[style] cpplint/uncrustify

rclcpp/include/rclcpp/allocator/allocator_deleter.hpp

@@ -16,10 +16,10 @@
 #define RCLCPP__ALLOCATOR__ALLOCATOR_DELETER_HPP_
 
 #include <memory>
+#include <stdexcept>
 
 namespace rclcpp
 {
-
 namespace allocator
 {
 

rclcpp/include/rclcpp/any_executable.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
+#ifndef RCLCPP__ANY_EXECUTABLE_HPP_
-#define RCLCPP_RCLCPP_ANY_EXECUTABLE_HPP_
+#define RCLCPP__ANY_EXECUTABLE_HPP_
 
 #include <memory>
 
-#include <rclcpp/macros.hpp>
+#include "rclcpp/macros.hpp"
-#include <rclcpp/node.hpp>
+#include "rclcpp/node.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -44,7 +44,7 @@ struct AnyExecutable
   rclcpp::node::Node::SharedPtr node;
 };
 
-} /* executor */
+}  // namespace executor
-} /* rclcpp */
+}  // namespace rclcpp
 
-#endif
+#endif  // RCLCPP__ANY_EXECUTABLE_HPP_

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -12,18 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
+#ifndef RCLCPP__ANY_SERVICE_CALLBACK_HPP_
-#define RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_
+#define RCLCPP__ANY_SERVICE_CALLBACK_HPP_
-
-#include <rclcpp/function_traits.hpp>
 
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <type_traits>
 
-#include <rmw/types.h>
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/types.h"
 
 namespace rclcpp
 {
@@ -99,7 +98,7 @@ public:
   }
 };
 
-} /* namespace any_service_callback */
+}  // namespace any_service_callback
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_ANY_SERVICE_CALLBACK_HPP_ */
+#endif  // RCLCPP__ANY_SERVICE_CALLBACK_HPP_

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -19,6 +19,7 @@
 
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <type_traits>
 
 #include "rclcpp/allocator/allocator_common.hpp"

rclcpp/include/rclcpp/callback_group.hpp

@@ -12,17 +12,17 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
+#ifndef RCLCPP__CALLBACK_GROUP_HPP_
-#define RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_
+#define RCLCPP__CALLBACK_GROUP_HPP_
 
 #include <atomic>
 #include <string>
 #include <vector>
 
-#include <rclcpp/subscription.hpp>
+#include "rclcpp/client.hpp"
-#include <rclcpp/timer.hpp>
+#include "rclcpp/service.hpp"
-#include <rclcpp/service.hpp>
+#include "rclcpp/subscription.hpp"
-#include <rclcpp/client.hpp>
+#include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -32,7 +32,7 @@ namespace rclcpp
 namespace node
 {
 class Node;
-} // namespace node
+}  // namespace node
 
 namespace callback_group
 {
@@ -102,10 +102,9 @@ private:
   std::vector<rclcpp::service::ServiceBase::SharedPtr> service_ptrs_;
   std::vector<rclcpp::client::ClientBase::SharedPtr> client_ptrs_;
   std::atomic_bool can_be_taken_from_;
-
 };
 
-} /* namespace callback_group */
+}  // namespace callback_group
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_CALLBACK_GROUP_HPP_ */
+#endif  // RCLCPP__CALLBACK_GROUP_HPP_

rclcpp/include/rclcpp/client.hpp

@@ -12,32 +12,30 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CLIENT_HPP_
+#ifndef RCLCPP__CLIENT_HPP_
-#define RCLCPP_RCLCPP_CLIENT_HPP_
+#define RCLCPP__CLIENT_HPP_
 
 #include <future>
-#include <iostream>
 #include <map>
 #include <memory>
 #include <sstream>
+#include <string>
+#include <tuple>
 #include <utility>
 
-#include <rmw/error_handling.h>
+#include "rclcpp/macros.hpp"
-#include <rmw/rmw.h>
+#include "rclcpp/utilities.hpp"
-
-#include <rclcpp/macros.hpp>
-#include <rclcpp/utilities.hpp>
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
-
 namespace client
 {
 
 class ClientBase
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ClientBase);
 
