Clang format.

franka_control/src/franka_control_node.cpp

@@ -95,12 +95,6 @@ int main(int argc, char** argv) {
       {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
       {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
 
-  robot.setCollisionBehavior(
-      {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}}, {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
-      {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}}, {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
-      {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}}, {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}},
-      {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}}, {{100.0, 100.0, 100.0, 100.0, 100.0, 100.0}});
-
   std::atomic_bool has_error(false);
 
   using std::placeholders::_1;
@@ -142,7 +136,8 @@ int main(int argc, char** argv) {
       false);
 
   franka::Model model = robot.loadModel();
-  franka_hw::FrankaHW franka_control(joint_names, arm_id, internal_controller, rate_limiting, cutoff_freq, public_node_handle, model);
+  franka_hw::FrankaHW franka_control(joint_names, arm_id, internal_controller, rate_limiting,
+                                     cutoff_freq, public_node_handle, model);
 
   // Initialize robot state before loading any controller
   franka_control.update(robot.readOnce());

franka_hw/include/franka_hw/franka_hw.h

@@ -48,9 +48,12 @@ class FrankaHW : public hardware_interface::RobotHW {
    *
    * @param[in] joint_names An array of joint names being controlled.
    * @param[in] arm_id Unique identifier for the robot being controlled.
-   * @param[in] limit_rate An array of booleans indicating if the rate limiter should be used or not for each interface
-   * @param[in] internal_controller Internal controller to be used for control loops using only motion generation
-   * @param[in] cutoff_freq An array of doubles indicating the cutoff frequency for the lowpass applied in each interface
+   * @param[in] limit_rate An array of booleans indicating if the rate limiter should be used or not
+   * for each interface
+   * @param[in] internal_controller Internal controller to be used for control loops using only
+   * motion generation
+   * @param[in] cutoff_freq An array of doubles indicating the cutoff frequency for the lowpass
+   * applied in each interface
    * @param[in] node_handle A node handle to get parameters from.
    */
   FrankaHW(const std::array<std::string, 7>& joint_names,
@@ -66,9 +69,12 @@ class FrankaHW : public hardware_interface::RobotHW {
    * @param[in] joint_names An array of joint names being controlled.
    * @param[in] arm_id Unique identifier for the robot being controlled.
    * @param[in] node_handle A node handle to get parameters from.
-   * @param[in] limit_rate An array of booleans indicating if the rate limiter should be used or not for each interface
-   * @param[in] internal_controller Internal controller to be used for control loops using only motion generation
-   * @param[in] cutoff_freq An array of doubles indicating the cutoff frequency for the lowpass applied in each interface
+   * @param[in] limit_rate An array of booleans indicating if the rate limiter should be used or not
+   * for each interface
+   * @param[in] internal_controller Internal controller to be used for control loops using only
+   * motion generation
+   * @param[in] cutoff_freq An array of doubles indicating the cutoff frequency for the lowpass
+   * applied in each interface
    * @param[in] model Robot model.
    */
   FrankaHW(const std::array<std::string, 7>& joint_names,

