Switch to moveit_ci, apply clang-format (#124)

* Switch to moveit_ci, apply clang-format

* Update .travis.yml

* Update .travis.yml

Author: davetcoleman

.clang-format

@@ -0,0 +1,66 @@
+---
+BasedOnStyle:  Google
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: false
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLoopsOnASingleLine: false
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+BinPackParameters: true
+ColumnLimit:    120
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+ExperimentalAutoDetectBinPacking: false
+IndentCaseLabels: true
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCSpaceBeforeProtocolList: true
+PenaltyBreakBeforeFirstCallParameter: 19
+PenaltyBreakComment: 60
+PenaltyBreakString: 100
+PenaltyBreakFirstLessLess: 1000
+PenaltyExcessCharacter: 1000
+PenaltyReturnTypeOnItsOwnLine: 70
+SpacesBeforeTrailingComments: 2
+Cpp11BracedListStyle: false
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+IndentFunctionDeclarationAfterType: false
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+ContinuationIndentWidth: 4
+SortIncludes: false
+SpaceAfterCStyleCast: false
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Control of individual brace wrapping cases
+BraceWrapping: {
+    AfterClass: 'true'
+    AfterControlStatement: 'true'
+    AfterEnum : 'true'
+    AfterFunction : 'true'
+    AfterNamespace : 'true'
+    AfterStruct : 'true'
+    AfterUnion : 'true'
+    BeforeCatch : 'true'
+    BeforeElse : 'true'
+    IndentBraces : 'false'
+}
+...

.gitignore

@@ -1,32 +1,26 @@
-# while this doesn't require sudo we don't want to run within a Docker container
-sudo: true
-dist: trusty
-language: python
-python:
-  - "3.4"
+# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci package.
+sudo: required
+dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
+services:
+  - docker
+language: cpp
+compiler: gcc
+cache: ccache
+
 env:
   global:
-    - JOB_PATH=/tmp/devel_job
+    - DOCKER_IMAGE=moveit/moveit:master-source
+    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -Wno-unused-parameter -Wno-unused-function"
+    - WARNINGS_OK=false
   matrix:
-    - ROS_DISTRO_NAME=kinetic OS_NAME=ubuntu OS_CODE_NAME=xenial ARCH=amd64
-install:
-  # either install the latest released version of ros_buildfarm
-  - pip install ros_buildfarm
-  # checkout catkin for catkin_test_results script
-  - git clone https://github.com/ros/catkin /tmp/catkin
-  # run devel job for a ROS repository with the same name as this repo
-  - export REPOSITORY_NAME=`basename $TRAVIS_BUILD_DIR`
-  # use the code already checked out by Travis
-  - mkdir -p $JOB_PATH/catkin_workspace/src
-  - cp -R $TRAVIS_BUILD_DIR $JOB_PATH/catkin_workspace/src/
-  # generate the script to run a devel job for that target and repo
-  - generate_devel_script.py https://raw.githubusercontent.com/ros-infrastructure/ros_buildfarm_config/production/index.yaml $ROS_DISTRO_NAME default $REPOSITORY_NAME $OS_NAME $OS_CODE_NAME $ARCH > $JOB_PATH/devel_job.sh
-  - cd $JOB_PATH
-  - cat devel_job.sh
-  # run the actual job which involves Docker
-  - sh devel_job.sh -y
+    - TEST="clang-format" # TODO(davetcoleman): enable catkin_lint in the future 
+    #- TEST=clang-tidy-fix   # TODO(davetcoleman): enable in the future
+    - DOCKER_IMAGE=moveit/moveit:melodic-source
+    - DOCKER_IMAGE=moveit/moveit:master-source
+    - DOCKER_IMAGE=moveit/moveit:kinetic-ci  TEST_BLACKLIST=moveit_ros_perception
+
+before_script:
+  - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
+
 script:
-  # get summary of test results
-  - /tmp/catkin/bin/catkin_test_results $JOB_PATH/catkin_workspace/test_results --all
-notifications:
-  email: false
+  - .moveit_ci/travis.sh

.travis.yml

@@ -71,14 +71,14 @@
 
 // Import/export for windows dll's and visibility for gcc shared libraries.
 
