ci(pre-commit): autofix

Author: pre-commit-ci[bot]

.gitignore

@@ -31,4 +31,4 @@
 *.out
 *.app
 
-*.vscode
+*.vscode

.pre-commit-config.yaml

@@ -45,4 +45,4 @@ repos:
     hooks:
       - id: shfmt-docker
 
-exclude: ^(.svg|includes/glossary.md)
+exclude: ^(.svg|includes/glossary.md)

README.md

@@ -6,10 +6,10 @@ Example programs for demonstrating data read from subscription of ROS 2.
 
 These example programs consist of four pakages.
 
-* [simple_examples](./simple_examples)
-* [intra_process_talker_listener](./intra_process_talker_listener)
-* [intra_process_examples](./intra_process_examples)
-* [waitset_examples](./waitset_examples)
+- [simple_examples](./simple_examples)
+- [intra_process_talker_listener](./intra_process_talker_listener)
+- [intra_process_examples](./intra_process_examples)
+- [waitset_examples](./waitset_examples)
 
 These are based on taker-listener in [GitHub - ros2/demos at humble](https://github.com/ros2/demos/tree/humble). If you know the talker-listener well, you can also understand these sample codes. Only `intra_process_examples` is based on [demos/intra_process_demo/src/two_node_pipeline/two_node_pipeline.cpp at humble · ros2/demos](https://github.com/ros2/demos/blob/humble/intra_process_demo/src/two_node_pipeline/two_node_pipeline.cpp) exceptionally.
 
@@ -33,11 +33,13 @@ You need two terminals one of which is for talker and another for listener.
 #### run talker
 
 Execute command below to run talker node on a terminal.
+
 ```
 ros2 run simple_examples [talker node]
 ```
 
 The talker supports some additional options unlike the talker of [GitHub - ros2/demos at humble](https://github.com/ros2/demos/tree/humble). For example, you can change frequency of output of messages by `update_frequency` option as below.
+
 ```
 ros2 run simple_examples talker --ros-args -p update_frequency:=2.0
 ```
@@ -48,7 +50,7 @@ If you want to use multiple options, you can add subsequent options as `-p optio
 
 Below is the list of talker nodes included in simple_examples package.
 
-* `talker`
+- `talker`
   - behavior overview
     - output `/chatter` topic per specified frequency
   - option
@@ -58,14 +60,15 @@ Below is the list of talker nodes included in simple_examples package.
     - `use_transient_local` (boolean)
       - enable Transient Local of Publisher
       - default is false
-* `serialized_message_talker`
+- `serialized_message_talker`
   - behavior overview
     - output `/chatter` of SerializedMessage type per one second
   - no option
 
 #### run listener
 
 Execute command below to run listener node on another terminal.
+
 ```
 ros2 run simple_examples [listener node]
 ```
@@ -76,7 +79,7 @@ The listener of [ros2_subscription_examples/simple_examples at main · takam5f2/
 
 Below is the list of listener nodes included in simple_examples package.
 
-* `timer_listener`
+- `timer_listener`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a message is obtained from Subscription
     - output the obtained message of `/chatter`
@@ -90,7 +93,7 @@ Below is the list of listener nodes included in simple_examples package.
     - `printout_message_info` (boolean)
       - enable to print MessageInfo
       - default is false
-* `timer_batch_listener`
+- `timer_batch_listener`
   - behavior overview
     - driven by timer periodically to execute a callback function in which multiple messages are obtained from Subscription Queue until the queue becomes empty
     - output all obtained messages
@@ -103,7 +106,7 @@ Below is the list of listener nodes included in simple_examples package.
       - default is false
     - `queue_size` (integer)
       - specify Subscription Queue size which stores `/chatter` message
-* `timer_listener_using_callback`
+- `timer_listener_using_callback`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a message is obtained from Subscription using `take_type_erased()`
     - then execute a callback function which is registered to Subscription using `handle_message()`
@@ -114,7 +117,7 @@ Below is the list of listener nodes included in simple_examples package.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_using_normal_function`
+- `timer_listener_using_normal_function`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a message is obtained from Subscription
     - then execute a simple function
@@ -126,7 +129,7 @@ Below is the list of listener nodes included in simple_examples package.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_serialized_message_listener`
+- `timer_serialized_message_listener`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a message is obtained from Subscription
     - the message is of SerializedMessage type
@@ -148,6 +151,7 @@ There is a sample code in `intra_process_talker_listener` in which a topic messa
 #### run by launcher
 
 Execute command below to run `talker_listener_intra_process.launch.py`.
+
 ```
 ros2 launch intra_process_talker_listener talker_listener_intra_process.launch.py
 ```
@@ -164,7 +168,7 @@ If `use_intra_process_comms` is set to `false`, communication between nodes is p
 
 Below is the list of launch files included in intra_process_talker_listener package.
 
