formatting

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/include/kuka_moveit_task_constructor/imtc_task.hpp

@@ -31,4 +31,4 @@ class IMTCTask
   virtual bool doTask(mtc::Task & task) = 0;
 };
 
-#endif  // KUKA_MOVEIT_TASK_CONSTRUCTOR__IMTC_TASK_HPP_
+#endif  // KUKA_MOVEIT_TASK_CONSTRUCTOR__IMTC_TASK_HPP_

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/include/kuka_moveit_task_constructor/mtc_depalletizing_task_node.hpp

@@ -15,12 +15,15 @@
 #ifndef KUKA_MOVEIT_TASK_CONSTRUCTOR__MTC_DEPALLETIZING_TASK_NODE_HPP_
 #define KUKA_MOVEIT_TASK_CONSTRUCTOR__MTC_DEPALLETIZING_TASK_NODE_HPP_
 
-#include "kuka_moveit_task_constructor/imtc_task.hpp"
 #include <moveit/planning_scene/planning_scene.h>
 #include <moveit/planning_scene_interface/planning_scene_interface.h>
 #include <moveit/task_constructor/solvers.h>
 #include <moveit/task_constructor/stages.h>
 
+#include <string>
+
+#include "kuka_moveit_task_constructor/imtc_task.hpp"
+
 #include <rclcpp/rclcpp.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup.launch.py

@@ -87,11 +87,10 @@ def launch_setup(context, *args, **kwargs):
     )
 
     startup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            get_package_share_directory("kuka_iiqka_eac_driver"), 
-            "/launch/startup.launch.py"
-        ]),
-        launch_arguments={'use_fake_hardware': 'true'}.items()
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
+        ),
+        launch_arguments={"use_fake_hardware": "true"}.items(),
     )
 
     # MTC Demo node

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup_standalone.launch.py

@@ -16,11 +16,7 @@
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 from moveit_configs_utils import MoveItConfigsBuilder
-from launch.actions.include_launch_description import IncludeLaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.launch_description_sources.python_launch_description_source import (
-    PythonLaunchDescriptionSource,
-)
 from launch.substitutions import LaunchConfiguration
 
 

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup_with_rviz.launch.py

@@ -105,11 +105,10 @@ def launch_setup(context, *args, **kwargs):
     )
 
     startup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            get_package_share_directory("kuka_iiqka_eac_driver"), 
-            "/launch/startup.launch.py"
-        ]),
-        launch_arguments={'use_fake_hardware': 'true'}.items()
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
+        ),
+        launch_arguments={"use_fake_hardware": "true"}.items(),
     )
 
     # MTC Demo node

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup_with_rviz_extended.launch.py

@@ -106,11 +106,10 @@ def launch_setup(context, *args, **kwargs):
     )
 
     startup_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource([
-            get_package_share_directory("kuka_iiqka_eac_driver"), 
-            "/launch/startup.launch.py"
-        ]),
-        launch_arguments={'use_fake_hardware': 'true'}.items()
+        PythonLaunchDescriptionSource(
+            [get_package_share_directory("kuka_iiqka_eac_driver"), "/launch/startup.launch.py"]
+        ),
+        launch_arguments={"use_fake_hardware": "true"}.items(),
     )
 
     # MTC Demo node

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/launch/startup_with_rviz_standalone.launch.py

@@ -16,11 +16,7 @@
 from launch_ros.actions import Node
 from ament_index_python.packages import get_package_share_directory
 from moveit_configs_utils import MoveItConfigsBuilder
-from launch.actions.include_launch_description import IncludeLaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.launch_description_sources.python_launch_description_source import (
-    PythonLaunchDescriptionSource,
-)
 from launch.substitutions import LaunchConfiguration
 
 

examples/iiqka_moveit_task_constructor_example/kuka_moveit_task_constructor/src/mtc_depalletizing_task_node.cpp

@@ -19,7 +19,8 @@ static const rclcpp::Logger LOGGER = rclcpp::get_logger("mtc_depalletizing_task_
 double PALLET_SIZE = 0.097;
 double PALLET_DISTANCE = 0.1;
 
-rclcpp::node_interfaces::NodeBaseInterface::SharedPtr MTCDepalletizingTaskNode::getNodeBaseInterface()
+rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
+MTCDepalletizingTaskNode::getNodeBaseInterface()
 {
   return node_->get_node_base_interface();
 }
@@ -304,7 +305,9 @@ int main(int argc, char ** argv)
 
   mtc_depalletizing_task_node->setupPlanningScene();
   mtc::Task task = mtc_depalletizing_task_node->createTask();
-  while (!mtc_depalletizing_task_node->doTask(task)){}
+  while (!mtc_depalletizing_task_node->doTask(task))
+  {
+  }
   spin_thread->join();
   rclcpp::shutdown();
   return 0;