From ddff16c967751cd362b0953d09cc68518bebbe45 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 14 Jan 2025 02:05:03 +0000 Subject: [PATCH] style(pre-commit): autofix --- sensing/autoware_gnss_poser/README.md | 28 +++++++++---------- .../autoware/gnss_poser/gnss_poser_node.hpp | 2 +- sensing/autoware_gnss_poser/package.xml | 2 +- .../src/gnss_poser_node.cpp | 3 +- 4 files changed, 18 insertions(+), 17 deletions(-) diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md index dc339eefcd..464498c270 100644 --- a/sensing/autoware_gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -17,29 +17,29 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out | Name | Type | Description | | ------------------------------ | ------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectorInfo` | map projection info | +| `/map/map_projector_info` | `autoware_map_msgs::msg::MapProjectorInfo` | map projection info | | `~/input/fix` | `sensor_msgs::msg::NavSatFix` | gnss status message | | `~/input/autoware_orientation` | `autoware_sensing_msgs::msg::GnssInsOrientationStamped` | orientation [click here for more details](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_sensing_msgs) | ### Output -| Name | Type | Description | -| ------------------------ | ----------------------------------------------- | -------------------------------------------------------------- | -| `~/output/pose` | `geometry_msgs::msg::PoseStamped` | vehicle pose calculated from gnss sensing data | -| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data | -| `~/output/gnss_fixed` | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status | +| Name | Type | Description | +| ------------------------ | ------------------------------------------------ | -------------------------------------------------------------- | +| `~/output/pose` | `geometry_msgs::msg::PoseStamped` | vehicle pose calculated from gnss sensing data | +| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data | +| `~/output/gnss_fixed` | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status | ## Parameters Parameters in below table -| Name | Type | Default | Description | -| ------------------------ | -----------------------| ------------------------ | -------------------------------------------------------------- | -| `base_frame` | `string` | `base_link` | frame id for base_frame | -| `gnss_base_frame` | `string` | `gnss_base_link` | frame id for gnss_base_frame | -| `map_frame` | `string` | `map` | frame id for map_frame | -| `use_gnss_ins_orientation` | `boolean` | `true` | use Gnss-Ins orientation | -| `gnss_pose_pub_method` | `integer` | `0` | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2. | -| `buff_epoch` | `integer` | `1` | Buffer epoch. Range: 0~inf. | +| Name | Type | Default | Description | +| -------------------------- | --------- | ---------------- | ---------------------------------------------------------------------------------------------------------------------------------- | +| `base_frame` | `string` | `base_link` | frame id for base_frame | +| `gnss_base_frame` | `string` | `gnss_base_link` | frame id for gnss_base_frame | +| `map_frame` | `string` | `map` | frame id for map_frame | +| `use_gnss_ins_orientation` | `boolean` | `true` | use Gnss-Ins orientation | +| `gnss_pose_pub_method` | `integer` | `0` | 0: Instant Value 1: Average Value 2: Median Value. If `buffer_epoch` is set to 0, `gnss_pose_pub_method` loses affect. Range: 0~2. | +| `buff_epoch` | `integer` | `1` | Buffer epoch. Range: 0~inf. | All above parameters can be changed in config file [gnss_poser.param.yaml](./config/gnss_poser.param.yaml "Click here to open config file") . diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index f817a11292..cd32f9915b 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -18,11 +18,11 @@ #include #include +#include #include #include #include #include -#include #include diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index c8a8ac5a41..fdbd8615cb 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -23,6 +23,7 @@ autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils + autoware_internal_debug_msgs autoware_sensing_msgs geographic_msgs geographiclib @@ -33,7 +34,6 @@ tf2 tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs ament_lint_auto autoware_lint_common diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp index 52e1764135..e8b1c18b3d 100644 --- a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp +++ b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp @@ -61,7 +61,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) pose_pub_ = create_publisher("gnss_pose", rclcpp::QoS{1}); pose_cov_pub_ = create_publisher( "gnss_pose_cov", rclcpp::QoS{1}); - fixed_pub_ = create_publisher("gnss_fixed", rclcpp::QoS{1}); + fixed_pub_ = + create_publisher("gnss_fixed", rclcpp::QoS{1}); // Set msg_gnss_ins_orientation_stamped_ with temporary values (not to publish zero value // covariances)