-* talker_listener_intra_process.launch.py
+- talker_listener_intra_process.launch.py
   - behavior overview
     - run `talker_intra_process` and `timer_listener_intra_process`
     - `talker_intra_process` publishes `/chatter` message and `timer_listener_intra_process` obtains it
@@ -183,7 +187,7 @@ Below is the list of launch files included in intra_process_talker_listener pack
     - `use_transient_local` (boolean)
       - enable Transient Local of Publisher and Subscription
       - default is false
-* talker_batch_listener_intra_process.launch.py
+- talker_batch_listener_intra_process.launch.py
   - behavior overview
     - run `talker_intra_process` and `timer_batch_listener_intra_process`
     - `talker_intra_process` publishes `/chatter` message and `timer_batch_listener_intra_process` obtains it
@@ -202,6 +206,7 @@ But intra-process communication also can be used between nodes on MultiThreadedE
 #### run
 
 Execute command below to run `two_node_pipeline_timer`.
+
 ```
  ros2 run intra_process_examples two_node_pipeline_timer
 ```
@@ -215,6 +220,7 @@ You need two terminals one of which is for talker and another for listener.
 #### run talker
 
 Execute command below to run talker node on a terminal.
+
 ```
 ros2 run waitset_examples talker_triple
 ```
@@ -223,7 +229,7 @@ ros2 run waitset_examples talker_triple
 
 There is only one node as talker in waitset_examples.
 
-* `talker_triple`
+- `talker_triple`
   - behavior overview
     - publish `/chatter`, `/slower_chatter`, and `/slowest_chatter` topics per each specified frequency
     - `/slower_chatter` and `/slowest_chatter` are not published if there is no Subscription which subscribes them
@@ -241,6 +247,7 @@ There is only one node as talker in waitset_examples.
 #### run listener
 
 Execute command below to run listener node on another terminal.
+
 ```
 ros2 run simple_examples [listener node]
 ```
@@ -249,7 +256,7 @@ ros2 run simple_examples [listener node]
 
 Below is the list of listener nodes included in waitset_examples.
 
-* `timer_listener_single`
+- `timer_listener_single`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a `/chatter` message is obtained from Subscription Queue after verifying that there is a message in the queue by waitset
     - print the obtained message by `RCLCPP_INFO`
@@ -260,7 +267,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_using_callback`
+- `timer_listener_using_callback`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a `/chatter` message is obtained from Subscription Queue after verifying that there is a message in the queue by waitset
     - `take_type_erased()` and `handle_message()` are used at that time, which is ther manner performed inside Executor
@@ -271,7 +278,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_single_wait_some_period`
+- `timer_listener_single_wait_some_period`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a `/chatter` message is obtained from Subscription Queue after verifying that there is a message in the queue by waitset
     - timeout is set when query waitset at that time
@@ -287,7 +294,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `waiting_time` (float)
       - specify timeout value
       - default is 4.0
-* `timer_batch_listener_single`
+- `timer_batch_listener_single`
   - behavior overview
     - driven by timer periodically to execute a callback function in which a `/chatter` message is obtained from Subscription Queue until the queue becomes empty after verifying that there are messages in the queue by waitset
   - option
@@ -300,7 +307,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `queue_size` (integer)
       - specify Subscription Queue size
       - default is 10
-* `timer_listener_triple_sync`
+- `timer_listener_triple_sync`
   - behavior overview
     - driven by timer periodically to execute a callback function in which `/chatter`, `/slower_chatter`, and `/slowest_chatter` messages are obtained from each Subscription Queue
     - the messages are obtained only when one or more messages in each Subscription Queue of `/chatter`, `/slower_chatter`, and `/slowest_chatter` get together
@@ -312,7 +319,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_triple_async`
+- `timer_listener_triple_async`
   - behavior overview
     - driven by timer periodically to execute a callback function in which `/chatter`, `/slower_chatter`, and `/slowest_chatter` messages are obtained from each Subscription Queue
     - the messages are obtained if one or more messages are in each Subscription Queue of `/chatter`, `/slower_chatter`, and `/slowest_chatter`
@@ -325,7 +332,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_triple_separated_waitset`
+- `timer_listener_triple_separated_waitset`
   - behavior overview
     - driven by three timers periodically to execute a callback function in which `/chatter`, `/slower_chatter`, and `/slowest_chatter` messages are obtained from each Subscription Queue
     - the messages are obtained if one or more messages are in each Subscription Queue of `/chatter`, `/slower_chatter`, and `/slowest_chatter`
@@ -337,7 +344,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_triple_sync_intra`
+- `timer_listener_triple_sync_intra`
   - behavior overview
     - similar to `timer_listener_triple_sync`
     - support intra-process communication unlike `timer_listener_triple_sync` in which only inter-process communication can be used
@@ -351,7 +358,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_twin_static`
+- `timer_listener_twin_static`
   - behavior overview
     - driven by timer periodically to execute a callback function in which `/chatter` and `/slower_chatter` messages are obtained from each Subscription Queue
     - `rclcpp::StaticWaitSet` is used instead of `rclcpp::WaitSet`
@@ -364,7 +371,7 @@ Below is the list of listener nodes included in waitset_examples.
     - `use_transient_local` (boolean)
       - enable Transient Local of Subscription
       - default is false
-* `timer_listener_twin_nested_waitset`
+- `timer_listener_twin_nested_waitset`
   - behavior overview
     - run two timers one of which is `timer_` and another is `much_slower_timer_`
     - `timer_` is invoked per specified frequency and execute its callback function