-#ifdef ROS_BUILD_SHARED_LIBS // ros is being built around shared libraries
-  #ifdef rviz_visual_tools_EXPORTS // we are building a shared lib/dll
-    #define RVIZ_VISUAL_TOOLS_DECL ROS_HELPER_EXPORT
-  #else // we are using shared lib/dll
-    #define RVIZ_VISUAL_TOOLS_DECL ROS_HELPER_IMPORT
-  #endif
-#else // ros is being built around static libraries
-  #define RVIZ_VISUAL_TOOLS_DECL
+#ifdef ROS_BUILD_SHARED_LIBS      // ros is being built around shared libraries
+#ifdef rviz_visual_tools_EXPORTS  // we are building a shared lib/dll
+#define RVIZ_VISUAL_TOOLS_DECL ROS_HELPER_EXPORT
+#else  // we are using shared lib/dll
+#define RVIZ_VISUAL_TOOLS_DECL ROS_HELPER_IMPORT
+#endif
+#else  // ros is being built around static libraries
+#define RVIZ_VISUAL_TOOLS_DECL
 #endif
 
 namespace rviz_visual_tools
@@ -197,7 +197,8 @@ class RvizVisualTools
    * \param marker_topic - rostopic to publish markers to - your Rviz display should match
    * \param nh - optional ros node handle - defaults to "~"
    */
-  explicit RvizVisualTools(std::string base_frame, std::string marker_topic = RVIZ_MARKER_TOPIC, ros::NodeHandle nh = ros::NodeHandle("~"));
+  explicit RvizVisualTools(std::string base_frame, std::string marker_topic = RVIZ_MARKER_TOPIC,
+                           ros::NodeHandle nh = ros::NodeHandle("~"));
   /**
    * \brief Deconstructor
    */
@@ -426,8 +427,8 @@ class RvizVisualTools
    * \param y_width - Y-size of the visualized plane [meters]
    * \return true on success
    */
-  bool publishABCDPlane(const double A, const double B, const double C, const double D,
-                        colors color=TRANSLUCENT, double x_width = 1.0, double y_width = 1.0);
+  bool publishABCDPlane(const double A, const double B, const double C, const double D, colors color = TRANSLUCENT,
+                        double x_width = 1.0, double y_width = 1.0);
 
   /**
    * \brief Display the XY plane of a given pose
@@ -485,8 +486,8 @@ class RvizVisualTools
                      const std::string& ns = "Sphere", std::size_t id = 0);
   bool publishSphere(const geometry_msgs::Pose& pose, const std_msgs::ColorRGBA& color,
                      const geometry_msgs::Vector3 scale, const std::string& ns = "Sphere", std::size_t id = 0);
-  bool publishSphere(const Eigen::Isometry3d& pose, const std_msgs::ColorRGBA& color, const geometry_msgs::Vector3 scale,
-                     const std::string& ns = "Sphere", std::size_t id = 0);
+  bool publishSphere(const Eigen::Isometry3d& pose, const std_msgs::ColorRGBA& color,
+                     const geometry_msgs::Vector3 scale, const std::string& ns = "Sphere", std::size_t id = 0);
   bool publishSphere(const Eigen::Vector3d& point, const std_msgs::ColorRGBA& color, const geometry_msgs::Vector3 scale,
                      const std::string& ns = "Sphere", std::size_t id = 0);
   bool publishSphere(const geometry_msgs::PoseStamped& pose, colors color, const geometry_msgs::Vector3 scale,
@@ -668,10 +669,8 @@ class RvizVisualTools
                    const std::string& ns = "Path");
   bool publishPath(const std::vector<geometry_msgs::Point>& path, colors color, scales scale,
                    const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color, scales scale,
-                   const std::string& ns = "Path");
-  bool publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale,
-                   const std::string& ns = "Path");
+  bool publishPath(const EigenSTL::vector_Isometry3d& path, colors color, scales scale, const std::string& ns = "Path");
+  bool publishPath(const EigenSTL::vector_Vector3d& path, colors color, scales scale, const std::string& ns = "Path");
   bool publishPath(const std::vector<geometry_msgs::Point>& path, colors color = RED, double radius = 0.01,
                    const std::string& ns = "Path");
   bool publishPath(const EigenSTL::vector_Vector3d& path, colors color = RED, double radius = 0.01,
@@ -861,8 +860,8 @@ class RvizVisualTools
    */
   bool publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::Mesh& mesh, colors color = CLEAR, double scale = 1,
                    const std::string& ns = "mesh", std::size_t id = 0);
-  bool publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color = CLEAR, double scale = 1,
-                   const std::string& ns = "mesh", std::size_t id = 0);
+  bool publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color = CLEAR,
+                   double scale = 1, const std::string& ns = "mesh", std::size_t id = 0);
 
   /**
    * \brief Display a graph
@@ -993,9 +992,9 @@ class RvizVisualTools
   @param convention - default is rviz_visual_tools::XYZ
   */
   static Eigen::Isometry3d convertFromXYZRPY(double tx, double ty, double tz, double rx, double ry, double rz,
-                                           EulerConvention convention);  // ZYX is ROS standard
+                                             EulerConvention convention);  // ZYX is ROS standard
   static Eigen::Isometry3d convertFromXYZRPY(const std::vector<double>& transform6,
-                                           EulerConvention convention);  // ZYX is ROS standard
+                                             EulerConvention convention);  // ZYX is ROS standard
 
   // TODO(davetcoleman): add opposite conversion that uses   Eigen::Vector3d rpy = pose.rotation().eulerAngles(0, 1, 2);
 
@@ -1006,8 +1005,8 @@ class RvizVisualTools
    * \param output vector of size 6 in order xyz rpy
    */
   static void convertToXYZRPY(const Eigen::Isometry3d& pose, std::vector<double>& xyzrpy);
-  static void convertToXYZRPY(const Eigen::Isometry3d& pose, double& x, double& y, double& z, double& roll, double& pitch,
-                              double& yaw);
+  static void convertToXYZRPY(const Eigen::Isometry3d& pose, double& x, double& y, double& z, double& roll,
+                              double& pitch, double& yaw);
   /**
    * \brief Create a random pose within bounds of random_pose_bounds_
    * \param Pose to fill in

include/rviz_visual_tools/rviz_visual_tools.h

@@ -51,7 +51,6 @@
 
 namespace rviz_visual_tools
 {
-
 const std::string LOGNAME = "visual_tools";
 
 // DEPRECATED, remove in Melodic after Dec 2018 release or so
@@ -325,8 +324,9 @@ bool RvizVisualTools::waitForSubscriber(const ros::Publisher& pub, double wait_t
     if (!blocking && ros::Time::now() > max_time)  // Check if timed out
     {
       ROS_WARN_STREAM_NAMED(LOGNAME, "Topic '" << pub.getTopic() << "' unable to connect to any subscribers within "
-                                             << wait_time << " sec. It is possible initially published visual messages "
-                                                             "will be lost.");
+                                               << wait_time
+                                               << " sec. It is possible initially published visual messages "
+                                                  "will be lost.");
       return false;
     }
     ros::spinOnce();
@@ -487,8 +487,8 @@ std_msgs::ColorRGBA RvizVisualTools::getColor(colors color) const
       break;
     case DEFAULT:
       ROS_WARN_STREAM_NAMED(LOGNAME, "The 'DEFAULT' color should probably not "
-                                   "be used with getColor(). Defaulting to "
-                                   "blue.");
+                                     "be used with getColor(). Defaulting to "
+                                     "blue.");
     case BLUE:
     default:
       result.r = 0.1;
@@ -968,15 +968,15 @@ bool RvizVisualTools::publishCone(const geometry_msgs::Pose& pose, double angle,
   return publishMarker(triangle_marker_);
 }
 
-bool RvizVisualTools::publishABCDPlane(const double A, const double B, const double C, const double D,
-                                        colors color, double x_width, double y_width)
+bool RvizVisualTools::publishABCDPlane(const double A, const double B, const double C, const double D, colors color,
+                                       double x_width, double y_width)
 {
   // The coefficients A,B,C give the normal to the plane.
   Eigen::Vector3d n(A, B, C);
 
   // Graphic is centered at this point
   double distance = D / n.norm();
-  Eigen::Vector3d center = - distance * n.normalized();
+  Eigen::Vector3d center = -distance * n.normalized();
 
   Eigen::Isometry3d pose;
   pose.translation() = center;
@@ -986,7 +986,7 @@ bool RvizVisualTools::publishABCDPlane(const double A, const double B, const dou
   Eigen::Quaterniond q = Eigen::Quaterniond::FromTwoVectors(z_0, n);
   pose.linear() = q.toRotationMatrix();
 
-  double height = 0.001; // very thin
+  double height = 0.001;  // very thin
   publishCuboid(pose, x_width, y_width, height, color);
 
   return true;
@@ -1585,8 +1585,8 @@ bool RvizVisualTools::publishCylinder(const geometry_msgs::Pose& pose, const std
   return publishMarker(cylinder_marker_);
 }
 
-bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const std::string& file_name, colors color, double scale,
-                                  const std::string& ns, std::size_t id)
+bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const std::string& file_name, colors color,
+                                  double scale, const std::string& ns, std::size_t id)
 {
   return publishMesh(convertPose(pose), file_name, color, scale, ns, id);
 }
@@ -1629,13 +1629,13 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const std::st
   return publishMarker(mesh_marker_);
 }
 
-bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::Mesh& mesh, colors color, 
+bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::Mesh& mesh, colors color,
                                   double scale, const std::string& ns, std::size_t id)
 {
   return publishMesh(convertPose(pose), mesh, color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color, 
+bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color,
                                   double scale, const std::string& ns, std::size_t id)
 {
   triangle_marker_.header.stamp = ros::Time::now();
@@ -1652,7 +1652,7 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const shape_m
   // Set the mesh
   triangle_marker_.points.clear();
   for (const shape_msgs::MeshTriangle& triangle : mesh.triangles)
-    for (const uint32_t & index : triangle.vertex_indices)
+    for (const uint32_t& index : triangle.vertex_indices)
       triangle_marker_.points.push_back(mesh.vertices[index]);
 
   // Set the pose
@@ -2060,7 +2060,7 @@ bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, const s
   if (path.size() != colors.size())
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Skipping path because " << path.size() << " different from " << colors.size()
-                                                           << ".");
+                                                             << ".");
     return false;
   }
 
@@ -2085,7 +2085,7 @@ bool RvizVisualTools::publishPath(const EigenSTL::vector_Vector3d& path, const s
   if (path.size() != colors.size())
   {
     ROS_ERROR_STREAM_NAMED(LOGNAME, "Skipping path because " << path.size() << " different from " << colors.size()
-                                                           << ".");
+                                                             << ".");
     return false;
   }
 
@@ -2238,8 +2238,8 @@ bool RvizVisualTools::publishWireframeCuboid(const Eigen::Isometry3d& pose, cons
   return publishMarker(line_list_marker_);
 }
 
-bool RvizVisualTools::publishWireframeRectangle(const Eigen::Isometry3d& pose, double height, double width, colors color,
-                                                scales scale, std::size_t id)
+bool RvizVisualTools::publishWireframeRectangle(const Eigen::Isometry3d& pose, double height, double width,
+                                                colors color, scales scale, std::size_t id)
 {
   if (id == 0)
   {  // Provide a new id every call to this function
@@ -2611,7 +2611,7 @@ geometry_msgs::Point RvizVisualTools::convertPoint(const Eigen::Vector3d& point)
 }
 
 Eigen::Isometry3d RvizVisualTools::convertFromXYZRPY(double tx, double ty, double tz, double rx, double ry, double rz,
-                                                   EulerConvention convention)
+                                                     EulerConvention convention)
 {
   Eigen::Isometry3d result;
 

src/rviz_visual_tools.cpp

@@ -427,7 +427,7 @@ class RvizVisualToolsDemo
       A = x_plane;
       B = y_plane;
       // D takes this value to satisfy Ax+By+D=0
-      D = - (x_plane * x_plane + y_plane * y_plane);
+      D = -(x_plane * x_plane + y_plane * y_plane);
       visual_tools_->publishABCDPlane(A, B, C, D, rvt::MAGENTA, x_width, y_width);
       x_location += step;
     }

src/rviz_visual_tools_demo.cpp

@@ -49,7 +49,6 @@
 class RVTTest
 {
 public:
-
   bool initialize()
   {
     visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("base", "/rviz_visual_tools"));