@@ -70,7 +68,6 @@ private:
 
   rmw_client_t * client_handle_;
   std::string service_name_;
-
 };
 
 template<typename ServiceT>
@@ -109,7 +106,8 @@ public:
     auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
     auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
     int64_t sequence_number = typed_request_header->sequence_number;
-    // TODO this must check if the sequence_number is valid otherwise the call_promise will be null
+    // TODO(esteve) this must check if the sequence_number is valid otherwise the
+    // call_promise will be null
     auto tuple = this->pending_requests_[sequence_number];
     auto call_promise = std::get<0>(tuple);
     auto callback = std::get<1>(tuple);
@@ -149,7 +147,7 @@ private:
   std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture>> pending_requests_;
 };
 
-} /* namespace client */
+}  // namespace client
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_CLIENT_HPP_ */
+#endif  // RCLCPP__CLIENT_HPP_

rclcpp/include/rclcpp/context.hpp

@@ -12,22 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CONTEXT_HPP_
+#ifndef RCLCPP__CONTEXT_HPP_
-#define RCLCPP_RCLCPP_CONTEXT_HPP_
+#define RCLCPP__CONTEXT_HPP_
-
-#include <rclcpp/macros.hpp>
 
 #include <iostream>
-
 #include <memory>
 #include <mutex>
-#include <typeinfo>
 #include <typeindex>
+#include <typeinfo>
 #include <unordered_map>
 
-#include <rmw/rmw.h>
 #include "rclcpp/macros.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
@@ -73,10 +70,9 @@ private:
 
   std::unordered_map<std::type_index, std::shared_ptr<void>> sub_contexts_;
   std::mutex mutex_;
-
 };
 
-} /* namespace context */
+}  // namespace context
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_CONTEXT_HPP_ */
+#endif  // RCLCPP__CONTEXT_HPP_

rclcpp/include/rclcpp/contexts/default_context.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
+#ifndef RCLCPP__CONTEXTS__DEFAULT_CONTEXT_HPP_
-#define RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_
+#define RCLCPP__CONTEXTS__DEFAULT_CONTEXT_HPP_
 
-#include <rclcpp/context.hpp>
+#include "rclcpp/context.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -38,8 +38,8 @@ RCLCPP_PUBLIC
 DefaultContext::SharedPtr
 get_global_default_context();
 
-} // namespace default_context
+}  // namespace default_context
-} // namespace contexts
+}  // namespace contexts
-} // namespace rclcpp
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_CONTEXTS_DEFAULT_CONTEXT_HPP_ */
+#endif  // RCLCPP__CONTEXTS__DEFAULT_CONTEXT_HPP_

rclcpp/include/rclcpp/executors.hpp

@@ -12,14 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_EXECUTORS_HPP_
+#ifndef RCLCPP__EXECUTORS_HPP_
-#define RCLCPP_RCLCPP_EXECUTORS_HPP_
+#define RCLCPP__EXECUTORS_HPP_
 
 #include <future>
-#include <rclcpp/executors/multi_threaded_executor.hpp>
+
-#include <rclcpp/executors/single_threaded_executor.hpp>
+#include "rclcpp/executors/multi_threaded_executor.hpp"
-#include <rclcpp/node.hpp>
+#include "rclcpp/executors/single_threaded_executor.hpp"
-#include <rclcpp/utilities.hpp>
+#include "rclcpp/node.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -108,4 +109,4 @@ spin_until_future_complete(
 
 }  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_EXECUTORS_HPP_ */
+#endif  // RCLCPP__EXECUTORS_HPP_

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -15,18 +15,12 @@
 #ifndef RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 #define RCLCPP__EXECUTORS__MULTI_THREADED_EXECUTOR_HPP_
 
-#include <rmw/rmw.h>
-
-#include <cassert>
-#include <cstdlib>
-#include <memory>
 #include <mutex>
-#include <vector>
+#include <thread>
+#include <unordered_map>
 