franka_hw/src/franka_hw.cpp

@@ -275,31 +275,36 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
     case ControlMode::JointTorque:
       run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
         robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
-                                std::cref(effort_joint_command_), ros_callback, _1, _2), limit_rate_[4], cutoff_freq_[4]);
+                                std::cref(effort_joint_command_), ros_callback, _1, _2),
+                      limit_rate_[4], cutoff_freq_[4]);
       };
       break;
     case ControlMode::JointPosition:
       run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
         robot.control(std::bind(&FrankaHW::controlCallback<franka::JointPositions>, this,
-                                std::cref(position_joint_command_), ros_callback, _1, _2), internal_controller_, limit_rate_[0], cutoff_freq_[0]);
+                                std::cref(position_joint_command_), ros_callback, _1, _2),
+                      internal_controller_, limit_rate_[0], cutoff_freq_[0]);
       };
       break;
     case ControlMode::JointVelocity:
       run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
         robot.control(std::bind(&FrankaHW::controlCallback<franka::JointVelocities>, this,
-                                std::cref(velocity_joint_command_), ros_callback, _1, _2), internal_controller_, limit_rate_[1], cutoff_freq_[1]);
+                                std::cref(velocity_joint_command_), ros_callback, _1, _2),
+                      internal_controller_, limit_rate_[1], cutoff_freq_[1]);
       };
       break;
     case ControlMode::CartesianPose:
       run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
         robot.control(std::bind(&FrankaHW::controlCallback<franka::CartesianPose>, this,
-                                std::cref(pose_cartesian_command_), ros_callback, _1, _2), internal_controller_, limit_rate_[2], cutoff_freq_[2]);
+                                std::cref(pose_cartesian_command_), ros_callback, _1, _2),
+                      internal_controller_, limit_rate_[2], cutoff_freq_[2]);
       };
       break;
     case ControlMode::CartesianVelocity:
       run_function_ = [this](franka::Robot& robot, Callback ros_callback) {
         robot.control(std::bind(&FrankaHW::controlCallback<franka::CartesianVelocities>, this,
-                                std::cref(velocity_cartesian_command_), ros_callback, _1, _2), internal_controller_, limit_rate_[3], cutoff_freq_[3]);
+                                std::cref(velocity_cartesian_command_), ros_callback, _1, _2),
+                      internal_controller_, limit_rate_[3], cutoff_freq_[3]);
       };
       break;
     case (ControlMode::JointTorque | ControlMode::JointPosition):
@@ -307,7 +312,8 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
         robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
                                 std::cref(effort_joint_command_), ros_callback, _1, _2),
                       std::bind(&FrankaHW::controlCallback<franka::JointPositions>, this,
-                                std::cref(position_joint_command_), ros_callback, _1, _2), limit_rate_[4], cutoff_freq_[4]);
+                                std::cref(position_joint_command_), ros_callback, _1, _2),
+                      limit_rate_[4], cutoff_freq_[4]);
       };
       break;
     case (ControlMode::JointTorque | ControlMode::JointVelocity):
@@ -315,7 +321,8 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
         robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
                                 std::cref(effort_joint_command_), ros_callback, _1, _2),
                       std::bind(&FrankaHW::controlCallback<franka::JointVelocities>, this,
-                                std::cref(velocity_joint_command_), ros_callback, _1, _2), limit_rate_[4], cutoff_freq_[4]);
+                                std::cref(velocity_joint_command_), ros_callback, _1, _2),
+                      limit_rate_[4], cutoff_freq_[4]);
       };
       break;
     case (ControlMode::JointTorque | ControlMode::CartesianPose):
@@ -323,7 +330,8 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
         robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
                                 std::cref(effort_joint_command_), ros_callback, _1, _2),
                       std::bind(&FrankaHW::controlCallback<franka::CartesianPose>, this,
-                                std::cref(pose_cartesian_command_), ros_callback, _1, _2), limit_rate_[4], cutoff_freq_[4]);
+                                std::cref(pose_cartesian_command_), ros_callback, _1, _2),
+                      limit_rate_[4], cutoff_freq_[4]);
       };
       break;
     case (ControlMode::JointTorque | ControlMode::CartesianVelocity):
@@ -331,7 +339,8 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
         robot.control(std::bind(&FrankaHW::controlCallback<franka::Torques>, this,
                                 std::cref(effort_joint_command_), ros_callback, _1, _2),
                       std::bind(&FrankaHW::controlCallback<franka::CartesianVelocities>, this,
-                                std::cref(velocity_cartesian_command_), ros_callback, _1, _2), limit_rate_[4], cutoff_freq_[4]);
+                                std::cref(velocity_cartesian_command_), ros_callback, _1, _2),
+                      limit_rate_[4], cutoff_freq_[4]);
       };
       break;
     default: