Changes according to make format and changed ros distro to jazzy

Author: JanNiklasFeld

.github/workflows/ci.yml

@@ -39,14 +39,14 @@ jobs:
 
       - name: Build packages
         run: |
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           colcon build --symlink-install
         working-directory: /colcon_ws
 
       - name: Test packages
         run: |
           # Source workspace
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           . install/setup.sh
           # Run tests for all packages
           colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ repos:
       - id: cppcheck
         args:
           - "--inline-suppr"
-          - "--suppress=missingInclude"
+          - "--suppress=missingIncludeSystem"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"

README.md

@@ -2,7 +2,7 @@
 
 [![Build & Test](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml)
 [![Code style checks](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml)
-[![ROS Version Iron](https://img.shields.io/badge/ROS%20Version-Iron-ab8c71)](https://docs.ros.org/en/iron/index.html)
+[![ROS Version Jazzy](https://img.shields.io/badge/ROS%20Version-Jazzy-00b8ff)](https://docs.ros.org/en/jazzy/index.html)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
 All code is written as individual ROS 2 packages targeting Ubuntu.

bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp

@@ -1,8 +1,8 @@
 #ifndef BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 #define BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 
-#include "bitbots_msgs/msg/audio.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include <bitbots_msgs/msg/audio.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 namespace bitbots_ros_control {
 
@@ -13,7 +13,7 @@ void speakError(rclcpp::Publisher<bitbots_msgs::msg::Audio>::SharedPtr speak_pub
 
 uint16_t dxlMakeword(uint64_t a, uint64_t b);
 uint32_t dxlMakedword(uint64_t a, uint64_t b);
-float dxlMakeFloat(uint8_t* data);
+float dxlMakeFloat(const uint8_t* data);
 
 std::string gyroRangeToString(uint8_t range);
 std::string accelRangeToString(uint8_t range);

bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp

@@ -148,7 +148,7 @@ void DynamixelServoHardwareInterface::individualTorqueCb(bitbots_msgs::msg::Join
       RCLCPP_WARN(nh_->get_logger(), "Couldn't set torque for servo %s ", msg.joint_names[i].c_str());
     }
   }
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->switch_individual_torque_ = true;
   }
 }
@@ -157,7 +157,7 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   /**
    * This saves the given required value, so that it can be written to the servos in the write method
    */
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->goal_torque_ = enabled->data;
   }
   for (size_t j = 0; j < joint_names_.size(); j++) {
@@ -196,7 +196,7 @@ void DynamixelServoHardwareInterface::write(const rclcpp::Time &t, const rclcpp:
   // set all values from controller to the buses
   // todo improve performance
   int i = 0;
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       bus->goal_position_[j] = goal_position_[i];
       bus->goal_velocity_[j] = goal_velocity_[i];

bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp

@@ -202,7 +202,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Allocate memory for the values in the driver
   std::vector<int> values(joint_names_.size());
   // Iterate over parameter names
-  for (auto register_name : parameter_names) {
+  for (const auto &register_name : parameter_names) {
     // Get the value for each joint
     for (size_t num = 0; num < joint_names_.size(); num++) {
       // Get the value from the cache

bitbots_lowlevel/bitbots_ros_control/src/utils.cpp

@@ -40,7 +40,7 @@ uint32_t dxlMakedword(uint64_t a, uint64_t b) {
   return uint32_t(uint16_t(a & 0xffff) | uint32_t(uint16_t(b & 0xffff) << 16));
 }
 
-float dxlMakeFloat(uint8_t* data) {
+float dxlMakeFloat(const uint8_t* data) {
   float f;
   uint32_t b = dxlMakedword(dxlMakeword(data[0], data[1]), dxlMakeword(data[2], data[3]));
   memcpy(&f, &b, sizeof(f));

bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp

@@ -307,7 +307,7 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
   }
   if (!bus_start_time_ || t > bus_start_time_.value()) {
     if (bus_first_write_) {
-      for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>> const &port_interfaces : interfaces_) {
         for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
           interface->restoreAfterPowerCycle();
         }

bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp

@@ -12,14 +12,13 @@
 #include <iostream>
 #include <memory>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <pylon_camera_parameters.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
 
