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kenji-miyakepre-commit-ci[bot]
kenji-miyake
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pre-commit-ci[bot]
authored
ci(pre-commit): update pre-commit-hooks-ros (autowarefoundation#625)
* ci(pre-commit): update pre-commit-hooks-ros Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎.pre-commit-config.yaml

+3-1
Original file line numberDiff line numberDiff line change
@@ -35,8 +35,10 @@ repos:
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- id: yamllint
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- repo: https://github.com/tier4/pre-commit-hooks-ros
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rev: v0.5.1
38+
rev: v0.6.0
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hooks:
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- id: prettier-xacro
41+
- id: prettier-launch-xml
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- id: prettier-package-xml
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- id: sort-package-xml
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- id: ros-include-guard

‎common/goal_distance_calculator/launch/goal_distance_calculator.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<launch>
2-
<arg name="oneshot" default="false" />
3-
<arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml" />
2+
<arg name="oneshot" default="false"/>
3+
<arg name="config_file" default="$(find-pkg-share goal_distance_calculator)/config/goal_distance_calculator.param.yaml"/>
44
<node pkg="goal_distance_calculator" exec="goal_distance_calculator_node" name="goal_distance_calculator" output="screen">
55
<param from="$(var config_file)"/>
66
<param name="oneshot" value="$(var oneshot)"/>

‎common/path_distance_calculator/launch/path_distance_calculator.launch.xml

+4-4
Original file line numberDiff line numberDiff line change
@@ -1,8 +1,8 @@
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<launch>
2-
<arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path" />
3-
<arg name="distance" default="~/distance" />
2+
<arg name="path" default="/planning/scenario_planning/lane_driving/behavior_planning/path"/>
3+
<arg name="distance" default="~/distance"/>
44
<node pkg="path_distance_calculator" exec="path_distance_calculator_node" name="path_distance_calculator">
5-
<remap from="~/input/path" to="$(var path)" />
6-
<remap from="~/output/distance" to="$(var distance)" />
5+
<remap from="~/input/path" to="$(var path)"/>
6+
<remap from="~/output/distance" to="$(var distance)"/>
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</node>
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</launch>

‎common/tier4_debug_tools/launch/lateral_error_publisher.launch.xml

+1-3
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,5 @@
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<launch>
2-
3-
<arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
2+
<arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>
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54
<!-- mpc for trajectory following -->
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<node pkg="tier4_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
@@ -9,5 +8,4 @@
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<remap from="~/input/vehicle_pose_with_covariance" to="/localization/pose_with_covariance"/>
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<remap from="~/input/ground_truth_pose_with_covariance" to="/localization/pose_with_covariance"/>
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</node>
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</launch>

‎control/control_performance_analysis/launch/controller_performance_analysis.launch.xml

+14-15
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,22 @@
11
<launch>
2-
3-
<arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml" />
4-
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" />
5-
<arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd" />
6-
<arg name="input/measured_steering" default="/vehicle/status/steering_status" />
7-
<arg name="input/current_odometry" default="/localization/kinematic_state" />
8-
<arg name="output/error_stamped" default="/control_performance/performance_vars" />
2+
<arg name="control_performance_analysis_param_path" default="$(find-pkg-share control_performance_analysis)/config/control_performance_analysis.param.yaml"/>
3+
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
4+
<arg name="input/control_raw" default="/control/trajectory_follower/lateral/control_cmd"/>
5+
<arg name="input/measured_steering" default="/vehicle/status/steering_status"/>
6+
<arg name="input/current_odometry" default="/localization/kinematic_state"/>
7+
<arg name="output/error_stamped" default="/control_performance/performance_vars"/>
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<!-- vehicle info -->
11-
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" />
10+
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
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1312
<node pkg="control_performance_analysis" exec="control_performance_analysis" name="control_performance_analysis" output="screen">
14-
<param from="$(var control_performance_analysis_param_path)" />
15-
<param from="$(var vehicle_info_param_file)" />
13+
<param from="$(var control_performance_analysis_param_path)"/>
14+
<param from="$(var vehicle_info_param_file)"/>
1615