intra_process_examples/src/two_node_pipeline_timer.cpp

@@ -76,7 +76,7 @@ struct Consumer : public rclcpp::Node
     sub_ = this->create_subscription<std_msgs::msg::Int32>(
         input,
         10,
-        [](std_msgs::msg::Int32::UniquePtr msg) 
+        [](std_msgs::msg::Int32::UniquePtr msg)
         {
           printf(
               " Received message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,

intra_process_talker_listener/launch/talker_batch_listener_intra_process.launch.py

@@ -31,14 +31,14 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='intra_process_talker_listener', 
+                package='intra_process_talker_listener',
                 plugin='intra_process_talker_listener::TalkerIntraProcess',
                 name='talker_intra_process',
                 namespace='',
                 extra_arguments=[{'use_intra_process_comms': use_intra_process_comms_value}]
             ),
             ComposableNode(
-                package='intra_process_talker_listener', 
+                package='intra_process_talker_listener',
                 plugin='intra_process_talker_listener::TimerBatchListenerIntraProcess',
                 name='timer_batch_listener_intra_process',
                 namespace='',

intra_process_talker_listener/launch/talker_listener_intra_process.launch.py

@@ -40,7 +40,7 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='intra_process_talker_listener', 
+                package='intra_process_talker_listener',
                 plugin='intra_process_talker_listener::TalkerIntraProcess',
                 name='talker_intra_process',
                 namespace='',
@@ -50,7 +50,7 @@ def generate_launch_description():
                 extra_arguments=[{'use_intra_process_comms': use_intra_process_comms_value}]
             ),
             ComposableNode(
-                package='intra_process_talker_listener', 
+                package='intra_process_talker_listener',
                 plugin='intra_process_talker_listener::TimerListenerIntraProcess',
                 name='timer_listener_intra_process',
                 namespace='',

intra_process_talker_listener/src/timer_batch_listener_intra_process.cpp

@@ -102,7 +102,7 @@ class TimerBatchListenerIntraProcess : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast{static_cast<size_t>(queue_size)});
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

intra_process_talker_listener/src/timer_listener_intra_process.cpp

@@ -109,7 +109,7 @@ class TimerListenerIntraProcess : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

simple_examples/src/timer_batch_listener.cpp

@@ -81,7 +81,7 @@ class TimerBatchListener : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast{static_cast<size_t>(queue_size)});
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

simple_examples/src/timer_listener.cpp

@@ -78,7 +78,7 @@ class TimerListener : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 
@@ -107,7 +107,7 @@ class TimerListener : public rclcpp::Node
 
     rmw_time_point_value_t received_timestamp =  msg_info.get_rmw_message_info().received_timestamp;
     const int32_t received_timestamp_sec = received_timestamp / 1000000000;
-    const uint32_t received_timestamp_nsec = received_timestamp % 1000000000;    
+    const uint32_t received_timestamp_nsec = received_timestamp % 1000000000;
     RCLCPP_INFO(this->get_logger(), "Message is received at : %d.%d", received_timestamp_sec, received_timestamp_nsec);
 