 #include "rclcpp/executor.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node.hpp"
-#include "rclcpp/utilities.hpp"
 #include "rclcpp/memory_strategies.hpp"
 #include "rclcpp/visibility_control.hpp"
 

rclcpp/include/rclcpp/function_traits.hpp

@@ -12,9 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_FUNCTION_TRAITS_HPP_
+#ifndef RCLCPP__FUNCTION_TRAITS_HPP_
-#define RCLCPP_RCLCPP_FUNCTION_TRAITS_HPP_
+#define RCLCPP__FUNCTION_TRAITS_HPP_
+
 #include <memory>
+#include <tuple>
+
+#include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
 {
@@ -95,6 +99,7 @@ struct same_arguments : std::is_same<
     typename function_traits<FunctorBT>::arguments
   >
 {};
-} /* namespace rclcpp */
 
-#endif /* RCLCPP_RCLCPP_FUNCTION_TRAITS_HPP_ */
+}  // namespace rclcpp
+
+#endif  // RCLCPP__FUNCTION_TRAITS_HPP_

rclcpp/include/rclcpp/intra_process_manager_state.hpp

@@ -15,21 +15,21 @@
 #ifndef RCLCPP__INTRA_PROCESS_MANAGER_STATE_HPP_
 #define RCLCPP__INTRA_PROCESS_MANAGER_STATE_HPP_
 
-#include <rclcpp/mapped_ring_buffer.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/subscription.hpp>
-
 #include <algorithm>
 #include <atomic>
 #include <functional>
 #include <limits>
-#include <memory>
 #include <map>
-#include <unordered_map>
+#include <memory>
 #include <set>
 #include <string>
+#include <unordered_map>
 #include <utility>
 
+#include "rclcpp/macros.hpp"
+#include "rclcpp/mapped_ring_buffer.hpp"
+#include "rclcpp/publisher.hpp"
+#include "rclcpp/subscription.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/macros.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_MACROS_HPP_
+#ifndef RCLCPP__MACROS_HPP_
-#define RCLCPP_RCLCPP_MACROS_HPP_
+#define RCLCPP__MACROS_HPP_
 
 /* Disables the copy constructor and operator= for the given class.
  *
@@ -76,6 +76,7 @@
   { \
     return std::unique_ptr<__VA_ARGS__>(new __VA_ARGS__(std::forward<Args>(args) ...)); \
   }
+
 /// Defines aliases and static functions for using the Class with unique_ptrs.
 #define RCLCPP_UNIQUE_PTR_DEFINITIONS(...) \
   __RCLCPP_UNIQUE_PTR_ALIAS(__VA_ARGS__) \
@@ -83,4 +84,4 @@
 
 #define RCLCPP_INFO(Args) std::cout << Args << std::endl;
 
-#endif /* RCLCPP_RCLCPP_MACROS_HPP_ */
+#endif  // RCLCPP__MACROS_HPP_

rclcpp/include/rclcpp/memory_strategies.hpp

@@ -15,8 +15,7 @@
 #ifndef RCLCPP__MEMORY_STRATEGIES_HPP_
 #define RCLCPP__MEMORY_STRATEGIES_HPP_
 
-#include <rclcpp/memory_strategy.hpp>
+#include "rclcpp/memory_strategy.hpp"
-#include <rclcpp/strategies/allocator_memory_strategy.hpp>
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/message_memory_strategy.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP__MESSAGE_MEMORY_STRATEGY_HPP_
 
 #include <memory>
+#include <stdexcept>
 
 #include "rclcpp/allocator/allocator_common.hpp"
 #include "rclcpp/macros.hpp"

rclcpp/include/rclcpp/parameter.hpp

@@ -12,35 +12,33 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_HPP_
+#ifndef RCLCPP__PARAMETER_HPP_
-#define RCLCPP_RCLCPP_PARAMETER_HPP_
+#define RCLCPP__PARAMETER_HPP_
 