17-
<remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)" />
18-
<remap from="~/input/control_raw" to="$(var input/control_raw)" />
19-
<remap from="~/input/measured_steering" to="$(var input/measured_steering)" />
20-
<remap from="~/input/current_odometry" to="$(var input/current_odometry)" />
21-
<remap from="~/output/error_stamped" to="$(var output/error_stamped)" />
16+
<remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
17+
<remap from="~/input/control_raw" to="$(var input/control_raw)"/>
18+
<remap from="~/input/measured_steering" to="$(var input/measured_steering)"/>
19+
<remap from="~/input/current_odometry" to="$(var input/current_odometry)"/>
20+
<remap from="~/output/error_stamped" to="$(var output/error_stamped)"/>
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</node>
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</launch>

‎control/external_cmd_selector/launch/external_cmd_selector.launch.xml

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Original file line numberDiff line numberDiff line change
@@ -1,49 +1,47 @@
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<launch>
2-
32
<!-- settings -->
4-
<arg name="initial_selector_mode" default="local" description="local, remote" />
3+
<arg name="initial_selector_mode" default="local" description="local, remote"/>
54

65
<!-- service -->
7-
<arg name="service/select_external_command" default="~/select_external_command" />
6+
<arg name="service/select_external_command" default="~/select_external_command"/>
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98
<!-- input local -->
10-
<arg name="input/local/control_cmd" default="/api/external/set/command/local/control" />
11-
<arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift" />
12-
<arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal" />
13-
<arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat" />
9+
<arg name="input/local/control_cmd" default="/api/external/set/command/local/control"/>
10+
<arg name="input/local/shift_cmd" default="/api/external/set/command/local/shift"/>
11+
<arg name="input/local/turn_signal_cmd" default="/api/external/set/command/local/turn_signal"/>
12+
<arg name="input/local/heartbeat" default="/api/external/set/command/local/heartbeat"/>
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1514
<!-- input remote -->
16-
<arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control" />
17-
<arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift" />
18-
<arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal" />
19-
<arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat" />
15+
<arg name="input/remote/control_cmd" default="/api/external/set/command/remote/control"/>
16+
<arg name="input/remote/shift_cmd" default="/api/external/set/command/remote/shift"/>
17+
<arg name="input/remote/turn_signal_cmd" default="/api/external/set/command/remote/turn_signal"/>
18+
<arg name="input/remote/heartbeat" default="/api/external/set/command/remote/heartbeat"/>
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<!-- output -->
22-
<arg name="output/control_cmd" default="/external/selected/external_control_cmd" />
23-
<arg name="output/gear_cmd" default="/external/selected/gear_cmd" />
24-
<arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd" />
25-
<arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd" />
26-
<arg name="output/heartbeat" default="/external/selected/heartbeat" />
27-
<arg name="output/current_selector_mode" default="~/current_selector_mode" />
21+
<arg name="output/control_cmd" default="/external/selected/external_control_cmd"/>
22+
<arg name="output/gear_cmd" default="/external/selected/gear_cmd"/>
23+
<arg name="output/turn_indicators_cmd" default="/external/selected/turn_indicators_cmd"/>
24+
<arg name="output/hazard_lights_cmd" default="/external/selected/hazard_lights_cmd"/>
25+
<arg name="output/heartbeat" default="/external/selected/heartbeat"/>
26+
<arg name="output/current_selector_mode" default="~/current_selector_mode"/>
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2928
<!-- node -->
3029
<node pkg="external_cmd_selector" exec="external_cmd_selector" name="external_cmd_selector" output="screen">
31-
<remap from="~/service/select_external_command" to="$(var service/select_external_command)" />
32-
<remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)" />
33-
<remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)" />
34-
<remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)" />
35-
<remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)" />
36-
<remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)" />
37-
<remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)" />
38-
<remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)" />
39-
<remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)" />
40-
<remap from="~/output/control_cmd" to="$(var output/control_cmd)" />
41-
<remap from="~/output/gear_cmd" to="$(var output/gear_cmd)" />
42-
<remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)" />
43-
<remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)" />
44-
<remap from="~/output/heartbeat" to="$(var output/heartbeat)" />
45-
<remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)" />
46-
<param name="initial_selector_mode" value="$(var initial_selector_mode)" />
30+
<remap from="~/service/select_external_command" to="$(var service/select_external_command)"/>
31+
<remap from="~/input/local/control_cmd" to="$(var input/local/control_cmd)"/>
32+
<remap from="~/input/local/shift_cmd" to="$(var input/local/shift_cmd)"/>
33+
<remap from="~/input/local/turn_signal_cmd" to="$(var input/local/turn_signal_cmd)"/>
34+
<remap from="~/input/local/heartbeat" to="$(var input/local/heartbeat)"/>
35+
<remap from="~/input/remote/control_cmd" to="$(var input/remote/control_cmd)"/>
36+
<remap from="~/input/remote/shift_cmd" to="$(var input/remote/shift_cmd)"/>
37+
<remap from="~/input/remote/turn_signal_cmd" to="$(var input/remote/turn_signal_cmd)"/>
38+
<remap from="~/input/remote/heartbeat" to="$(var input/remote/heartbeat)"/>
39+
<remap from="~/output/control_cmd" to="$(var output/control_cmd)"/>
40+
<remap from="~/output/gear_cmd" to="$(var output/gear_cmd)"/>
41+
<remap from="~/output/turn_indicators_cmd" to="$(var output/turn_indicators_cmd)"/>
42+
<remap from="~/output/hazard_lights_cmd" to="$(var output/hazard_lights_cmd)"/>
43+
<remap from="~/output/heartbeat" to="$(var output/heartbeat)"/>
44+
<remap from="~/output/current_selector_mode" to="$(var output/current_selector_mode)"/>
45+
<param name="initial_selector_mode" value="$(var initial_selector_mode)"/>
4746
</node>
48-
4947
</launch>