     RCLCPP_INFO(this->get_logger(), "publication sequence number: %ld", msg_info.get_rmw_message_info().publication_sequence_number);

simple_examples/src/timer_listener_using_callback.cpp

@@ -85,7 +85,7 @@ class TimerListenerUsingCallback : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

simple_examples/src/timer_listener_using_callback_straight.cpp

@@ -83,7 +83,7 @@ class TimerListenerUsingNormalFunction : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

simple_examples/src/timer_listener_using_normal_function.cpp

@@ -83,7 +83,7 @@ class TimerListenerUsingNormalFunction : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/CMakeLists.txt

@@ -81,7 +81,7 @@ rclcpp_components_register_node(waitset_examples_library
   EXECUTABLE timer_listener_triple_sync_intra)
 rclcpp_components_register_node(waitset_examples_library
   PLUGIN "waitset_examples::TimerListenerSingleWaitSomePeriod"
-  EXECUTABLE timer_listener_single_wait_some_period)  
+  EXECUTABLE timer_listener_single_wait_some_period)
 
 install(TARGETS
   waitset_examples_library

waitset_examples/launch/talker_listener_triple_intra.launch.py

@@ -31,14 +31,14 @@ def generate_launch_description():
         executable='component_container',
         composable_node_descriptions=[
             ComposableNode(
-                package='waitset_examples', 
+                package='waitset_examples',
                 plugin='waitset_examples::TalkerTriple',
                 name='talker_triple',
                 namespace='',
                 extra_arguments=[{'use_intra_process_comms': use_intra_process_comms_value}]
             ),
             ComposableNode(
-                package='waitset_examples', 
+                package='waitset_examples',
                 plugin='waitset_examples::TimerListenerTripleSyncIntra',
                 name='timer_listener_triple_sync_intra',
                 namespace='',

waitset_examples/src/timer_batch_listener_single.cpp

@@ -97,7 +97,7 @@ class TimerBatchListenerSingle : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast{static_cast<size_t>(queue_size)});
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_single.cpp

@@ -52,7 +52,7 @@ class TimerListenerSingle : public rclcpp::Node
       RCLCPP_INFO(this->get_logger(), "Timer triggered.");
 
       auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         RCLCPP_INFO(this->get_logger(), "wait_set tells that subscription is ready");
       } else {
@@ -89,7 +89,7 @@ class TimerListenerSingle : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_single_using_callback.cpp

@@ -59,7 +59,7 @@ class TimerListenerSingleUsingCallback : public rclcpp::Node
       RCLCPP_INFO(this->get_logger(), "Timer triggered on thread id [%s].", oss.str().c_str());
 
       auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         RCLCPP_INFO(this->get_logger(), "wait_set tells that subscription is ready");
       } else {
@@ -93,7 +93,7 @@ class TimerListenerSingleUsingCallback : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_single_wait_some_period.cpp

@@ -99,7 +99,7 @@ class TimerListenerSingleWaitSomePeriod : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 
@@ -126,7 +126,7 @@ class TimerListenerSingleWaitSomePeriod : public rclcpp::Node
   rclcpp::TimerBase::SharedPtr timer_;
   rclcpp::WaitSet wait_set_;
   double waiting_time_;
-  
+
 };
 
 }  // namespace waitset_examples

waitset_examples/src/timer_listener_triple_async.cpp

@@ -93,7 +93,7 @@ class TimerListenerTripleAsync : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_triple_separated_waitset.cpp

@@ -51,7 +51,7 @@ class TimerListenerTripleSeparatedWaitSet : public rclcpp::Node
 
       auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
 
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         std_msgs::msg::String msg;
         rclcpp::MessageInfo msg_info;
@@ -71,7 +71,7 @@ class TimerListenerTripleSeparatedWaitSet : public rclcpp::Node
 
       auto wait_result = slower_wait_set_.wait(std::chrono::milliseconds(0));
 
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         std_msgs::msg::String msg;
         rclcpp::MessageInfo msg_info;
@@ -91,7 +91,7 @@ class TimerListenerTripleSeparatedWaitSet : public rclcpp::Node
 
       auto wait_result = slowest_wait_set_.wait(std::chrono::milliseconds(0));
 
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         std_msgs::msg::String msg;
         rclcpp::MessageInfo msg_info;
@@ -114,7 +114,7 @@ class TimerListenerTripleSeparatedWaitSet : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_triple_sync.cpp

