From 6abb6b549bcd5ef45088f9cd88a3daf07dace1d2 Mon Sep 17 00:00:00 2001
From: Bjar Ne <gleichdick@users.noreply.github.com>
Date: Fri, 29 Jan 2021 00:15:55 +0000
Subject: [PATCH] Enable Linters on Eigen, geometry_msgs and KDL

---
 tf2_eigen/CMakeLists.txt         | 12 ++++++++++++
 tf2_eigen/package.xml            |  2 ++
 tf2_geometry_msgs/CMakeLists.txt | 11 +++++++++++
 tf2_geometry_msgs/package.xml    |  2 ++
 tf2_kdl/CMakeLists.txt           | 12 ++++++++++--
 tf2_kdl/package.xml              |  2 ++
 6 files changed, 39 insertions(+), 2 deletions(-)

diff --git a/tf2_eigen/CMakeLists.txt b/tf2_eigen/CMakeLists.txt
index 2060c9e8d..33c67b9bc 100644
--- a/tf2_eigen/CMakeLists.txt
+++ b/tf2_eigen/CMakeLists.txt
@@ -22,6 +22,18 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
+  list(APPEND AMENT_LINT_AUTO_EXCLUDE
+    ament_cmake_cppcheck
+    ament_cmake_uncrustify
+    ament_cmake_copyright
+  )
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+  find_package(ament_cmake_cppcheck REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  ament_cppcheck(LANGUAGE "c++")
+  ament_uncrustify(LANGUAGE "c++")
+
   ament_add_gtest(tf2_eigen-test test/tf2_eigen-test.cpp)
   if(TARGET tf2_eigen-test)
     target_include_directories(tf2_eigen-test PUBLIC
diff --git a/tf2_eigen/package.xml b/tf2_eigen/package.xml
index 6c79b26ac..89a9c49d9 100644
--- a/tf2_eigen/package.xml
+++ b/tf2_eigen/package.xml
@@ -23,6 +23,8 @@
   <test_depend>ament_cmake_gtest</test_depend>
 
   <build_export_depend>eigen</build_export_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/tf2_geometry_msgs/CMakeLists.txt b/tf2_geometry_msgs/CMakeLists.txt
index 7d5fd6db7..b6d1429f7 100644
--- a/tf2_geometry_msgs/CMakeLists.txt
+++ b/tf2_geometry_msgs/CMakeLists.txt
@@ -30,6 +30,17 @@ ament_auto_find_build_dependencies(REQUIRED ${required_dependencies})
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rclcpp REQUIRED)
+
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+
+  ament_cppcheck(LANGUAGE "c++")
+  ament_cpplint()
+  ament_lint_cmake()
+  ament_uncrustify(LANGUAGE "c++")
+
   ament_add_gtest(test_tf2_geometry_msgs test/test_tf2_geometry_msgs.cpp)
   if(TARGET test_tf2_geometry_msgs)
     target_include_directories(test_tf2_geometry_msgs PUBLIC include)
diff --git a/tf2_geometry_msgs/package.xml b/tf2_geometry_msgs/package.xml
index ec7f6fe2d..99e6dc5d6 100644
--- a/tf2_geometry_msgs/package.xml
+++ b/tf2_geometry_msgs/package.xml
@@ -27,6 +27,8 @@
   <exec_depend>tf2_ros_py</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>
 
   <export>
diff --git a/tf2_kdl/CMakeLists.txt b/tf2_kdl/CMakeLists.txt
index c9934979a..3a058600f 100644
--- a/tf2_kdl/CMakeLists.txt
+++ b/tf2_kdl/CMakeLists.txt
@@ -18,10 +18,10 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 
 ament_python_install_package(${PROJECT_NAME}
-     PACKAGE_DIR src/${PROJECT_NAME})
+  PACKAGE_DIR src/${PROJECT_NAME})
 
 install(DIRECTORY include/${PROJECT_NAME}/
-    DESTINATION include/${PROJECT_NAME}
+  DESTINATION include/${PROJECT_NAME}
 )
 
 # TODO(ahcorde): Port python once https://github.com/ros2/orocos_kinematics_dynamics/pull/4 is merged
@@ -34,6 +34,14 @@ if(BUILD_TESTING)
   find_package(rclcpp REQUIRED)
   find_package(tf2_msgs REQUIRED)
 
+  find_package(ament_cmake_cppcheck REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+
+  ament_cppcheck(LANGUAGE "c++")
+  ament_uncrustify(LANGUAGE "c++")
+
   ament_add_gtest(test_kdl test/test_tf2_kdl.cpp)
   target_include_directories(test_kdl PUBLIC
     include
diff --git a/tf2_kdl/package.xml b/tf2_kdl/package.xml
index f0b105579..e4530097f 100644
--- a/tf2_kdl/package.xml
+++ b/tf2_kdl/package.xml
@@ -22,6 +22,8 @@
   <exec_depend>tf2_ros_py</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>rclcpp</test_depend>
   <test_depend>tf2_msgs</test_depend>