 #include <ostream>
 #include <sstream>
 #include <string>
+#include <vector>
 
-#include <rmw/rmw.h>
+#include "rcl_interfaces/msg/parameter.hpp"
-
+#include "rcl_interfaces/msg/parameter_type.hpp"
-#include <rcl_interfaces/msg/parameter.hpp>
+#include "rcl_interfaces/msg/parameter_value.hpp"
-#include <rcl_interfaces/msg/parameter_type.hpp>
-#include <rcl_interfaces/msg/parameter_value.hpp>
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/rmw.h"
 
 namespace rclcpp
 {
-
 namespace parameter
 {
 
 enum ParameterType
 {
-  PARAMETER_NOT_SET=rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
+  PARAMETER_NOT_SET = rcl_interfaces::msg::ParameterType::PARAMETER_NOT_SET,
-  PARAMETER_BOOL=rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
+  PARAMETER_BOOL = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL,
-  PARAMETER_INTEGER=rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
+  PARAMETER_INTEGER = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER,
-  PARAMETER_DOUBLE=rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
+  PARAMETER_DOUBLE = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE,
-  PARAMETER_STRING=rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
+  PARAMETER_STRING = rcl_interfaces::msg::ParameterType::PARAMETER_STRING,
-  PARAMETER_BYTES=rcl_interfaces::msg::ParameterType::PARAMETER_BYTES,
+  PARAMETER_BYTES = rcl_interfaces::msg::ParameterType::PARAMETER_BYTES,
 };
 
 // Structure to store an arbitrary parameter with templated get/set methods
@@ -87,48 +85,52 @@ public:
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER) {
-      // TODO: use custom exception
+      // TODO(wjwwood): use custom exception
       throw std::runtime_error("Invalid type");
     }
     return value_.integer_value;
   }
+
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_DOUBLE, double>::type
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE) {
-      // TODO: use custom exception
+      // TODO(wjwwood): use custom exception
       throw std::runtime_error("Invalid type");
     }
     return value_.double_value;
   }
+
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_STRING, const std::string &>::type
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_STRING) {
-      // TODO: use custom exception
+      // TODO(wjwwood): use custom exception
       throw std::runtime_error("Invalid type");
     }
     return value_.string_value;
   }
+
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_BOOL, bool>::type
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BOOL) {
-      // TODO: use custom exception
+      // TODO(wjwwood): use custom exception
       throw std::runtime_error("Invalid type");
     }
     return value_.bool_value;
   }
+
   template<ParameterType type>
   typename std::enable_if<type == ParameterType::PARAMETER_BYTES,
   const std::vector<uint8_t> &>::type
   get_value() const
   {
     if (value_.type != rcl_interfaces::msg::ParameterType::PARAMETER_BYTES) {
-      // TODO: use custom exception
+      // TODO(wjwwood): use custom exception
       throw std::runtime_error("Invalid type");
     }
     return value_.bytes_value;
@@ -203,4 +205,4 @@ to_string(const std::vector<rclcpp::parameter::ParameterVariant> & parameters);
 
 }  // namespace std
 
-#endif /* RCLCPP_RCLCPP_PARAMETER_HPP_ */
+#endif  // RCLCPP__PARAMETER_HPP_

rclcpp/include/rclcpp/parameter_client.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
+#ifndef RCLCPP__PARAMETER_CLIENT_HPP_
-#define RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_
+#define RCLCPP__PARAMETER_CLIENT_HPP_
 
 #include <string>
 #include <vector>
@@ -162,8 +162,7 @@ private:
   AsyncParametersClient::SharedPtr async_parameters_client_;
 };
 
-} /* namespace parameter_client */
+}  // namespace parameter_client
+}  // namespace rclcpp
 
-} /* namespace rclcpp */
+#endif  // RCLCPP__PARAMETER_CLIENT_HPP_
-
-#endif /* RCLCPP_RCLCPP_PARAMETER_CLIENT_HPP_ */

rclcpp/include/rclcpp/parameter_service.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
+#ifndef RCLCPP__PARAMETER_SERVICE_HPP_
-#define RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_
+#define RCLCPP__PARAMETER_SERVICE_HPP_
 
