update naming and linting

Author: kaichie

nav2_collision_monitor/params/collision_monitor_params.yaml

@@ -48,7 +48,7 @@ collision_monitor:
       min_points: 6
       visualize: True
       polygon_pub_topic: "polygon_approach"
-      velocity_polygon: ["rotation", "translation_forward", "translation_backward", "stop"] # third priority
+      velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stop"] # third priority
       rotation:
         points: [0.3, 0.3, 0.3, -0.3, -0.3, -0.3, -0.3, 0.3]
         holonomic: false

nav2_collision_monitor/src/polygon.cpp

@@ -474,11 +474,11 @@ bool Polygon::getParameters(
 
     // Velocity polygon will be used
     nav2_util::declare_parameter_if_not_declared(
-      node, polygon_name_ + ".velocity_polygon", rclcpp::PARAMETER_STRING_ARRAY);
-    std::vector<std::string> velocity_polygon_array = node->get_parameter(
-      polygon_name_ + ".velocity_polygon").as_string_array();
+      node, polygon_name_ + ".velocity_polygons", rclcpp::PARAMETER_STRING_ARRAY);
+    std::vector<std::string> velocity_polygons = node->get_parameter(
+      polygon_name_ + ".velocity_polygons").as_string_array();
 
-    for (std::string velocity_polygon_name : velocity_polygon_array) {
+    for (std::string velocity_polygon_name : velocity_polygons) {
       auto velocity_polygon = std::make_shared<VelocityPolygon>(
         node_, polygon_name_,
         velocity_polygon_name,

nav2_collision_monitor/src/velocity_polygon.cpp

@@ -76,7 +76,9 @@ bool VelocityPolygon::getParameters()
     // polygon_sub_topic param
     nav2_util::declare_parameter_if_not_declared(
       node, polygon_name_ + "." + velocity_polygon_name_ + ".polygon_sub_topic",
-      rclcpp::ParameterValue("/collision_monitor/"+polygon_name_ +"/"+velocity_polygon_name_+"/set_polygon"));
+      rclcpp::ParameterValue(
+        "/collision_monitor/" + polygon_name_ + "/" + velocity_polygon_name_ +
+        "/set_polygon"));
     polygon_sub_topic_ =
       node->get_parameter(
       polygon_name_ + "." + velocity_polygon_name_ +
@@ -198,7 +200,6 @@ void VelocityPolygon::updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSha
 }
 
 
-
 bool VelocityPolygon::isInRange(const Velocity & cmd_vel_in)
 {
   if (holonomic_) {