Changes according to make format and changed ros distro to jazzy

Author: JanNiklasFeld

.github/workflows/ci.yml

@@ -39,14 +39,14 @@ jobs:
 
       - name: Build packages
         run: |
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           colcon build --symlink-install
         working-directory: /colcon_ws
 
       - name: Test packages
         run: |
           # Source workspace
-          . /opt/ros/iron/setup.sh
+          . /opt/ros/jazzy/setup.sh
           . install/setup.sh
           # Run tests for all packages
           colcon test --event-handlers console_direct+ --return-code-on-test-failure --parallel-workers 1

.pre-commit-config.yaml

@@ -16,7 +16,7 @@ repos:
       - id: cppcheck
         args:
           - "--inline-suppr"
-          - "--suppress=missingInclude"
+          - "--suppress=missingIncludeSystem"
           - "--suppress=unmatchedSuppression"
           - "--suppress=unusedFunction"
           - "--suppress=unusedStructMember"

README.md

@@ -2,7 +2,7 @@
 
 [![Build & Test](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/ci.yml)
 [![Code style checks](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml/badge.svg)](https://github.com/bit-bots/bitbots_main/actions/workflows/pre-commit.yml)
-[![ROS Version Iron](https://img.shields.io/badge/ROS%20Version-Iron-ab8c71)](https://docs.ros.org/en/iron/index.html)
+[![ROS Version Jazzy](https://img.shields.io/badge/ROS%20Version-Jazzy-00b8ff)](https://docs.ros.org/en/jazzy/index.html)
 
 This git repository contains all RoboCup-related code and documentation from the Hamburg Bit-Bots team.
 All code is written as individual ROS 2 packages targeting Ubuntu.

bitbots_lowlevel/bitbots_ros_control/include/bitbots_ros_control/utils.hpp

@@ -1,8 +1,8 @@
 #ifndef BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 #define BITBOTS_ROS_CONTROL_INCLUDE_BITBOTS_ROS_CONTROL_UTILS_H_
 
-#include "bitbots_msgs/msg/audio.hpp"
-#include "rclcpp/rclcpp.hpp"
+#include <bitbots_msgs/msg/audio.hpp>
+#include <rclcpp/rclcpp.hpp>
 
 namespace bitbots_ros_control {
 
@@ -13,7 +13,7 @@ void speakError(rclcpp::Publisher<bitbots_msgs::msg::Audio>::SharedPtr speak_pub
 
 uint16_t dxlMakeword(uint64_t a, uint64_t b);
 uint32_t dxlMakedword(uint64_t a, uint64_t b);
-float dxlMakeFloat(uint8_t* data);
+float dxlMakeFloat(const uint8_t* data);
 
 std::string gyroRangeToString(uint8_t range);
 std::string accelRangeToString(uint8_t range);

bitbots_lowlevel/bitbots_ros_control/src/dynamixel_servo_hardware_interface.cpp

@@ -148,7 +148,7 @@ void DynamixelServoHardwareInterface::individualTorqueCb(bitbots_msgs::msg::Join
       RCLCPP_WARN(nh_->get_logger(), "Couldn't set torque for servo %s ", msg.joint_names[i].c_str());
     }
   }
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->switch_individual_torque_ = true;
   }
 }
@@ -157,7 +157,7 @@ void DynamixelServoHardwareInterface::setTorqueCb(std_msgs::msg::Bool::SharedPtr
   /**
    * This saves the given required value, so that it can be written to the servos in the write method
    */
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     bus->goal_torque_ = enabled->data;
   }
   for (size_t j = 0; j < joint_names_.size(); j++) {
@@ -196,7 +196,7 @@ void DynamixelServoHardwareInterface::write(const rclcpp::Time &t, const rclcpp:
   // set all values from controller to the buses
   // todo improve performance
   int i = 0;
-  for (auto &bus : bus_interfaces_) {
+  for (const auto &bus : bus_interfaces_) {
     for (int j = 0; j < bus->joint_count_; j++) {
       bus->goal_position_[j] = goal_position_[i];
       bus->goal_velocity_[j] = goal_velocity_[i];

bitbots_lowlevel/bitbots_ros_control/src/servo_bus_interface.cpp

@@ -202,7 +202,7 @@ bool ServoBusInterface::writeROMRAM(bool first_time) {
   // Allocate memory for the values in the driver
   std::vector<int> values(joint_names_.size());
   // Iterate over parameter names
-  for (auto register_name : parameter_names) {
+  for (const auto &register_name : parameter_names) {
     // Get the value for each joint
     for (size_t num = 0; num < joint_names_.size(); num++) {
       // Get the value from the cache

bitbots_lowlevel/bitbots_ros_control/src/utils.cpp

@@ -40,7 +40,7 @@ uint32_t dxlMakedword(uint64_t a, uint64_t b) {
   return uint32_t(uint16_t(a & 0xffff) | uint32_t(uint16_t(b & 0xffff) << 16));
 }
 
-float dxlMakeFloat(uint8_t* data) {
+float dxlMakeFloat(const uint8_t* data) {
   float f;
   uint32_t b = dxlMakedword(dxlMakeword(data[0], data[1]), dxlMakeword(data[2], data[3]));
   memcpy(&f, &b, sizeof(f));

bitbots_lowlevel/bitbots_ros_control/src/wolfgang_hardware_interface.cpp

@@ -307,7 +307,7 @@ void WolfgangHardwareInterface::write(const rclcpp::Time &t, const rclcpp::Durat
   }
   if (!bus_start_time_ || t > bus_start_time_.value()) {
     if (bus_first_write_) {
-      for (std::vector<std::shared_ptr<HardwareInterface>> &port_interfaces : interfaces_) {
+      for (std::vector<std::shared_ptr<HardwareInterface>> const &port_interfaces : interfaces_) {
         for (std::shared_ptr<HardwareInterface> interface : port_interfaces) {
           interface->restoreAfterPowerCycle();
         }

bitbots_misc/bitbots_basler_camera/src/basler_camera.cpp

@@ -12,14 +12,13 @@
 #include <iostream>
 #include <memory>
 #include <opencv2/imgproc/imgproc.hpp>
+#include <pylon_camera_parameters.hpp>
 #include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <vector>
 
-#include "pylon_camera_parameters.hpp"
-
 using std::placeholders::_1, std::placeholders::_2;
 using namespace Pylon;
 
@@ -271,7 +270,8 @@ class BaslerCamera {
     }
 
     // Convert to cv::Mat
-    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1, (uint8_t*)ptrGrabResult->GetBuffer());
+    cv::Mat image(ptrGrabResult->GetHeight(), ptrGrabResult->GetWidth(), CV_8UC1,
+                  static_cast<uint8_t*>(ptrGrabResult->GetBuffer()));
 
     // Create cv::Mat for color image
     cv::Mat color(image.size(), CV_MAKETYPE(CV_8U, 3));

bitbots_misc/bitbots_docs/docs/manual/testing/testing.rst

@@ -49,7 +49,7 @@ Compile (compiles)
 ------------------
 
 The first step is to test if the package compiles.
-Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 22.04 with the iron distribution).
+Obviously this should preferably be tested on the same system that is used on the robot (Ubuntu 24.04 with the jazzy distribution).
 A part of this is to check if all dependencies are correct in the package.xml.
 This is important so they can be installed with rosdep.