 #include <string>
 
@@ -32,13 +32,11 @@
 
 namespace rclcpp
 {
-
 namespace parameter_service
 {
 
 class ParameterService
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(ParameterService);
 
@@ -58,8 +56,7 @@ private:
   rclcpp::service::Service<rcl_interfaces::srv::ListParameters>::SharedPtr list_parameters_service_;
 };
 
-} /* namespace parameter_service */
+}  // namespace parameter_service
+}  // namespace rclcpp
 
-} /* namespace rclcpp */
+#endif  // RCLCPP__PARAMETER_SERVICE_HPP_
-
-#endif /* RCLCPP_RCLCPP_PARAMETER_SERVICE_HPP_ */

rclcpp/include/rclcpp/rate.hpp

@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_RATE_HPP_
+#ifndef RCLCPP__RATE_HPP_
-#define RCLCPP_RCLCPP_RATE_HPP_
+#define RCLCPP__RATE_HPP_
 
 #include <chrono>
 #include <memory>
 #include <thread>
 
-#include <rclcpp/macros.hpp>
+#include "rclcpp/macros.hpp"
-#include <rclcpp/utilities.hpp>
+#include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -110,13 +110,12 @@ private:
 
   std::chrono::nanoseconds period_;
   std::chrono::time_point<Clock> last_interval_;
-
 };
 
 using Rate = GenericRate<std::chrono::system_clock>;
 using WallRate = GenericRate<std::chrono::steady_clock>;
 
-} // namespace rate
+}  // namespace rate
-} // namespace rclcpp
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_RATE_HPP_ */
+#endif  // RCLCPP__RATE_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -12,19 +12,19 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_RCLCPP_HPP_
+#ifndef RCLCPP__RCLCPP_HPP_
-#define RCLCPP_RCLCPP_RCLCPP_HPP_
+#define RCLCPP__RCLCPP_HPP_
 
 #include <csignal>
 #include <memory>
 
-#include <rclcpp/node.hpp>
+#include "rclcpp/executors.hpp"
-#include <rclcpp/parameter.hpp>
+#include "rclcpp/node.hpp"
-#include <rclcpp/parameter_client.hpp>
+#include "rclcpp/parameter.hpp"
-#include <rclcpp/parameter_service.hpp>
+#include "rclcpp/parameter_client.hpp"
-#include <rclcpp/executors.hpp>
+#include "rclcpp/parameter_service.hpp"
-#include <rclcpp/rate.hpp>
+#include "rclcpp/rate.hpp"
-#include <rclcpp/utilities.hpp>
+#include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 // NOLINTNEXTLINE(runtime/int)
@@ -80,6 +80,6 @@ using rclcpp::utilities::shutdown;
 using rclcpp::utilities::init;
 using rclcpp::utilities::sleep_for;
 
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_RCLCPP_HPP_ */
+#endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/service.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_SERVICE_HPP_
+#ifndef RCLCPP__SERVICE_HPP_
-#define RCLCPP_RCLCPP_SERVICE_HPP_
+#define RCLCPP__SERVICE_HPP_
 
 #include <functional>
 #include <iostream>
@@ -21,22 +21,19 @@
 #include <sstream>
 #include <string>
 
-#include <rmw/error_handling.h>
+#include "rclcpp/any_service_callback.hpp"
-#include <rmw/rmw.h>
+#include "rclcpp/macros.hpp"
-
-#include <rclcpp/macros.hpp>
-#include <rclcpp/any_service_callback.hpp>
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
-
 namespace service
 {
 
 class ServiceBase
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase);
 
@@ -70,10 +67,9 @@ private:
 
   rmw_service_t * service_handle_;
   std::string service_name_;
-
 };
 
