pre-commit fix

CMakeLists.txt

@@ -94,10 +94,11 @@ target_include_directories(
 install(TARGETS scenario_basic_subscription_basic_topic_publisher
         DESTINATION lib/moveit_middleware_benchmark)
 
-install(TARGETS scenario_perception_pipeline_benchmark_main
-                scenario_basic_service_client_benchmark_main
-                scenario_basic_subscription_benchmark_main
-        DESTINATION lib/moveit_middleware_benchmark)
+install(
+  TARGETS scenario_perception_pipeline_benchmark_main
+          scenario_basic_service_client_benchmark_main
+          scenario_basic_subscription_benchmark_main
+  DESTINATION lib/moveit_middleware_benchmark)
 
 install(DIRECTORY launch config DESTINATION share/moveit_middleware_benchmark)
 

src/scenarios/basic_topic_sub_pub/basic_topic_publisher.cpp

@@ -33,44 +33,44 @@
  *********************************************************************/
 
 /* Author: Cihat Kurtuluş Altıparmak
-   Description: Basic pose_array_msg topic publisher to measure the middleware 
-   effects in basic topic subscription-publishing scenario 
+   Description: Basic pose_array_msg topic publisher to measure the middleware
+   effects in basic topic subscription-publishing scenario
  */
 
 #include <rclcpp/rclcpp.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 
-int main(int argc, char ** argv) {
+int main(int argc, char** argv)
+{
+  size_t pose_array_size = 10;
+  double benchmarked_topic_hz = 10;
+  std::string benchmarked_topic_name = "/benchmarked_topic1";
 
-    size_t pose_array_size = 10;
-    double benchmarked_topic_hz = 10;
-    std::string benchmarked_topic_name = "/benchmarked_topic1";
+  rclcpp::init(argc, argv);
 
-    rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("basic_topic_publisher");
 
-    auto node = rclcpp::Node::make_shared("basic_topic_publisher");
+  node->get_parameter("benchmarked_topic_hz", benchmarked_topic_hz);
+  node->get_parameter("benchmarked_topic_name", benchmarked_topic_name);
+  node->get_parameter("pose_array_size", pose_array_size);
 
-    node->get_parameter("benchmarked_topic_hz", benchmarked_topic_hz);
-    node->get_parameter("benchmarked_topic_name", benchmarked_topic_name);
-    node->get_parameter("pose_array_size", pose_array_size);
+  auto topic_pub = node->create_publisher<geometry_msgs::msg::PoseArray>(benchmarked_topic_name, 10);
 
+  geometry_msgs::msg::PoseArray sample_pose_array_msg;
+  sample_pose_array_msg.poses.resize(pose_array_size);
 
-    auto topic_pub = node->create_publisher<geometry_msgs::msg::PoseArray>(benchmarked_topic_name, 10);
+  rclcpp::Rate sleep_rate(benchmarked_topic_hz);
 
-    geometry_msgs::msg::PoseArray sample_pose_array_msg;
-    sample_pose_array_msg.poses.resize(pose_array_size);
+  while (rclcpp::ok())
+  {
+    // save the publishing date of message
+    sample_pose_array_msg.header.stamp = node->now();
 
-    rclcpp::Rate sleep_rate(benchmarked_topic_hz);
+    // publish the message
+    topic_pub->publish(sample_pose_array_msg);
 
-    while (rclcpp::ok()) {
-        // save the publishing date of message
-        sample_pose_array_msg.header.stamp = node->now();
+    sleep_rate.sleep();
+  }
 
-        // publish the message
-        topic_pub->publish(sample_pose_array_msg);
-
-        sleep_rate.sleep();
-    }
-
-    rclcpp::shutdown();
-}
+  rclcpp::shutdown();
+}

src/scenarios/basic_topic_sub_pub/scenario_basic_subscription.cpp

@@ -69,8 +69,8 @@ void ScenarioBasicSubPub::runTestCase(benchmark::State& benchmark_state)
               benchmarked_topic_name_.c_str(), benchmarked_topic_hz_, max_received_topic_number_);
 
   std::unique_lock lk(is_test_case_finished_mutex_);
-  test_case_cv_.wait(lk, [this](){return is_test_case_finished_;});
-  
+  test_case_cv_.wait(lk, [this]() { return is_test_case_finished_; });
+
   benchmark_state.SetIterationTime(elapsed_time_.count());
   RCLCPP_INFO(node_->get_logger(), "Benchmarked test case is finished!");
 }
@@ -80,11 +80,14 @@ void ScenarioBasicSubPub::subCallback(geometry_msgs::msg::PoseArray::SharedPtr p
   std::unique_lock lk(is_test_case_finished_mutex_);
   received_topic_number_++;
 
-  if (received_topic_number_ > max_received_topic_number_) {
+  if (received_topic_number_ > max_received_topic_number_)
+  {
     is_test_case_finished_ = true;
     lk.unlock();
     test_case_cv_.notify_one();
-  } else {
+  }
+  else
+  {
     auto msg_latency_time = (node_->now() - pose_array_msg->header.stamp).to_chrono<std::chrono::duration<double>>();
     elapsed_time_ += msg_latency_time;
   }
@@ -129,7 +132,9 @@ BENCHMARK_DEFINE_F(ScenarioBasicSubPubFixture, test_scenario_basic_sub_pub)(benc
   }
 }
 
-BENCHMARK_REGISTER_F(ScenarioBasicSubPubFixture, test_scenario_basic_sub_pub)->UseManualTime()->Unit(benchmark::kNanosecond);
+BENCHMARK_REGISTER_F(ScenarioBasicSubPubFixture, test_scenario_basic_sub_pub)
+    ->UseManualTime()
+    ->Unit(benchmark::kNanosecond);
 
 }  // namespace middleware_benchmark
 }  // namespace moveit