Fixed formatting issues and dependencies

Author: fazzrazz

.github/workflows/ROS2CI.yml

@@ -21,5 +21,4 @@ jobs:
           target-ros2-distro: humble
           package-name: lms1xx
           import-token: ${{ secrets.GITHUB_TOKEN }}
-          vcs-repo-file-url: depends.repos
           skip-tests: true

depends.repos

@@ -24,13 +24,15 @@
 #ifndef LMS1XX_H_
 #define LMS1XX_H_
 
-#include <LMS1xx/lms_buffer.h>
-#include <LMS1xx/lms_structs.h>
-#include <rclcpp/logging.hpp>
+#include "LMS1xx/lms_buffer.h"
+#include "LMS1xx/lms_structs.h"
 
 #include <string>
 #include <stdint.h>
 
+#include "rclcpp/logging.hpp"
+
+
 typedef enum
 {
   undefined = 0,

include/LMS1xx/LMS1xx.h

@@ -1,9 +1,7 @@
 #pragma once
 
-#include <LMS1xx/LMS1xx.h>
-#include <tf2/exceptions.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
+#include "LMS1xx/LMS1xx.h"
+
 #include <chrono>
 #include <memory>
 #include <string>
@@ -14,6 +12,9 @@
 #include "sensor_msgs/msg/laser_scan.hpp"
 #include "sensor_msgs/msg/point_cloud2.hpp"
 #include "std_msgs/msg/header.hpp"
+#include "tf2/exceptions.h"
+#include "tf2_ros/buffer.h"
+#include "tf2_ros/transform_listener.h"
 
 
 namespace LMS1xx_node

include/LMS1xx/LMS1xx_node.hpp

@@ -27,8 +27,7 @@
 #include <stdint.h>
 #include <string.h>
 #include <unistd.h>
-#include <cstdint>
-#include <cstdio>
+
 
 #define LMS_BUFFER_SIZE 50000
 #define LMS_STX 0x02

include/LMS1xx/lms_buffer.h

@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>lms1xx</name>
-  <version>0.0.1</version>
-  <description>The lms1xx package contains a basic ROS2 driver for the SICK LMS1xx line of LIDARs.</description>
+  <version>0.3.0</version>
+  <description>The lms1xx package contains a basic ROS 2 driver for the SICK LMS1xx line of LIDARs.</description>
 
   <author>Konrad Banachowicz</author>
   <author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
   <author email="shravansomashekara.rai@gmail.com">Shravan S Rai</author>
   <author email="samuel@dynorobotics.se">Samuel Lindgren</author>
 
-  <maintainer email="shravansomashekara.rai@gmail.com">Shravan S Rai</maintainer>
+  <maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
   <url type="website">http://ros.org/wiki/LMS1xx</url>
 
   <license>LGPL</license>
@@ -19,13 +19,10 @@
   <depend>laser_geometry</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>tf2_geometry_msgs</depend>
-  <depend>urdf</depend>
-  <depend>xacro</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
 
+  
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

package.xml

@@ -21,20 +21,20 @@
  *                                                                         *
  ***************************************************************************/
 
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
+#include "LMS1xx/LMS1xx.h"
+
 #include <arpa/inet.h>
 #include <cstdio>
 #include <cstdlib>
 #include <cstring>
 #include <errno.h>
 #include <fcntl.h>
+#include <netinet/in.h>
+#include <sys/socket.h>
+#include <sys/time.h>
+#include <sys/types.h>
 #include <unistd.h>
 
-#include "LMS1xx/LMS1xx.h"
-
 
 LMS1xx::LMS1xx() : connected_(false), logger_(rclcpp::get_logger("lms1xx"))
 {

src/LMS1xx.cpp

@@ -22,14 +22,15 @@
  *                                                                         *
  ***************************************************************************/
 
+#include "LMS1xx/LMS1xx.h"
+#include "LMS1xx/LMS1xx_node.hpp"
+
+#include <chrono>
 #include <csignal>
 #include <cstdio>
 #include <limits>
-#include <string>
-#include <chrono>
 #include <memory>
-#include "LMS1xx/LMS1xx.h"
-#include "LMS1xx/LMS1xx_node.hpp"
+#include <string>
 
 #define DEG2RAD M_PI/180.0
 
@@ -99,11 +100,11 @@ void LMS1xx_node::construct_scan()
   scan_msg_.range_max = 20.0;
   scan_msg_.scan_time = 100.0 / cfg_.scanningFrequency;
   scan_msg_.angle_increment =
-      (double)outputRange_.angleResolution / 10000.0 * DEG2RAD;
+      static_cast<double>(outputRange_.angleResolution) / 10000.0 * DEG2RAD;
 
   scan_msg_.angle_min =
-        ((double)cfg_.startAngle / 10000.0) * DEG2RAD - M_PI / 2;
-  scan_msg_.angle_max = (((double)cfg_.stopAngle) / 10000.0) * DEG2RAD - M_PI / 2;
+        (static_cast<double>(cfg_.startAngle) / 10000.0) * DEG2RAD - M_PI / 2;
+  scan_msg_.angle_max = ((static_cast<double>(cfg_.stopAngle)) / 10000.0) * DEG2RAD - M_PI / 2;
 
   int angle_range = outputRange_.stopAngle - outputRange_.startAngle;
   int num_values = angle_range/ outputRange_.angleResolution;