Break line after paren in multiline function calls

composition/src/server_component.cpp

@@ -33,7 +33,8 @@ Server::Server(const rclcpp::NodeOptions & options)
     std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response
     ) -> void
     {
-      RCLCPP_INFO(this->get_logger(), "Incoming request: [a: %" PRId64 ", b: %" PRId64 "]",
+      RCLCPP_INFO(
+        this->get_logger(), "Incoming request: [a: %" PRId64 ", b: %" PRId64 "]",
         request->a, request->b);
       std::flush(std::cout);
       response->sum = request->a + request->b;

demo_nodes_cpp/src/parameters/even_parameters_node.cpp

@@ -51,30 +51,34 @@ class EvenParameterNode : public rclcpp::Node
         for (auto parameter : parameters) {
           rclcpp::ParameterType parameter_type = parameter.get_type();
           if (rclcpp::ParameterType::PARAMETER_NOT_SET == parameter_type) {
-            RCLCPP_INFO(this->get_logger(),
+            RCLCPP_INFO(
+              this->get_logger(),
               "parameter '%s' deleted successfully",
               parameter.get_name().c_str()
             );
             result.successful &= true;
           } else if (rclcpp::ParameterType::PARAMETER_INTEGER == parameter_type) {
             if (parameter.as_int() % 2 != 0) {
-              RCLCPP_INFO(this->get_logger(),
+              RCLCPP_INFO(
+                this->get_logger(),
                 "Requested value '%d' for parameter '%s' is not an even number:"
                 " rejecting change...",
                 parameter.as_int(),
                 parameter.get_name().c_str()
               );
               result.successful = false;
             } else {
-              RCLCPP_INFO(this->get_logger(),
+              RCLCPP_INFO(
+                this->get_logger(),
                 "parameter '%s' has changed and is now: %s",
                 parameter.get_name().c_str(),
                 parameter.value_to_string().c_str()
               );
               result.successful &= true;
             }
           } else {
-            RCLCPP_INFO(this->get_logger(),
+            RCLCPP_INFO(
+              this->get_logger(),
               "only integer parameters can be set\n"
               "requested value for parameter '%s' is not an even number, rejecting change...",
               parameter.get_name().c_str()

demo_nodes_cpp/src/parameters/list_parameters.cpp

@@ -51,7 +51,8 @@ class ListParameters : public rclcpp::Node
 
     RCLCPP_INFO(this->get_logger(), "Setting parameters...");
     // Set several different types of parameters.
-    auto set_parameters_results = parameters_client->set_parameters({
+    auto set_parameters_results = parameters_client->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),

demo_nodes_cpp/src/parameters/list_parameters_async.cpp

@@ -48,7 +48,8 @@ int main(int argc, char ** argv)
 
   RCLCPP_INFO(node->get_logger(), "Setting parameters...");
   // Set several differnet types of parameters.
-  auto results = parameters_client->set_parameters({
+  auto results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
@@ -63,7 +64,8 @@ int main(int argc, char ** argv)
   // List the details of a few parameters up to a namespace depth of 10.
   auto parameter_list_future = parameters_client->list_parameters({"foo", "bar"}, 10);
 
-  if (rclcpp::spin_until_future_complete(node, parameter_list_future) !=
+  if (
+    rclcpp::spin_until_future_complete(node, parameter_list_future) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "service call failed, exiting tutorial.");

demo_nodes_cpp/src/parameters/parameter_blackboard.cpp

@@ -36,7 +36,8 @@ class ParameterBlackboard : public rclcpp::Node
   ))
   : Node("parameter_blackboard", options)
   {
-    RCLCPP_INFO(this->get_logger(),
+    RCLCPP_INFO(
+      this->get_logger(),
       "Parameter blackboard node named '%s' ready, and serving '%zu' parameters already!",
       this->get_fully_qualified_name(), this->list_parameters(
         {}, rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE).names.size());

demo_nodes_cpp/src/parameters/parameter_events.cpp

@@ -73,15 +73,17 @@ int main(int argc, char ** argv)
   node->declare_parameter("foobar");
 