-using namespace any_service_callback;
+using any_service_callback::AnyServiceCallback;
 
 template<typename ServiceT>
 class Service : public ServiceBase
@@ -141,7 +137,7 @@ private:
   AnyServiceCallback<ServiceT> any_callback_;
 };
 
-} /* namespace service */
+}  // namespace service
-} /* namespace rclcpp */
+}  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_SERVICE_HPP_ */
+#endif  // RCLCPP__SERVICE_HPP_

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -25,10 +25,8 @@
 
 namespace rclcpp
 {
-
 namespace memory_strategies
 {
-
 namespace allocator_memory_strategy
 {
 
@@ -313,7 +311,6 @@ private:
 
 }  // namespace allocator_memory_strategy
 }  // namespace memory_strategies
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__STRATEGIES__ALLOCATOR_MEMORY_STRATEGY_HPP_

rclcpp/include/rclcpp/strategies/message_pool_memory_strategy.hpp

@@ -15,8 +15,8 @@
 #ifndef RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 #define RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_
 
-#include <rclcpp/macros.hpp>
+#include "rclcpp/macros.hpp"
-#include <rclcpp/message_memory_strategy.hpp>
+#include "rclcpp/message_memory_strategy.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -106,4 +106,5 @@ protected:
 }  // namespace message_pool_memory_strategy
 }  // namespace strategies
 }  // namespace rclcpp
+
 #endif  // RCLCPP__STRATEGIES__MESSAGE_POOL_MEMORY_STRATEGY_HPP_

rclcpp/include/rclcpp/subscription.hpp

@@ -147,7 +147,7 @@ public:
     bool ignore_local_publications,
     AnySubscriptionCallback<MessageT, Alloc> callback,
     typename message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
-      memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
+    memory_strategy = message_memory_strategy::MessageMemoryStrategy<MessageT,
     Alloc>::create_default())
   : SubscriptionBase(node_handle, subscription_handle, topic_name, ignore_local_publications),
     any_callback_(callback),

rclcpp/include/rclcpp/timer.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_TIMER_HPP_
+#ifndef RCLCPP__TIMER_HPP_
-#define RCLCPP_RCLCPP_TIMER_HPP_
+#define RCLCPP__TIMER_HPP_
 
 #include <chrono>
 #include <functional>
@@ -21,17 +21,15 @@
 #include <sstream>
 #include <thread>
 
-#include <rmw/error_handling.h>
+#include "rclcpp/macros.hpp"
-#include <rmw/rmw.h>
+#include "rclcpp/rate.hpp"
-
+#include "rclcpp/utilities.hpp"
-#include <rclcpp/macros.hpp>
-#include <rclcpp/rate.hpp>
-#include <rclcpp/utilities.hpp>
 #include "rclcpp/visibility_control.hpp"
+#include "rmw/error_handling.h"
+#include "rmw/rmw.h"
 
 namespace rclcpp
 {
-
 namespace timer
 {
 
@@ -39,7 +37,6 @@ using CallbackType = std::function<void()>;
 
 class TimerBase
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimerBase);
 
@@ -83,14 +80,12 @@ protected:
   CallbackType callback_;
 
   bool canceled_;
-
 };
 
 /// Generic timer templated on the clock type. Periodically executes a user-specified callback.
 template<class Clock = std::chrono::high_resolution_clock>
 class GenericTimer : public TimerBase
 {
-
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(GenericTimer);
 
@@ -158,7 +153,6 @@ private:
 
   rclcpp::rate::GenericRate<Clock> loop_rate_;
   std::chrono::time_point<Clock> last_triggered_time_;
-
 };
 
 using WallTimer = GenericTimer<std::chrono::steady_clock>;
@@ -166,4 +160,4 @@ using WallTimer = GenericTimer<std::chrono::steady_clock>;
 } /* namespace timer */
 } /* namespace rclcpp */
 
-#endif /* RCLCPP_RCLCPP_TIMER_HPP_ */
+#endif  // RCLCPP__TIMER_HPP_

rclcpp/include/rclcpp/utilities.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP_RCLCPP_UTILITIES_HPP_
+#ifndef RCLCPP__UTILITIES_HPP_
-#define RCLCPP_RCLCPP_UTILITIES_HPP_
+#define RCLCPP__UTILITIES_HPP_
 