-#include "pylon_camera_parameters.hpp"
-
 using std::placeholders::_1, std::placeholders::_2;
 using namespace Pylon;
 
@@ -271,7 +270,8 @@ class BaslerCamera {
     }
 
     // Convert to cv::Mat
-    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1, (uint8_t*)ptrGrabResult->GetBuffer());
+    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1,
+                  static_cast<uint8_t*>(ptrGrabResult->GetBuffer()));
 
     // Create cv::Mat for color image
     cv::Mat color(image.size(), CV_MAKETYPE(CV_8U, 3));

bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst

@@ -49,7 +49,7 @@ Compile (compiles)
 ------------------
 
 The first step is to test if the package compiles.
-Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 22.04 with the iron distribution).
+Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 24.04 with the jazzy distribution).
 A part of this is to check if all dependencies are correct in the package.xml.
 This is important so they can be installed with rosdep.
 

bitbots_misc/bitbots_docs/docs/manual/tutorials/cl_simulation_testing_setup.rst

@@ -35,7 +35,7 @@ For compilation of the whole meta repository run ``cba``, which is an alias for:
 ``cd $COLCON_WS; colcon build --symlink-install --continue-on-error``
 After a successful run, before we are able to use any ros commands we now need to source colcon built sources
 with ``sa``, which is an alias for:
-``source "/opt/ros/iron/setup.$SHELL" && source "$COLCON_WS/install/setup.$SHELL"``
+``source "/opt/ros/jazzy/setup.$SHELL" && source "$COLCON_WS/install/setup.$SHELL"``
 
 **3. Run Webots Simulation**
 

bitbots_misc/bitbots_docs/docs/manual/tutorials/install_software_ros2.rst

@@ -1,13 +1,13 @@
 Software installation with ROS2
 ===============================
 
-In this tutorial, we will learn how to install ROS2 Iron Irwini on Ubuntu 22.04 and build our software stack.
+In this tutorial, we will learn how to install ROS2 Jazzy Jalisco on Ubuntu 24.04 and build our software stack.
 
 **TLDR**: single command setup
 ------------------------------
 
 **Prerequirements**
-- You have a running Ubuntu 22.04 environment
+- You have a running Ubuntu 24.04 environment
 - You have an existing Github account and added a SSH key to your account
 - You have root access to your system (sudo)
 
@@ -23,17 +23,17 @@ If you have not previously set up any of our software stack, you can use the fol
 Manual steps with in depth explanation
 --------------------------------------
 
-**0. Use Ubuntu 22.04**
+**0. Use Ubuntu 24.04**
 
 As ROS works best on Ubuntu, we are using this distribution.
-Currently, ROS2 Iron runs on Ubuntu 22.04.
+Currently, ROS2 Jazzy runs on Ubuntu 24.04.
 
-If you are not already using Ubuntu 22.04, consider installing it on your system (perhaps as a dual boot?).
+If you are not already using Ubuntu 24.04, consider installing it on your system (perhaps as a dual boot?).
 Alternatively you can use a devcontainer :doc:`vscode-dev-container`, with a preconfigured environment and follow those instructions, as these docs do not apply to the devcontainer.
 
 **1. Setup and Install ROS 2**
 
-- Follow this guide and when it comes to the section **Install ROS 2 packages**, install the recommended ``ros-iron-desktop-full``: https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html
+- Follow this guide and when it comes to the section **Install ROS 2 packages**, install the recommended ``ros-jazzy-desktop-full``: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
 - Install additional dependencies:
 
 .. code-block:: bash
@@ -88,7 +88,7 @@ If you want to install it, you can do so by running ``make webots`` in the bitbo
 
 **4. Setup colcon workspace**
 
-`Colcon <https://docs.ros.org/en/iron/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
+`Colcon <https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Colcon-Tutorial.html>`_ is the tool provided by ROS 2 to build and install our ROS packages, so that they can be launched later.
 The colcon workspace is where your source code gets build and where we use colcon.
 
