update

rclcpp/include/rclcpp/callback_group.hpp

@@ -54,7 +54,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(CallbackGroup);
 
   CallbackGroup(CallbackGroupType group_type)
-    : type_(group_type), can_be_taken_from_(true)
+  : type_(group_type), can_be_taken_from_(true)
   {}
 
 private:

rclcpp/include/rclcpp/client.hpp

@@ -45,7 +45,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(ClientBase);
 
   ClientBase(rmw_client_t * client_handle, const std::string & service_name)
-    : client_handle_(client_handle), service_name_(service_name)
+  : client_handle_(client_handle), service_name_(service_name)
   {}
 
   ~ClientBase()
@@ -92,7 +92,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(Client);
 
   Client(rmw_client_t * client_handle, const std::string & service_name)
-    : ClientBase(client_handle, service_name)
+  : ClientBase(client_handle, service_name)
   {}
 
   std::shared_ptr<void> create_response()

rclcpp/include/rclcpp/executor.hpp

@@ -38,7 +38,9 @@ class Executor
 public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(Executor);
 
-  Executor() : interrupt_guard_condition_(rmw_create_guard_condition()) {}
+  Executor()
+  : interrupt_guard_condition_(rmw_create_guard_condition())
+  {}
 
   virtual ~Executor()
   {
@@ -58,8 +60,7 @@ public:
       auto node = weak_node.lock();
       if (node == node_ptr) {
         // TODO: Use a different error here?
-        throw std::runtime_error(
+        throw std::runtime_error("Cannot add node to executor, node already added.");
-          "Cannot add node to executor, node already added.");
       }
     }
     weak_nodes_.push_back(node_ptr);
@@ -100,7 +101,9 @@ public:
 protected:
   struct AnyExecutable
   {
-    AnyExecutable() : subscription(0), timer(0), callback_group(0), node(0) {}
+    AnyExecutable()
+    : subscription(0), timer(0), callback_group(0), node(0)
+    {}
     // Either the subscription or the timer will be set, but not both
     rclcpp::subscription::SubscriptionBase::SharedPtr subscription;
     rclcpp::timer::TimerBase::SharedPtr timer;
@@ -313,8 +316,7 @@ protected:
       std::malloc(sizeof(void *) * number_of_guard_conds));
     if (guard_condition_handles.guard_conditions == NULL) {
       // TODO(wjwwood): Use a different error here? maybe std::bad_alloc?
-      throw std::runtime_error(
+      throw std::runtime_error("Could not malloc for guard condition pointers.");
-        "Could not malloc for guard condition pointers.");
     }
     // Put the global ctrl-c guard condition in
     assert(guard_condition_handles.guard_condition_count > 1);

rclcpp/include/rclcpp/node_impl.hpp

@@ -34,11 +34,11 @@ using namespace rclcpp::node;
 using rclcpp::contexts::default_context::DefaultContext;
 
 Node::Node(std::string node_name)
-  : Node(node_name, DefaultContext::make_shared())
+: Node(node_name, DefaultContext::make_shared())
 {}
 
 Node::Node(std::string node_name, context::Context::SharedPtr context)
-  : name_(node_name), context_(context),
+: name_(node_name), context_(context),
   number_of_subscriptions_(0), number_of_timers_(0), number_of_services_(0)
 {
   node_handle_ = rmw_create_node(name_.c_str());

rclcpp/include/rclcpp/publisher.hpp

@@ -39,7 +39,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(Publisher);
 
   Publisher(rmw_publisher_t * publisher_handle)
-    : publisher_handle_(publisher_handle)
+  : publisher_handle_(publisher_handle)
   {}
 
   template<typename MessageT>

rclcpp/include/rclcpp/rate.hpp

@@ -48,11 +48,11 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(GenericRate);
 
   GenericRate(double rate)
-    : GenericRate<Clock>(
+  : GenericRate<Clock>(
       duration_cast<nanoseconds>(duration<double>(1.0 / rate)))
   {}
   GenericRate(std::chrono::nanoseconds period)
-    : period_(period), last_interval_(Clock::now())
+  : period_(period), last_interval_(Clock::now())
   {}
 
   virtual bool

rclcpp/include/rclcpp/service.hpp

@@ -46,7 +46,7 @@ public:
   ServiceBase(
     rmw_service_t * service_handle,
     const std::string service_name)
-    : service_handle_(service_handle), service_name_(service_name)
+  : service_handle_(service_handle), service_name_(service_name)
   {}
 
   ~ServiceBase()
@@ -94,7 +94,7 @@ public:
     rmw_service_t * service_handle,
     const std::string & service_name,
     CallbackType callback)
-    : ServiceBase(service_handle, service_name), callback_(callback)
+  : ServiceBase(service_handle, service_name), callback_(callback)
   {}
 
   std::shared_ptr<void> create_request()

rclcpp/include/rclcpp/subscription.hpp

@@ -45,7 +45,7 @@ public:
   SubscriptionBase(
     rmw_subscription_t * subscription_handle,
     std::string & topic_name)
-    : subscription_handle_(subscription_handle), topic_name_(topic_name)
+  : subscription_handle_(subscription_handle), topic_name_(topic_name)
   {}
 
   std::string get_topic_name()
@@ -75,7 +75,7 @@ public:
     rmw_subscription_t * subscription_handle,
     std::string & topic_name,
     CallbackType callback)
-    : SubscriptionBase(subscription_handle, topic_name), callback_(callback)
+  : SubscriptionBase(subscription_handle, topic_name), callback_(callback)
   {}
 
   std::shared_ptr<void> create_message()

rclcpp/include/rclcpp/timer.hpp

@@ -48,7 +48,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(TimerBase);
 
   TimerBase(std::chrono::nanoseconds period, CallbackType callback)
-    : period_(period),
+  : period_(period),
     callback_(callback),
     canceled_(false)
   {
@@ -81,7 +81,7 @@ public:
   RCLCPP_MAKE_SHARED_DEFINITIONS(GenericTimer);
 
   GenericTimer(std::chrono::nanoseconds period, CallbackType callback)
-    : TimerBase(period, callback), loop_rate_(period)
+  : TimerBase(period, callback), loop_rate_(period)
   {
     thread_ = std::thread(&GenericTimer<Clock>::run, this);
   }

rclcpp/include/rclcpp/utilities.hpp

@@ -109,8 +109,7 @@ init(int argc, char * argv[])
 #endif
   {
     throw std::runtime_error(
-      std::string("Failed to set SIGINT signal handler: (" +
+      std::string("Failed to set SIGINT signal handler: (" + std::to_string(errno) + ")") +
-        std::to_string(errno) + ")") +
       // TODO(wjwwood): use strerror_r on POSIX and strerror_s on Windows.
       std::strerror(errno));
   }