b/controller_interface/test/test_pose_sensor.cpp
@@ -36,9 +36,10 @@ TEST_F(PoseSensorTest, validate_all)
   ASSERT_EQ(pose_sensor_->state_interfaces_.capacity(), size_);
 
   // Validate default interface_names_
-  EXPECT_TRUE(std::equal(
-    pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(),
-    full_interface_names_.cbegin(), full_interface_names_.cend()));
+  EXPECT_TRUE(
+    std::equal(
+      pose_sensor_->interface_names_.cbegin(), pose_sensor_->interface_names_.cend(),
+      full_interface_names_.cbegin(), full_interface_names_.cend()));
 
   // Get interface names
   std::vector<std::string> interface_names = pose_sensor_->get_state_interface_names();

diff --git a/controller_interface/test/test_semantic_component_command_interface.cpp b/controller_interface/test/test_semantic_component_command_interface.cpp
@@ -71,7 +71,8 @@ TEST_F(SemanticCommandInterfaceTest, validate_command_interfaces)
   ASSERT_EQ(semantic_component_->command_interfaces_.size(), 0u);
 
   // validate that release_interfaces() does not touch interface_names_
-  ASSERT_TRUE(std::equal(
-    semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
-    interface_names.begin(), interface_names.end()));
+  ASSERT_TRUE(
+    std::equal(
+      semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
+      interface_names.begin(), interface_names.end()));
 }
diff --git a/controller_interface/test/test_semantic_component_interface.cpp b/controller_interface/test/test_semantic_component_interface.cpp
@@ -67,9 +67,10 @@ TEST_F(SemanticComponentInterfaceTest, validate_custom_names)
 
   // validate the interface_names_
   std::vector<std::string> interface_names = semantic_component_->get_state_interface_names();
-  ASSERT_TRUE(std::equal(
-    semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
-    interface_names.begin(), interface_names.end()));
+  ASSERT_TRUE(
+    std::equal(
+      semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
+      interface_names.begin(), interface_names.end()));
 
   ASSERT_EQ(interface_names.size(), size_);
   ASSERT_EQ(interface_names[0], semantic_component_->test_name_ + "/i5");
@@ -129,7 +130,8 @@ TEST_F(SemanticComponentInterfaceTest, validate_state_interfaces)
   ASSERT_EQ(semantic_component_->state_interfaces_.size(), 0u);
 
   // validate that release_interfaces() does not touch interface_names_
-  ASSERT_TRUE(std::equal(
-    semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
-    interface_names.begin(), interface_names.end()));
+  ASSERT_TRUE(
+    std::equal(
+      semantic_component_->interface_names_.begin(), semantic_component_->interface_names_.end(),
+      interface_names.begin(), interface_names.end()));
 }
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -388,8 +388,9 @@ ControllerManager::ControllerManager(
 : rclcpp::Node(manager_node_name, node_namespace, options),
   diagnostics_updater_(this),
   executor_(executor),
-  loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
-    kControllerInterfaceNamespace, kControllerInterfaceClassName)),
+  loader_(
+    std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
+      kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
       kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
@@ -408,8 +409,9 @@ ControllerManager::ControllerManager(
 : rclcpp::Node(manager_node_name, node_namespace, options),
   diagnostics_updater_(this),
   executor_(executor),
-  loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
-    kControllerInterfaceNamespace, kControllerInterfaceClassName)),
+  loader_(
+    std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
+      kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
       kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),
@@ -430,8 +432,9 @@ ControllerManager::ControllerManager(
   resource_manager_(std::move(resource_manager)),
   diagnostics_updater_(this),
   executor_(executor),
-  loader_(std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
-    kControllerInterfaceNamespace, kControllerInterfaceClassName)),
+  loader_(
+    std::make_shared<pluginlib::ClassLoader<controller_interface::ControllerInterface>>(
+      kControllerInterfaceNamespace, kControllerInterfaceClassName)),
   chainable_loader_(
     std::make_shared<pluginlib::ClassLoader<controller_interface::ChainableControllerInterface>>(
       kControllerInterfaceNamespace, kChainableControllerInterfaceClassName)),