 #include <chrono>
 
@@ -64,4 +64,4 @@ sleep_for(const std::chrono::nanoseconds & nanoseconds);
 }  // namespace utilities
 }  // namespace rclcpp
 
-#endif /* RCLCPP_RCLCPP_UTILITIES_HPP_ */
+#endif  // RCLCPP__UTILITIES_HPP_

rclcpp/test/test_function_traits.cpp

@@ -21,6 +21,7 @@ int func_no_args()
   return 0;
 }
 
+// NOLINTNEXTLINE(readability/casting)
 int func_one_int(int)
 {
   return 1;
@@ -142,15 +143,20 @@ TEST(TestFunctionTraits, arity) {
       return 0;
     };
 
-  auto lambda_one_int = [](int) {
+  auto lambda_one_int = [](int one) {
+      (void)one;
       return 1;
     };
 
-  auto lambda_two_ints = [](int, int) {
+  auto lambda_two_ints = [](int one, int two) {
+      (void)one;
+      (void)two;
       return 2;
     };
 
-  auto lambda_one_int_one_char = [](int, char) {
+  auto lambda_one_int_one_char = [](int one, char two) {
+      (void)one;
+      (void)two;
       return 3;
     };
 
@@ -224,15 +230,20 @@ TEST(TestFunctionTraits, argument_types) {
     >::value, "Functor accepts a char as second argument");
 
   // Test lambdas
-  auto lambda_one_int = [](int) {
+  auto lambda_one_int = [](int one) {
+      (void)one;
       return 1;
     };
 
-  auto lambda_two_ints = [](int, int) {
+  auto lambda_two_ints = [](int one, int two) {
+      (void)one;
+      (void)two;
       return 2;
     };
 
-  auto lambda_one_int_one_char = [](int, char) {
+  auto lambda_one_int_one_char = [](int one, char two) {
+      (void)one;
+      (void)two;
       return 3;
     };
 
@@ -336,15 +347,20 @@ TEST(TestFunctionTraits, check_arguments) {
     "Functor accepts an int and a char as arguments");
 
   // Test lambdas
-  auto lambda_one_int = [](int) {
+  auto lambda_one_int = [](int one) {
+      (void)one;
       return 1;
     };
 
-  auto lambda_two_ints = [](int, int) {
+  auto lambda_two_ints = [](int one, int two) {
+      (void)one;
+      (void)two;
       return 2;
     };
 
-  auto lambda_one_int_one_char = [](int, char) {
+  auto lambda_one_int_one_char = [](int one, char two) {
+      (void)one;
+      (void)two;
       return 3;
     };
 
@@ -378,11 +394,14 @@ TEST(TestFunctionTraits, check_arguments) {
    Tests that same_arguments work.
 */
 TEST(TestFunctionTraits, same_arguments) {
-  auto lambda_one_int = [](int) {
+  auto lambda_one_int = [](int one) {
+      (void)one;
       return 1;
     };
 
-  auto lambda_two_ints = [](int, int) {
+  auto lambda_two_ints = [](int one, int two) {
+      (void)one;
+      (void)two;
       return 1;
     };
 
@@ -427,15 +446,20 @@ TEST(TestFunctionTraits, sfinae_match) {
       return 0;
     };
 
-  auto lambda_one_int = [](int) {
+  auto lambda_one_int = [](int one) {
+      (void)one;
       return 1;
     };
 
-  auto lambda_two_ints = [](int, int) {
+  auto lambda_two_ints = [](int one, int two) {
+      (void)one;
+      (void)two;
       return 2;
     };
 
-  auto lambda_one_int_one_char = [](int, char) {
+  auto lambda_one_int_one_char = [](int one, char two) {
+      (void)one;
+      (void)two;
       return 3;
     };
 

rclcpp/test/test_intra_process_manager.cpp

@@ -13,12 +13,12 @@
 // limitations under the License.
 