   // Set several different types of parameters.
-  auto set_parameters_results = parameters_client->set_parameters({
+  auto set_parameters_results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
     rclcpp::Parameter("foobar", true),
   });
 
   // Change the value of some of them.
-  set_parameters_results = parameters_client->set_parameters({
+  set_parameters_results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 3),
     rclcpp::Parameter("bar", "world"),
   });

demo_nodes_cpp/src/parameters/parameter_events_async.cpp

@@ -71,10 +71,11 @@ class ParameterEventsAsyncNode : public rclcpp::Node
 
     // Queue a `set_parameters` request as soon as `spin` is called on this node.
     // TODO(dhood): consider adding a "call soon" notion to Node to not require a timer for this.
-    timer_ = create_wall_timer(200ms,
-        [this]() {
-          this->queue_first_set_parameter_request();
-        });
+    timer_ = create_wall_timer(
+      200ms,
+      [this]() {
+        this->queue_first_set_parameter_request();
+      });
   }
 
 private:
@@ -101,7 +102,8 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         this->queue_second_set_parameter_request();
       };
 
-    parameters_client_->set_parameters({
+    parameters_client_->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),
@@ -123,12 +125,14 @@ class ParameterEventsAsyncNode : public rclcpp::Node
         // TODO(wjwwood): Create and use delete_parameter
 
         // Give time for all of the ParameterEvent callbacks to be received.
-        timer_ = create_wall_timer(100ms,
-            []() {
-              rclcpp::shutdown();
-            });
+        timer_ = create_wall_timer(
+          100ms,
+          []() {
+            rclcpp::shutdown();
+          });
       };
-    parameters_client_->set_parameters({
+    parameters_client_->set_parameters(
+      {
         rclcpp::Parameter("foo", 3),
         rclcpp::Parameter("bar", "world"),
       }, response_received_callback);

demo_nodes_cpp/src/parameters/set_and_get_parameters.cpp

@@ -51,7 +51,8 @@ class SetAndGetParameters : public rclcpp::Node
     }
 
     // Set several different types of parameters.
-    auto set_parameters_results = parameters_client->set_parameters({
+    auto set_parameters_results = parameters_client->set_parameters(
+      {
         rclcpp::Parameter("foo", 2),
         rclcpp::Parameter("bar", "hello"),
         rclcpp::Parameter("baz", 1.45),
@@ -68,8 +69,8 @@ class SetAndGetParameters : public rclcpp::Node
 
     std::stringstream ss;
     // Get a few of the parameters just set.
-    for (auto & parameter : parameters_client->get_parameters({"foo", "baz",
-        "foobarbaz", "toto"}))
+    for (
+      auto & parameter : parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"}))
     {
       ss << "\nParameter name: " << parameter.get_name();
       ss << "\nParameter value (" << parameter.get_type_name() << "): " <<

demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp

@@ -47,7 +47,8 @@ int main(int argc, char ** argv)
   }
 
   // Set several different types of parameters.
-  auto results = parameters_client->set_parameters({
+  auto results = parameters_client->set_parameters(
+  {
     rclcpp::Parameter("foo", 2),
     rclcpp::Parameter("bar", "hello"),
     rclcpp::Parameter("baz", 1.45),
@@ -56,7 +57,8 @@ int main(int argc, char ** argv)
     rclcpp::Parameter("toto", std::vector<uint8_t>({0xff, 0x7f})),
   });
   // Wait for the results.
-  if (rclcpp::spin_until_future_complete(node, results) !=
+  if (
+    rclcpp::spin_until_future_complete(node, results) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "set_parameters service call failed. Exiting tutorial.");
@@ -71,7 +73,8 @@ int main(int argc, char ** argv)
 