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -189,8 +189,9 @@ TestChainableController::on_export_state_interfaces()
 
   for (size_t i = 0; i < exported_state_interface_names_.size(); ++i)
   {
-    state_interfaces.push_back(hardware_interface::StateInterface(
-      get_node()->get_name(), exported_state_interface_names_[i], &state_interfaces_values_[i]));
+    state_interfaces.push_back(
+      hardware_interface::StateInterface(
+        get_node()->get_name(), exported_state_interface_names_[i], &state_interfaces_values_[i]));
   }
 
   return state_interfaces;
@@ -203,8 +204,9 @@ TestChainableController::on_export_reference_interfaces()
 
   for (size_t i = 0; i < reference_interface_names_.size(); ++i)
   {
-    reference_interfaces.push_back(hardware_interface::CommandInterface(
-      get_node()->get_name(), reference_interface_names_[i], &reference_interfaces_[i]));
+    reference_interfaces.push_back(
+      hardware_interface::CommandInterface(
+        get_node()->get_name(), reference_interface_names_[i], &reference_interfaces_[i]));
   }
 
   return reference_interfaces;

diff --git a/controller_manager/test/test_controller_manager_hardware_error_handling.cpp b/controller_manager/test/test_controller_manager_hardware_error_handling.cpp
@@ -198,24 +198,27 @@ TEST_P(TestControllerManagerWithTestableCM, check_cached_controllers_for_hardwar
     auto controllers =
       cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_ACTUATOR_HARDWARE_NAME);
     ASSERT_THAT(
-      controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
-                     {TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME})));
+      controllers,
+      testing::UnorderedElementsAreArray(
+        std::vector<std::string>({TEST_CONTROLLER_ACTUATOR_NAME, TEST_BROADCASTER_ALL_NAME})));
   }
 
   {
     auto controllers =
       cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_SYSTEM_HARDWARE_NAME);
     ASSERT_THAT(
-      controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
-                     {TEST_CONTROLLER_SYSTEM_NAME, TEST_BROADCASTER_ALL_NAME})));
+      controllers,
+      testing::UnorderedElementsAreArray(
+        std::vector<std::string>({TEST_CONTROLLER_SYSTEM_NAME, TEST_BROADCASTER_ALL_NAME})));
   }
 
   {
     auto controllers =
       cm_->resource_manager_->get_cached_controllers_to_hardware(TEST_SENSOR_HARDWARE_NAME);
     ASSERT_THAT(
-      controllers, testing::UnorderedElementsAreArray(std::vector<std::string>(
-                     {TEST_BROADCASTER_SENSOR_NAME, TEST_BROADCASTER_ALL_NAME})));
+      controllers,
+      testing::UnorderedElementsAreArray(
+        std::vector<std::string>({TEST_BROADCASTER_SENSOR_NAME, TEST_BROADCASTER_ALL_NAME})));
   }
 }
 

diff --git a/controller_manager/test/test_hardware_management_srvs.cpp b/controller_manager/test/test_hardware_management_srvs.cpp
@@ -66,12 +66,14 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
     run_updater_ = false;
 
     SetUpSrvsCMExecutor();
-    cm_->set_parameter(rclcpp::Parameter(
-      "hardware_components_initial_state.unconfigured",
-      std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
-    cm_->set_parameter(rclcpp::Parameter(
-      "hardware_components_initial_state.inactive",
-      std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
+    cm_->set_parameter(
+      rclcpp::Parameter(
+        "hardware_components_initial_state.unconfigured",
+        std::vector<std::string>({TEST_SYSTEM_HARDWARE_NAME})));
+    cm_->set_parameter(
+      rclcpp::Parameter(
+        "hardware_components_initial_state.inactive",
+        std::vector<std::string>({TEST_SENSOR_HARDWARE_NAME})));
 
