lint

11_Robots/ghost_tank/include/ghost_tank/bt_nodes/moveToPoseBoomerang.hpp

@@ -44,10 +44,11 @@ namespace ghost_tank
 {
 
 // SyncActionNode (synchronous action) with an input port.
-class MoveToPoseBoomerang : public BT::StatefulActionNode {
+class MoveToPoseBoomerang : public BT::StatefulActionNode
+{
 public:
-	// If your Node has ports, you must use this constructor signature
-	MoveToPoseBoomerang(const std::string& name, const BT::NodeConfig& config);
+  // If your Node has ports, you must use this constructor signature
+  MoveToPoseBoomerang(const std::string & name, const BT::NodeConfig & config);
 
   // It is mandatory to define this STATIC method.
   static BT::PortsList providedPorts();
@@ -73,12 +74,12 @@ class MoveToPoseBoomerang : public BT::StatefulActionNode {
   std::chrono::time_point<std::chrono::system_clock> plan_time_;
   std::shared_ptr<rclcpp::Node> node_ptr_;
   std::shared_ptr<Boomerang> boomerang_;
-	BT::Blackboard::Ptr blackboard_;
+  BT::Blackboard::Ptr blackboard_;
 
   bool started_;
   int past_index_;
   std::shared_ptr<PDControl> pd_control_ptr_;
-	ghost_planners::RobotTrajectory robot_trajectory_;
+  ghost_planners::RobotTrajectory robot_trajectory_;
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr trajectory_viz_pub_;
   rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr curr_angle_pub;
   rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr des_angle_pub;

11_Robots/ghost_tank/include/ghost_tank/tank_robot_plugin.hpp

@@ -81,21 +81,21 @@ class TankRobotPlugin : public ghost_ros_interfaces::V5RobotBase
   // Teleop
   bool runAutonFromDriver(std::shared_ptr<ghost_v5_interfaces::devices::JoystickDeviceData> joy_data, double current_time);
   void toggleBagRecorder(std::shared_ptr<ghost_v5_interfaces::devices::JoystickDeviceData> joy_data);
-  
+
   /**
    * @brief Handles intaking logic
-   * 
+   *
    * Holding R2 alone intakes the Ground Pickup, and aligns the next conveyor hook for intaking rings
    * Holding R alone outtakes the Ground Pickup
    * Holding R1 intakes the Conveyor
    * Holding L1 alone outtakes the Conveyor
    * Holding R2 and L1 will initiate the ejector sequence for the current ring
-   * 
-   * @param R2 
-   * @param R1 
-   * @param L1 
-   * @param R 
-   * @param current_time 
+   *
+   * @param R2
+   * @param R1
+   * @param L1
+   * @param R
+   * @param current_time
    */
   void updateIntake(bool R2, bool R1, bool L1, bool R, double current_time);
   void updateClamp(std::shared_ptr<ghost_v5_interfaces::devices::JoystickDeviceData> joy_data);