   // Get a few of the parameters just set.
   auto parameters = parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"});
-  if (rclcpp::spin_until_future_complete(node, parameters) !=
+  if (
+    rclcpp::spin_until_future_complete(node, parameters) !=
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get_parameters service call failed. Exiting tutorial.");

demo_nodes_cpp/src/services/add_two_ints_client.cpp

@@ -41,7 +41,8 @@ example_interfaces::srv::AddTwoInts::Response::SharedPtr send_request(
 {
   auto result = client->async_send_request(request);
   // Wait for the result.
-  if (rclcpp::spin_until_future_complete(node, result) ==
+  if (
+    rclcpp::spin_until_future_complete(node, result) ==
     rclcpp::executor::FutureReturnCode::SUCCESS)
   {
     return result.get();

demo_nodes_cpp/src/services/add_two_ints_server.cpp

@@ -59,7 +59,8 @@ class ServerNode : public rclcpp::Node
         std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response) -> void
       {
         (void)request_header;
-        RCLCPP_INFO(this->get_logger(), "Incoming request\na: %" PRId64 " b: %" PRId64,
+        RCLCPP_INFO(
+          this->get_logger(), "Incoming request\na: %" PRId64 " b: %" PRId64,
           request->a, request->b);
         response->sum = request->a + request->b;
       };

demo_nodes_cpp/src/timers/one_off_timer.cpp

@@ -40,10 +40,11 @@ class OneOffTimerNode : public rclcpp::Node
         RCLCPP_INFO(this->get_logger(), "in periodic_timer callback");
         if (this->count++ % 3 == 0) {
           RCLCPP_INFO(this->get_logger(), "  resetting one off timer");
-          this->one_off_timer = this->create_wall_timer(1s, [this]() {
-            RCLCPP_INFO(this->get_logger(), "in one_off_timer callback");
-            this->one_off_timer->cancel();
-          });
+          this->one_off_timer = this->create_wall_timer(
+            1s, [this]() {
+              RCLCPP_INFO(this->get_logger(), "in one_off_timer callback");
+              this->one_off_timer->cancel();
+            });
         } else {
           RCLCPP_INFO(this->get_logger(), "  not resetting one off timer");
         }

image_tools/src/burger.cpp

@@ -126,12 +126,14 @@ cv::Mat & Burger::render_burger(size_t width, size_t height)
   }
   burger_buf = cv::Scalar(0, 0, 0);
   for (int b = 0; b < static_cast<int>(x.size()); b++) {
-    burger_template.copyTo(burger_buf(cv::Rect(
-        x[b],
-        y[b],
-        burger_template.size().height,
-        burger_template.size().width
-      )), burger_mask);
+    burger_template.copyTo(
+      burger_buf(
+        cv::Rect(
+          x[b],
+          y[b],
+          burger_template.size().height,
+          burger_template.size().width
+        )), burger_mask);
     x[b] += x_inc[b];
     y[b] += y_inc[b];
     // bounce as needed

lifecycle/src/lifecycle_listener.cpp

@@ -38,8 +38,9 @@ class LifecycleListener : public rclcpp::Node
   : Node(node_name)
   {
     // Data topic from the lc_talker node
-    sub_data_ = this->create_subscription<std_msgs::msg::String>("lifecycle_chatter", 10,
-        std::bind(&LifecycleListener::data_callback, this, std::placeholders::_1));
+    sub_data_ = this->create_subscription<std_msgs::msg::String>(
+      "lifecycle_chatter", 10,
+      std::bind(&LifecycleListener::data_callback, this, std::placeholders::_1));
 
     // Notification event topic. All state changes
     // are published here as TransitionEvents with
@@ -57,7 +58,8 @@ class LifecycleListener : public rclcpp::Node
 
   void notification_callback(const lifecycle_msgs::msg::TransitionEvent::SharedPtr msg)
   {
-    RCLCPP_INFO(get_logger(), "notify callback: Transition from state %s to %s",
+    RCLCPP_INFO(
+      get_logger(), "notify callback: Transition from state %s to %s",
       msg->start_state.label.c_str(), msg->goal_state.label.c_str());
   }
 

lifecycle/src/lifecycle_service_client.cpp

@@ -120,7 +120,8 @@ class LifecycleServiceClient : public rclcpp::Node
 
     // We have an succesful answer. So let's print the current state.
     if (future_result.get()) {
-      RCLCPP_INFO(get_logger(), "Node %s has current state %s.",
+      RCLCPP_INFO(
+        get_logger(), "Node %s has current state %s.",
         lifecycle_node, future_result.get()->current_state.label.c_str());
       return future_result.get()->current_state.id;
     } else {
@@ -317,8 +318,9 @@ int main(int argc, char ** argv)
   rclcpp::executors::SingleThreadedExecutor exe;
   exe.add_node(lc_client);
 