     std::this_thread::sleep_for(std::chrono::milliseconds(100));
     auto msg = std_msgs::msg::String();

diff --git a/controller_manager/test/test_hardware_spawner.cpp b/controller_manager/test/test_hardware_spawner.cpp
@@ -152,9 +152,10 @@ class TestHardwareSpawnerWithoutRobotDescription
   : ControllerManagerFixture<controller_manager::ControllerManager>(""),
     RMServiceCaller(TEST_CM_NAME)
   {
-    cm_->set_parameter(rclcpp::Parameter(
-      "hardware_components_initial_state.unconfigured",
-      std::vector<std::string>{"TestSystemHardware"}));
+    cm_->set_parameter(
+      rclcpp::Parameter(
+        "hardware_components_initial_state.unconfigured",
+        std::vector<std::string>{"TestSystemHardware"}));
   }
 
 public:
@@ -272,8 +273,9 @@ TEST_F(TestHardwareSpawnerWithNamespacedCM, set_component_to_configured_state_cm
     256)
     << "Should fail without defining the namespace";
   EXPECT_EQ(
-    call_spawner("TestSystemHardware --configure -c test_controller_manager --ros-args -r "
-                 "__ns:=/foo_namespace"),
+    call_spawner(
+      "TestSystemHardware --configure -c test_controller_manager --ros-args -r "
+      "__ns:=/foo_namespace"),
     0);
 
   EXPECT_EQ(

diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
@@ -290,8 +290,9 @@ TEST_F(TestLoadController, spawner_test_with_params_file_string_parameter)
   const std::string test_file_path =
     std::string(PARAMETERS_FILE_PATH) + std::string("test_controller_spawner_with_type.yaml");
 
-  cm_->set_parameter(rclcpp::Parameter(
-    "ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
+  cm_->set_parameter(
+    rclcpp::Parameter(
+      "ctrl_with_parameters_and_type.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
   cm_->set_parameter(
     rclcpp::Parameter("ctrl_with_parameters_and_type.params_file", test_file_path));
 
@@ -1044,8 +1045,9 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param)
   EXPECT_EQ(call_unspawner("ctrl_1 ctrl_2 ctrl_3 -c /foo_namespace/test_controller_manager"), 0);
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul) << "Controller should have been unloaded";
   EXPECT_EQ(
-    call_spawner("ctrl_1 ctrl_2 ctrl_3 -c test_controller_manager --activate-as-group --ros-args "
-                 "-r __ns:=/foo_namespace"),
+    call_spawner(
+      "ctrl_1 ctrl_2 ctrl_3 -c test_controller_manager --activate-as-group --ros-args "
+      "-r __ns:=/foo_namespace"),
     0);
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 3ul) << "Controller should have been loaded";
   {

diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -92,8 +92,9 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
 {
 public:
   ActuatorInterface()
-  : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+  : lifecycle_state_(
+      rclcpp_lifecycle::State(
+        lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
     actuator_logger_(rclcpp::get_logger("actuator_interface"))
   {
   }

diff --git a/hardware_interface/include/hardware_interface/sensor_interface.hpp b/hardware_interface/include/hardware_interface/sensor_interface.hpp
@@ -76,8 +76,9 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 {
 public:
   SensorInterface()
-  : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+  : lifecycle_state_(
+      rclcpp_lifecycle::State(
+        lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
     sensor_logger_(rclcpp::get_logger("sensor_interface"))
   {
   }

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -96,8 +96,9 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 {
 public:
   SystemInterface()
-  : lifecycle_state_(rclcpp_lifecycle::State(
-      lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
+  : lifecycle_state_(
+      rclcpp_lifecycle::State(
+        lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN, lifecycle_state_names::UNKNOWN)),
     system_logger_(rclcpp::get_logger("system_interface"))
   {
   }