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IllinoisAUV · Apr 21, 2018 · 4e58bf8 · 4e58bf8
1 parent a0a1248
commit 4e58bf8
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Showing 3 changed files with 12 additions and 13 deletions.
diff --git a/src/constructors/Quaternion.h b/src/constructors/Quaternion.h
@@ -13,7 +13,7 @@ inline geometry_msgs::Quaternion Quaternion(double x, double y, double z,
 }
 
 inline geometry_msgs::Quaternion QuaternionRPY(double roll, double pitch,
-                                            double yaw) {
+                                               double yaw) {
   tf::Quaternion quat;
   quat.setEuler(yaw, pitch, roll);
 

diff --git a/src/motion/motion_controller.cpp b/src/motion/motion_controller.cpp
@@ -22,12 +22,9 @@ void MotionController::Start() {
       nh_.createTimer(ros::Duration(kPeriod), &MotionController::Update, this);
 
   // Start subscribers
-  pose_sub_ =
-      nh_.subscribe("/cmd_pos", 1, &MotionController::SetPose, this);
-  twist_sub_ =
-      nh_.subscribe("/cmd_vel", 1, &MotionController::SetTwist, this);
-  kill_sub_ =
-      nh_.subscribe("/arming", 1, &MotionController::Arming, this);
+  pose_sub_ = nh_.subscribe("/cmd_pos", 1, &MotionController::SetPose, this);
+  twist_sub_ = nh_.subscribe("/cmd_vel", 1, &MotionController::SetTwist, this);
+  kill_sub_ = nh_.subscribe("/arming", 1, &MotionController::Arming, this);
 }
 
 void MotionController::SetPose(const geometry_msgs::PoseStamped pos) {
@@ -44,7 +41,7 @@ void MotionController::SetTwist(const geometry_msgs::TwistStamped vel) {
 
   // Set a timeout for 1 second
   vel_timer_ = nh_.createTimer(ros::Duration(1.0),
-                          &MotionController::VelocityTimeout, this, true);
+                               &MotionController::VelocityTimeout, this, true);
 }
 
 void MotionController::Arming(const std_msgs::Bool arm) { DoArming(arm.data); }

diff --git a/src/motion/rcmavros.cpp b/src/motion/rcmavros.cpp
@@ -23,12 +23,14 @@ const std::string kArmingService = "/mavros/cmd/arming";
 
 MavrosRCController::MavrosRCController() {
   // Wait for the mavros node to come up
-  if(!ros::service::waitForService(kModeService)) {
-    throw ros::Exception("Failed to wait for /mavros/set_mode to become available");
+  if (!ros::service::waitForService(kModeService)) {
+    throw ros::Exception(
+        "Failed to wait for /mavros/set_mode to become available");
   }
 
-  if(!ros::service::waitForService(kArmingService)) {
-    throw ros::Exception("Failed to wait for /mavros/cmd/arming to become available");
+  if (!ros::service::waitForService(kArmingService)) {
+    throw ros::Exception(
+        "Failed to wait for /mavros/cmd/arming to become available");
   }
 
   rc_pub_ = nh_.advertise<OverrideRCIn>("/mavros/rc/override", 1);
@@ -41,7 +43,7 @@ MavrosRCController::MavrosRCController() {
   mode_cmd.request.base_mode = 0;
   mode_cmd.request.custom_mode = kModeDepthHold;
 
-  if(!mode_client_.call(mode_cmd)) {
+  if (!mode_client_.call(mode_cmd)) {
     ROS_ERROR("Failed to set mavros mode");
   }
 }