-  std::shared_future<void> script = std::async(std::launch::async,
-      std::bind(callee_script, lc_client));
+  std::shared_future<void> script = std::async(
+    std::launch::async,
+    std::bind(callee_script, lc_client));
   exe.spin_until_future_complete(script);
 
   rclcpp::shutdown();

pendulum_control/include/pendulum_control/pendulum_motor.hpp

@@ -82,7 +82,8 @@ class PendulumMotor
     thread_param.sched_priority = 90;
     pthread_attr_setschedparam(&thread_attr_, &thread_param);
     pthread_attr_setschedpolicy(&thread_attr_, SCHED_RR);
-    pthread_create(&physics_update_thread_, &thread_attr_,
+    pthread_create(
+      &physics_update_thread_, &thread_attr_,
       &pendulum_control::PendulumMotor::physics_update_wrapper, this);
   }
 

pendulum_control/src/pendulum_teleop.cpp

@@ -34,7 +34,8 @@ int main(int argc, char * argv[])
 
   double command = M_PI / 2;
   if (argc < 2) {
-    fprintf(stderr,
+    fprintf(
+      stderr,
       "Command argument not specified. Setting command to 90 degrees (PI/2 radians).\n");
   } else {
     command = atof(argv[1]);

quality_of_service_demo/rclcpp/src/deadline.cpp

@@ -34,23 +34,27 @@ static const size_t DEFAULT_PAUSE_FOR = 1000;
 void print_usage()
 {
   printf("Usage for deadline:\n");
-  printf("deadline "
+  printf(
+    "deadline "
     "deadline_duration "
     "[%s publish_for] "
     "[%s pause_for] "
     "[-h]\n",
     OPTION_PUBLISH_FOR,
     OPTION_PAUSE_FOR);
   printf("required arguments:\n");
-  printf("deadline_duration: "
+  printf(
+    "deadline_duration: "
     "Duration in positive integer milliseconds of the Deadline QoS setting.\n");
   printf("optional arguments:\n");
   printf("-h : Print this help message.\n");
-  printf("%s publish_for : "
+  printf(
+    "%s publish_for : "
     "Duration to publish (in positive integer milliseconds) until pausing the talker. "
     "Defaults to %zu.\n",
     OPTION_PUBLISH_FOR, DEFAULT_PUBLISH_FOR);
-  printf("%s pause_for : "
+  printf(
+    "%s pause_for : "
     "Duration to pause (in positive integer milliseconds) before starting to publish again. "
     "Defaults to %zu.\n",
     OPTION_PAUSE_FOR, DEFAULT_PAUSE_FOR);
@@ -94,7 +98,8 @@ int main(int argc, char * argv[])
   talker->get_options().event_callbacks.deadline_callback =
     [node = talker.get()](rclcpp::QOSDeadlineOfferedInfo & event) -> void
     {
-      RCLCPP_INFO(node->get_logger(),
+      RCLCPP_INFO(
+        node->get_logger(),
         "Offered deadline missed - total %d delta %d",
         event.total_count, event.total_count_change);
     };
@@ -103,7 +108,8 @@ int main(int argc, char * argv[])
   listener->get_options().event_callbacks.deadline_callback =
     [node = listener.get()](rclcpp::QOSDeadlineRequestedInfo & event) -> void
     {
-      RCLCPP_INFO(node->get_logger(),
+      RCLCPP_INFO(
+        node->get_logger(),
         "Requested deadline missed - total %d delta %d",
         event.total_count, event.total_count_change);
     };