 - Create colcon workspace directory (typically ``~/colcon_ws/``)

bitbots_misc/bitbots_docs/docs/manual/tutorials/vscode-ros2.rst

@@ -9,14 +9,14 @@ Navigate to your colcon workspace.
 
 Source ros
 
-`source /opt/ros/iron/setup.zsh`
+`source /opt/ros/jazzy/setup.zsh`
 
 Open VSCode
 
 `code .`
 
 Install the ROS extension (from Microsoft).
-You should see a `ROS2.iron` in the lower left corner.
+You should see a `ROS2.jazzy` in the lower left corner.
 
 Now you should be able to build the code with `Ctrl+Shift+B`
 

bitbots_misc/bitbots_tf_buffer/src/bitbots_tf_buffer.cpp

@@ -39,7 +39,8 @@ class Buffer {
                                                         py_tf2_ros.attr("TimeoutException"));
 
     // get node name from python node object
-    rcl_node_t *node_handle = (rcl_node_t *)node.attr("handle").attr("pointer").cast<size_t>();
+    rcl_node_t *node_handle =
+        static_cast<rcl_node_t *>(reinterpret_cast<void *>(node.attr("handle").attr("pointer").cast<size_t>()));
     const char *node_name = rcl_node_get_name(node_handle);
     // create node with name <python_node_name>_tf
     node_ = std::make_shared<rclcpp::Node>((std::string(node_name) + "_tf").c_str());

bitbots_misc/bitbots_utils/src/utils.cpp

@@ -1,4 +1,4 @@
-#include "bitbots_utils/utils.hpp"
+#include <bitbots_utils/utils.hpp>
 
 namespace bitbots_utils {
 

bitbots_motion/bitbots_dynamic_kick/include/bitbots_dynamic_kick/kick_ik.hpp

@@ -12,7 +12,7 @@ namespace bitbots_dynamic_kick {
 
 class KickIK : public bitbots_splines::AbstractIK<KickPositions> {
  public:
-  KickIK() = default;
+  KickIK() : legs_joints_group_(), left_leg_joints_group_(), right_leg_joints_group_(){};
   void init(moveit::core::RobotModelPtr kinematic_model) override;
   bitbots_splines::JointGoals calculate(const KickPositions &positions) override;
   void reset() override;

bitbots_motion/bitbots_dynamic_kick/src/kick_engine.cpp

@@ -1,5 +1,4 @@
-#include "bitbots_dynamic_kick/kick_engine.hpp"
-
+#include <bitbots_dynamic_kick/kick_engine.hpp>
 #include <utility>
 
 namespace bitbots_dynamic_kick {

bitbots_motion/bitbots_dynamic_kick/src/kick_ik.cpp

@@ -1,4 +1,4 @@
-#include "bitbots_dynamic_kick/kick_ik.hpp"
+#include <bitbots_dynamic_kick/kick_ik.hpp>
 
 namespace bitbots_dynamic_kick {
 

bitbots_motion/bitbots_dynamic_kick/src/kick_node.cpp

@@ -1,4 +1,4 @@
-#include "bitbots_dynamic_kick/kick_node.hpp"
+#include <bitbots_dynamic_kick/kick_node.hpp>
 
 namespace bitbots_dynamic_kick {
 using namespace std::chrono_literals;

bitbots_motion/bitbots_dynamic_kick/src/stabilizer.cpp

@@ -1,4 +1,4 @@
-#include "bitbots_dynamic_kick/stabilizer.hpp"
+#include <bitbots_dynamic_kick/stabilizer.hpp>
 
 namespace bitbots_dynamic_kick {
 

bitbots_motion/bitbots_dynamic_kick/src/visualizer.cpp

@@ -1,5 +1,4 @@
-#include "bitbots_dynamic_kick/visualizer.hpp"
-
+#include <bitbots_dynamic_kick/visualizer.hpp>
 #include <bitbots_splines/pose_spline.hpp>
 