 #include <memory>
+#include <string>
 
-#include <gtest/gtest.h>
+#include "gtest/gtest.h"
-
+#include "rclcpp/allocator/allocator_common.hpp"
-#include <rclcpp/allocator/allocator_common.hpp>
+#include "rclcpp/macros.hpp"
-#include <rclcpp/macros.hpp>
+#include "rmw/types.h"
-#include <rmw/types.h>
 
 // Mock up publisher and subscription base to avoid needing an rmw impl.
 namespace rclcpp
@@ -79,9 +79,9 @@ public:
   }
 };
 
-}
+}  // namespace mock
-}
+}  // namespace publisher
-}
+}  // namespace rclcpp
 
 namespace rclcpp
 {
@@ -111,9 +111,9 @@ public:
   size_t mock_queue_size;
 };
 
-}
+}  // namespace mock
-}
+}  // namespace subscription
-}
+}  // namespace rclcpp
 
 // Prevent rclcpp/publisher.hpp and rclcpp/subscription.hpp from being imported.
 #define RCLCPP__PUBLISHER_HPP_
@@ -129,6 +129,7 @@ public:
 #undef Publisher
 #undef PublisherBase
 
+// NOLINTNEXTLINE(build/include_order)
 #include <rcl_interfaces/msg/intra_process_message.hpp>
 
 /*
@@ -144,13 +145,15 @@ public:
 TEST(TestIntraProcessManager, nominal) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
-  auto p2 =
+  auto p2 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p2->mock_topic_name = "nominal2";
   p2->mock_queue_size = 10;
 
@@ -233,8 +236,9 @@ TEST(TestIntraProcessManager, nominal) {
 TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -274,8 +278,9 @@ TEST(TestIntraProcessManager, remove_publisher_before_trying_to_take) {
 TEST(TestIntraProcessManager, removed_subscription_affects_take) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -344,8 +349,9 @@ TEST(TestIntraProcessManager, removed_subscription_affects_take) {
 TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
@@ -415,18 +421,21 @@ TEST(TestIntraProcessManager, multiple_subscriptions_one_publisher) {
 TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto p2 =
+  auto p2 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
-  auto p3 =
+  auto p3 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
@@ -512,18 +521,21 @@ TEST(TestIntraProcessManager, multiple_publishers_one_subscription) {
 TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 10;
 
-  auto p2 =
+  auto p2 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p2->mock_topic_name = "nominal1";
   p2->mock_queue_size = 10;
 
-  auto p3 =
+  auto p3 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p3->mock_topic_name = "nominal1";
   p3->mock_queue_size = 10;
 
@@ -676,8 +688,9 @@ TEST(TestIntraProcessManager, multiple_publishers_multiple_subscription) {
 TEST(TestIntraProcessManager, ring_buffer_displacement) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
@@ -746,8 +759,9 @@ TEST(TestIntraProcessManager, ring_buffer_displacement) {
 TEST(TestIntraProcessManager, subscription_creation_race_condition) {
   rclcpp::intra_process_manager::IntraProcessManager ipm;
 
-  auto p1 =
+  auto p1 = std::make_shared<
-    std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+    rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+    >();
   p1->mock_topic_name = "nominal1";
   p1->mock_queue_size = 2;
 
@@ -794,8 +808,9 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_take) {
   uint64_t p1_id;
   uint64_t p1_m1_id;
   {
-    auto p1 =
+    auto p1 = std::make_shared<
-      std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+      rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+      >();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;
 
@@ -832,8 +847,9 @@ TEST(TestIntraProcessManager, publisher_out_of_scope_store) {
 
   uint64_t p1_id;
   {
-    auto p1 =
+    auto p1 = std::make_shared<
-      std::make_shared<rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>>();
+      rclcpp::publisher::mock::Publisher<rcl_interfaces::msg::IntraProcessMessage>
+      >();
     p1->mock_topic_name = "nominal1";
     p1->mock_queue_size = 2;