‎control/joy_controller/launch/joy_controller.launch.xml

+14-14
Original file line numberDiff line numberDiff line change
@@ -2,18 +2,18 @@
22
<arg name="joy_type" default="DS4" description="options: DS4, G29"/>
33
<arg name="external_cmd_source" default="remote" description="options: local, remote"/>
44

5-
<arg name="input_joy" default="/joy" />
6-
<arg name="input_odometry" default="/localization/kinematic_state" />
5+
<arg name="input_joy" default="/joy"/>
6+
<arg name="input_odometry" default="/localization/kinematic_state"/>
77

8-
<arg name="output_control_command" default="/external/$(var external_cmd_source)/joy/control_cmd" />
9-
<arg name="output_external_control_command" default="/api/external/set/command/$(var external_cmd_source)/control" />
10-
<arg name="output_shift" default="/api/external/set/command/$(var external_cmd_source)/shift" />
11-
<arg name="output_turn_signal" default="/api/external/set/command/$(var external_cmd_source)/turn_signal" />
12-
<arg name="output_heartbeat" default="/api/external/set/command/$(var external_cmd_source)/heartbeat" />
13-
<arg name="output_gate_mode" default="/control/gate_mode_cmd" />
14-
<arg name="output_vehicle_engage" default="/vehicle/engage" />
8+
<arg name="output_control_command" default="/external/$(var external_cmd_source)/joy/control_cmd"/>
9+
<arg name="output_external_control_command" default="/api/external/set/command/$(var external_cmd_source)/control"/>
10+
<arg name="output_shift" default="/api/external/set/command/$(var external_cmd_source)/shift"/>
11+
<arg name="output_turn_signal" default="/api/external/set/command/$(var external_cmd_source)/turn_signal"/>
12+
<arg name="output_heartbeat" default="/api/external/set/command/$(var external_cmd_source)/heartbeat"/>
13+
<arg name="output_gate_mode" default="/control/gate_mode_cmd"/>
14+
<arg name="output_vehicle_engage" default="/vehicle/engage"/>
1515