 namespace bitbots_dynamic_kick {

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_engine.hpp

@@ -9,13 +9,13 @@
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
 #include <cmath>
+#include <dynup_parameters.hpp>
 #include <optional>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
-#include "dynup_parameters.hpp"
 #include "dynup_stabilizer.hpp"
 
 namespace bitbots_dynup {

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_ik.hpp

@@ -7,10 +7,10 @@
 #include <tf2/convert.h>
 
 #include <bitbots_splines/abstract_ik.hpp>
+#include <dynup_parameters.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include "dynup_parameters.hpp"
 #include "dynup_utils.hpp"
 
 namespace bitbots_dynup {

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_node.hpp

@@ -11,30 +11,29 @@
 #include <tf2_ros/transform_listener.h>
 #include <unistd.h>
 
+#include <bitbots_dynup/dynup_engine.hpp>
+#include <bitbots_dynup/dynup_ik.hpp>
+#include <bitbots_dynup/dynup_stabilizer.hpp>
 #include <bitbots_dynup/msg/dynup_poses.hpp>
+#include <bitbots_dynup/visualizer.hpp>
+#include <bitbots_msgs/action/dynup.hpp>
 #include <bitbots_msgs/msg/joint_command.hpp>
 #include <bitbots_utils/utils.hpp>
 #include <cmath>
+#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/pose_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <optional>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <std_msgs/msg/char.hpp>
 #include <string>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include "bitbots_dynup/dynup_engine.hpp"
-#include "bitbots_dynup/dynup_ik.hpp"
-#include "bitbots_dynup/dynup_stabilizer.hpp"
-#include "bitbots_dynup/visualizer.hpp"
-#include "bitbots_msgs/action/dynup.hpp"
-#include "dynup_parameters.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-
 namespace bitbots_dynup {
 using DynupGoal = bitbots_msgs::action::Dynup;
 using DynupGoalHandle = rclcpp_action::ServerGoalHandle<DynupGoal>;

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_pywrapper.hpp

@@ -4,14 +4,13 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/stl.h>
 
+#include <bitbots_dynup/dynup_node.hpp>
+#include <bitbots_dynup/dynup_utils.hpp>
 #include <iostream>
 #include <map>
 #include <rclcpp/rclcpp.hpp>
 #include <ros2_python_extension/serialization.hpp>
 
-#include "bitbots_dynup/dynup_node.hpp"
-#include "bitbots_dynup/dynup_utils.hpp"
-
 namespace py = pybind11;
 using namespace ros2_python_extension;
 

bitbots_motion/bitbots_dynup/include/bitbots_dynup/dynup_stabilizer.hpp

@@ -6,12 +6,12 @@
 #include <Eigen/Geometry>
 #include <bitbots_splines/abstract_stabilizer.hpp>
 #include <control_toolbox/pid_ros.hpp>
+#include <dynup_parameters.hpp>
 #include <optional>
 #include <sensor_msgs/msg/imu.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include "dynup_parameters.hpp"
 #include "dynup_utils.hpp"
 namespace bitbots_dynup {
 

bitbots_motion/bitbots_dynup/include/bitbots_dynup/visualizer.hpp

@@ -11,14 +11,13 @@
 #include <bitbots_splines/abstract_visualizer.hpp>
 #include <bitbots_splines/smooth_spline.hpp>
 #include <bitbots_splines/spline_container.hpp>
+#include <dynup_parameters.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include "dynup_parameters.hpp"
-
 namespace bitbots_dynup {
 
 class Visualizer : bitbots_splines::AbstractVisualizer {

bitbots_motion/bitbots_dynup/src/dynup_engine.cpp

@@ -1,5 +1,4 @@
-#include "bitbots_dynup/dynup_engine.hpp"
-
+#include <bitbots_dynup/dynup_engine.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 namespace bitbots_dynup {

bitbots_motion/bitbots_dynup/src/dynup_node.cpp

@@ -1,4 +1,4 @@
-#include "bitbots_dynup/dynup_node.hpp"
+#include <bitbots_dynup/dynup_node.hpp>
 
 namespace bitbots_dynup {
 using namespace std::chrono_literals;