Adding roslint to vector_map_server and applying (most) suggestions.

Author: Joshua Whitley

vector_map_server/CMakeLists.txt

@@ -4,13 +4,14 @@ project(vector_map_server)
 find_package(autoware_build_flags REQUIRED)
 
 find_package(catkin REQUIRED COMPONENTS
-  roscpp
+  autoware_msgs
   geometry_msgs
-  visualization_msgs
   message_generation
+  roscpp
+  roslint
   vector_map
-  autoware_msgs
   vector_map_msgs
+  visualization_msgs
 )
 
 set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}")
@@ -93,8 +94,15 @@ add_dependencies(vector_map_client
   ${catkin_EXPORTED_TARGETS}
 )
 
+set(ROSLINT_CPP_OPTS "--filter=-build/c++14,-runtime/references,-whitespace/braces")
+roslint_cpp()
+
 install(TARGETS ${PROJECT_NAME} vector_map_client
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+if(CATKIN_ENABLE_TESTING)
+  roslint_add_test()
+endif()

vector_map_server/nodes/vector_map_client/vector_map_client.cpp

@@ -15,9 +15,9 @@
  */
 
 #include <geometry_msgs/PoseStamped.h>
-#include "autoware_msgs/Lane.h"
+#include <autoware_msgs/Lane.h>
 #include <visualization_msgs/MarkerArray.h>
-#include "vector_map/vector_map.h"
+#include <vector_map/vector_map.h>
 
 #include "vector_map_server/GetWhiteLine.h"
 #include "vector_map_server/GetStopLine.h"
@@ -74,7 +74,7 @@ class VectorMapClient
     waypoints_ = waypoints;
   }
 };
-} // namespace
+}  // namespace
 
 int main(int argc, char **argv)
 {
@@ -89,7 +89,7 @@ int main(int argc, char **argv)
   vmap.subscribe(nh,
                  Category::POINT | Category::VECTOR | Category::LINE | Category::AREA | Category::POLE |
                  Category::WHITE_LINE | Category::STOP_LINE | Category::CROSS_WALK | Category::SIGNAL,
-                 ros::Duration(0)); // non-blocking
+                 ros::Duration(0));  // non-blocking
 
   ros::Subscriber pose_sub = nh.subscribe("current_pose", 1, &VectorMapClient::setPose, &vmc);
   ros::Subscriber waypoints_sub = nh.subscribe("final_waypoints", 1, &VectorMapClient::setWaypoints, &vmc);
@@ -264,7 +264,7 @@ int main(int argc, char **argv)
     {
       for (auto& marker : marker_array.markers)
         marker.action = visualization_msgs::Marker::DELETE;
-      marker_array_pub.publish(marker_array); // clear previous marker
+      marker_array_pub.publish(marker_array);  // clear previous marker
     }
     marker_array = marker_array_buffer;
     marker_array_pub.publish(marker_array);

vector_map_server/nodes/vector_map_server/vector_map_server.cpp

@@ -15,9 +15,9 @@
  */
 
 #include <geometry_msgs/PoseStamped.h>
-#include "autoware_msgs/Lane.h"
+#include <autoware_msgs/Lane.h>
 #include <visualization_msgs/MarkerArray.h>
-#include "vector_map/vector_map.h"
+#include <vector_map/vector_map.h>
 
 #include "vector_map_server/GetDTLane.h"
 #include "vector_map_server/GetNode.h"
@@ -47,6 +47,8 @@
 #include "vector_map_server/GetRailCrossing.h"
 #include "vector_map_server/PositionState.h"
 
+#include <vector>
+
 using vector_map::VectorMap;
 using vector_map::Category;
 using vector_map::Color;
@@ -106,12 +108,12 @@ bool isMergingLane(const Lane& lane)
 
 double computeDistance(const Point& p1, const Point& p2)
 {
-  return std::hypot(p2.bx - p1.bx, p2.ly - p1.ly); // XXX: don't consider z axis
+  return std::hypot(p2.bx - p1.bx, p2.ly - p1.ly);  // XXX: don't consider z axis
 }
 
 double computeAngle(const Point& p1, const Point& p2)
 {
-  return std::atan2(p2.ly - p1.ly, p2.bx - p1.bx); // XXX: don't consider z axis
+  return std::atan2(p2.ly - p1.ly, p2.bx - p1.bx);  // XXX: don't consider z axis
 }
 
 double computeScore(const Point& bp1, const Point& bp2, const Point& p1, const Point& p2, double radius)
@@ -362,7 +364,7 @@ std::vector<Lane> createFineLanes(const VectorMap& vmap, const autoware_msgs::La
       if (fine_p1.pid == 0)
         return null_lanes;
 
-      Point coarse_p1 = findNearestPoint(coarse_points, fine_p1); // certainly succeed
+      Point coarse_p1 = findNearestPoint(coarse_points, fine_p1);  // certainly succeed
 
       if (computeDistance(fine_p1, coarse_p1) > radius)
         return null_lanes;
@@ -373,7 +375,7 @@ std::vector<Lane> createFineLanes(const VectorMap& vmap, const autoware_msgs::La
       {
         if (distance == -DBL_MAX)
         {
-          if (coarse_point.bx == coarse_p1.bx && coarse_point.ly == coarse_p1.ly) // XXX: don't consider z axis
+          if (coarse_point.bx == coarse_p1.bx && coarse_point.ly == coarse_p1.ly)  // XXX: don't consider z axis
             distance = 0;
           continue;
         }
@@ -574,7 +576,7 @@ class VectorMapServer
       {
         for (auto& marker : marker_array_.markers)
           marker.action = visualization_msgs::Marker::DELETE;
-        marker_array_pub_.publish(marker_array_); // clear previous marker
+        marker_array_pub_.publish(marker_array_);  // clear previous marker
       }
       marker_array_ = marker_array_buffer;
       marker_array_pub_.publish(marker_array_);
@@ -1033,7 +1035,7 @@ class VectorMapServer
     return true;
   }
 };
-} // namespace
+}  // namespace
 
 int main(int argc, char **argv)
 {

vector_map_server/package.xml

@@ -12,6 +12,7 @@
 
   <depend>autoware_msgs</depend>
   <depend>geometry_msgs</depend>
+  <depend>roslint</depend>
   <depend>vector_map</depend>
   <depend>vector_map_msgs</depend>
   <depend>visualization_msgs</depend>