16-
<arg name="config_file" default="$(find-pkg-share joy_controller)/config/joy_controller.param.yaml" />
16+
<arg name="config_file" default="$(find-pkg-share joy_controller)/config/joy_controller.param.yaml"/>
1717

1818
<node pkg="joy_controller" exec="joy_controller" name="joy_controller" output="screen">
1919
<remap from="input/joy" to="$(var input_joy)"/>
@@ -30,12 +30,12 @@
3030
<remap from="service/emergency_stop" to="/api/autoware/set/emergency"/>
3131
<remap from="service/autoware_engage" to="/api/external/set/engage"/>
3232

33-
<param from="$(var config_file)" />
34-
<param name="joy_type" value="$(var joy_type)" />
33+
<param from="$(var config_file)"/>
34+
<param name="joy_type" value="$(var joy_type)"/>
3535
</node>
3636

3737
<node pkg="joy" exec="joy_node" name="joy_node" output="screen">
38-
<param name="autorepeat_rate" value="1.0" />
39-
<param name="deadzone" value="0.0" />
38+
<param name="autorepeat_rate" value="1.0"/>
39+
<param name="deadzone" value="0.0"/>
4040
</node>
4141
</launch>

‎control/lane_departure_checker/launch/lane_departure_checker.launch.xml

+9-9
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@@ -1,21 +1,21 @@
11
<launch>
2-
<arg name="input/odometry" default="/localization/kinematic_state" />
3-
<arg name="input/lanelet_map_bin" default="/map/vector_map" />
4-
<arg name="input/route" default="/planning/mission_planning/route" />
5-
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" />
6-
<arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory" />
7-
<arg name="config_file" default="$(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml" />
2+
<arg name="input/odometry" default="/localization/kinematic_state"/>
3+
<arg name="input/lanelet_map_bin" default="/map/vector_map"/>
4+
<arg name="input/route" default="/planning/mission_planning/route"/>
5+
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
6+
<arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory"/>
7+
<arg name="config_file" default="$(find-pkg-share lane_departure_checker)/config/lane_departure_checker.param.yaml"/>
88

99
<!-- vehicle info -->
10-
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" />
10+
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
1111

1212
<node pkg="lane_departure_checker" exec="lane_departure_checker_node" name="lane_departure_checker_node" output="screen">
1313
<remap from="~/input/odometry" to="$(var input/odometry)"/>
1414
<remap from="~/input/lanelet_map_bin" to="$(var input/lanelet_map_bin)"/>
1515
<remap from="~/input/route" to="$(var input/route)"/>
1616
<remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
1717
<remap from="~/input/predicted_trajectory" to="$(var input/predicted_trajectory)"/>
18-
<param from="$(var config_file)" />
19-
<param from="$(var vehicle_info_param_file)" />
18+
<param from="$(var config_file)"/>
19+
<param from="$(var vehicle_info_param_file)"/>
2020
</node>
2121
</launch>

‎control/obstacle_collision_checker/launch/obstacle_collision_checker.launch.xml

+9-9
Original file line numberDiff line numberDiff line change
@@ -1,16 +1,16 @@
11
<launch>
2-
<arg name="input/lanelet_map_bin" default="/map/vector_map" />
3-
<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud" />
4-
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory" />
5-
<arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory" />
6-
<arg name="input/odometry" default="/localization/kinematic_state" />
7-
<arg name="config_file" default="$(find-pkg-share obstacle_collision_checker)/config/obstacle_collision_checker.param.yaml" />
2+
<arg name="input/lanelet_map_bin" default="/map/vector_map"/>
3+
<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
4+
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>
5+
<arg name="input/predicted_trajectory" default="/control/trajectory_follower/predicted_trajectory"/>
6+
<arg name="input/odometry" default="/localization/kinematic_state"/>
7+
<arg name="config_file" default="$(find-pkg-share obstacle_collision_checker)/config/obstacle_collision_checker.param.yaml"/>
88
<!-- vehicle info -->
9-
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" />
9+
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
1010

