CI fixes Signed-off-by: Jakubach [email protected]

Signed-off-by: Jakubach <[email protected]>
ros-navigation · Jan 23, 2025 · a3da9e5 · a3da9e5
1 parent 5dcab94
commit a3da9e5
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp b/nav2_docking/opennav_docking/include/opennav_docking/controller.hpp
@@ -78,7 +78,7 @@ class Controller
     const double & angular_distance_to_heading,
     const geometry_msgs::msg::Twist & current_velocity,
     const double & dt);
-    
+
 protected:
   /**
    * @brief Check if a trajectory is collision free.

diff --git a/nav2_docking/opennav_docking/src/controller.cpp b/nav2_docking/opennav_docking/src/controller.cpp
@@ -79,7 +79,8 @@ Controller::Controller(
   node->get_parameter("controller.v_angular_max", v_angular_max_);
   node->get_parameter("controller.slowdown_radius", slowdown_radius_);
   node->get_parameter("controller.rotate_to_heading_angular_vel", rotate_to_heading_angular_vel_);
-  node->get_parameter("controller.rotate_to_heading_max_angular_accel", rotate_to_heading_max_angular_accel_);
+  node->get_parameter("controller.rotate_to_heading_max_angular_accel",
+    rotate_to_heading_max_angular_accel_);
   control_law_ = std::make_unique<nav2_graceful_controller::SmoothControlLaw>(
     k_phi_, k_delta_, beta_, lambda_, slowdown_radius_, v_linear_min_, v_linear_max_,
     v_angular_max_);

diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -489,7 +489,7 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
     // Make sure that the target pose is pointing at the robot when moving backwards
     // This is to ensure that the robot doesn't try to dock from the wrong side
     if (dock_backwards_) {
-      target_pose.pose.orientation = 
+      target_pose.pose.orientation =
         nav2_util::geometry_utils::orientationAroundZAxis(yaw + M_PI);
     }