@@ -52,8 +52,8 @@ class TimerListenerTripleSync : public rclcpp::Node
       RCLCPP_INFO(this->get_logger(), "Timer triggered.");
 
       auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
-          wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
+          wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[1] &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[2]) {
         RCLCPP_INFO(this->get_logger(), "wait_set tells that all subscriptions are ready");
@@ -90,7 +90,7 @@ class TimerListenerTripleSync : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_triple_sync_intra.cpp

@@ -70,7 +70,7 @@ class TimerListenerTripleSyncIntra : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 
@@ -105,8 +105,8 @@ class TimerListenerTripleSyncIntra : public rclcpp::Node
   void receive_data_via_inter_process () {
 
     auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
-    if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
-        wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] && 
+    if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
+        wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0] &&
         wait_result.get_wait_set().get_rcl_wait_set().subscriptions[1] &&
         wait_result.get_wait_set().get_rcl_wait_set().subscriptions[2]) {
       RCLCPP_INFO(this->get_logger(), "wait_set tells that all subscriptions are ready");
@@ -138,8 +138,8 @@ class TimerListenerTripleSyncIntra : public rclcpp::Node
   void receive_data_via_intra_process () {
     auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
     // TODO: intra process waitable の使い方がよくわからないので調査する. 今は syntax sugar で乗り切っている状態.
-    if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
-      subscriptions_array_[0]->get_intra_process_waitable()->is_ready(nullptr) && 
+    if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
+      subscriptions_array_[0]->get_intra_process_waitable()->is_ready(nullptr) &&
       subscriptions_array_[1]->get_intra_process_waitable()->is_ready(nullptr) &&
       subscriptions_array_[2]->get_intra_process_waitable()->is_ready(nullptr)) {
         RCLCPP_INFO(this->get_logger(), "wait_set tells that all subscriptions are ready(intra)");

waitset_examples/src/timer_listener_twin_nested_waitset.cpp

@@ -53,7 +53,7 @@ class TimerListenerTwinNestedWaitSet : public rclcpp::Node
       RCLCPP_INFO(this->get_logger(), "Timer triggered.");
 
       auto wait_result = wait_set_.wait(std::chrono::milliseconds(0));
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         std_msgs::msg::String msg;
         rclcpp::MessageInfo msg_info;
@@ -64,7 +64,7 @@ class TimerListenerTwinNestedWaitSet : public rclcpp::Node
         RCLCPP_INFO(this->get_logger(), "wait_set tells that normal subscription is not ready and return");
       }
 
-      if (wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           wait_result.get_wait_set().get_rcl_wait_set().timers[0]) {
             much_slower_timer_->execute_callback();
       }
@@ -76,7 +76,7 @@ class TimerListenerTwinNestedWaitSet : public rclcpp::Node
       RCLCPP_INFO(this->get_logger(), "Much Slower Timer triggered.");
 
       auto sub_wait_result = sub_wait_set_.wait(std::chrono::milliseconds(0));
-      if (sub_wait_result.kind() == rclcpp::WaitResultKind::Ready && 
+      if (sub_wait_result.kind() == rclcpp::WaitResultKind::Ready &&
           sub_wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0]) {
         std_msgs::msg::String msg;
         rclcpp::MessageInfo msg_info;
@@ -99,7 +99,7 @@ class TimerListenerTwinNestedWaitSet : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 

waitset_examples/src/timer_listener_twin_static.cpp

@@ -94,14 +94,14 @@ class TimerListenerTwinStatic : public rclcpp::Node
     subscription_options.callback_group = cb_group_noexec;
 
     rclcpp::QoS qos(rclcpp::KeepLast(10));
-    if (use_transient_local) { 
+    if (use_transient_local) {
       qos = qos.transient_local();
     }
 
     subscriptions_array_[0] = create_subscription<std_msgs::msg::String>("chatter", qos, not_executed_callback, subscription_options);
 
     subscriptions_array_[1] = create_subscription<std_msgs::msg::String>("slower_chatter", qos, not_executed_callback, subscription_options);
-    
+
     // Create Static Wait Set. It cannot be changed afterwards.
     static_wait_set_ = std::make_shared<rclcpp::StaticWaitSet<2, 0, 0, 0, 0, 0>>(
       std::array<rclcpp::StaticWaitSet<2, 0, 0, 0, 0, 0>::SubscriptionEntry, 2>{{{subscriptions_array_[0]}, {subscriptions_array_[1]}}},