1111
<node pkg="obstacle_collision_checker" exec="obstacle_collision_checker_node" name="obstacle_collision_checker_node" output="screen">
12-
<param from="$(var config_file)" />
13-
<param from="$(var vehicle_info_param_file)" />
12+
<param from="$(var config_file)"/>
13+
<param from="$(var vehicle_info_param_file)"/>
1414
<remap from="input/lanelet_map_bin" to="$(var input/lanelet_map_bin)"/>
1515
<remap from="input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/>
1616
<remap from="input/reference_trajectory" to="$(var input/reference_trajectory)"/>

‎control/pure_pursuit/launch/pure_pursuit.launch.xml

-1
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@@ -1,5 +1,4 @@
11
<launch>
2-
32
<arg name="pure_pursuit_param_path" default="$(find-pkg-share pure_pursuit)/config/pure_pursuit.param.yaml"/>
43

54
<arg name="input/reference_trajectory" default="/planning/scenario_planning/trajectory"/>

‎control/shift_decider/launch/shift_decider.launch.xml

+2-2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
11
<launch>
22
<node pkg="shift_decider" exec="shift_decider" name="shift_decider" output="screen">
3-
<remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd" />
4-
<remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd" />
3+
<remap from="input/control_cmd" to="/control/trajectory_follower/control_cmd"/>
4+
<remap from="output/gear_cmd" to="/control/shift_decider/gear_cmd"/>
55
</node>
66
</launch>

‎control/vehicle_cmd_gate/launch/vehicle_cmd_gate.launch.xml

+10-11
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
11
<launch>
2-
<arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml" />
3-
<arg name="use_emergency_handling" default="false" />
4-
<arg name="use_external_emergency_stop" default="true" />
5-
<arg name="use_start_request" default="false" />
2+
<arg name="config_file" default="$(find-pkg-share vehicle_cmd_gate)/config/vehicle_cmd_gate.param.yaml"/>
3+
<arg name="use_emergency_handling" default="false"/>
4+
<arg name="use_external_emergency_stop" default="true"/>
5+
<arg name="use_start_request" default="false"/>
66

77
<!-- vehicle info -->
8-
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" />
8+
<arg name="vehicle_info_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml"/>
99

1010
<node pkg="vehicle_cmd_gate" exec="vehicle_cmd_gate" name="vehicle_cmd_gate" output="screen">
1111
<remap from="input/steering" to="/vehicle/status/steering_status"/>
@@ -44,11 +44,10 @@
4444
<remap from="~/service/external_emergency_stop" to="~/external_emergency_stop"/>
4545
<remap from="~/service/clear_external_emergency_stop" to="~/clear_external_emergency_stop"/>
4646

47-
<param from="$(var config_file)" />
48-
<param from="$(var vehicle_info_param_file)" />
49-
<param name="use_emergency_handling" value="$(var use_emergency_handling)" />
50-
<param name="use_external_emergency_stop" value="$(var use_external_emergency_stop)" />
51-
<param name="use_start_request" value="$(var use_start_request)" />
47+
<param from="$(var config_file)"/>
48+
<param from="$(var vehicle_info_param_file)"/>
49+
<param name="use_emergency_handling" value="$(var use_emergency_handling)"/>
50+
<param name="use_external_emergency_stop" value="$(var use_external_emergency_stop)"/>
51+
<param name="use_start_request" value="$(var use_start_request)"/>
5252
</node>
53-
5453
</launch>

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