clean up based on PR workflow

ros-perception · Dec 7, 2022 · 135a1da · 135a1da
1 parent f168ae1
commit 135a1da
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Showing 5 changed files with 15 additions and 73 deletions.
diff --git a/image_flip/CHANGELOG.rst b/image_flip/CHANGELOG.rst
diff --git a/image_flip/cfg/ImageFlip.cfg b/image_flip/cfg/ImageFlip.cfg
diff --git a/image_flip/include/image_flip/image_flip_node.hpp b/image_flip/include/image_flip/image_flip_node.hpp
@@ -33,18 +33,18 @@
 #ifndef IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
 #define IMAGE_FLIP__IMAGE_FLIP_NODE_HPP_
 
-#include <rclcpp/rclcpp.hpp>
+#include <math.h>
+#include <memory>
+#include <string>
 #include <tf2_ros/buffer.h>
 #include <tf2_ros/transform_listener.h>
 #include <tf2_ros/static_transform_broadcaster.h>
-#include <image_transport/image_transport.hpp>
 #include <cv_bridge/cv_bridge.h>
+#include "image_flip/visibility.h"
+#include <image_transport/image_transport.hpp>
+#include <rclcpp/rclcpp.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <math.h>
-#include <memory>
-#include <string>
 
-#include "image_flip/visibility.h"
 
 namespace image_flip
 {
@@ -56,7 +56,6 @@ struct ImageFlipConfig
   bool use_camera_info;
   std::string in_image_topic_name;
   std::string out_image_topic_name;
-
 };
 
 class ImageFlipNode : public rclcpp::Node
@@ -98,7 +97,6 @@ class ImageFlipNode : public rclcpp::Node
   double angle_;
   tf2::TimePoint prev_stamp_;
   geometry_msgs::msg::TransformStamped transform_;
-
 };
 }  // namespace image_flip
 

diff --git a/image_flip/launch/image_flip.launch.py b/image_flip/launch/image_flip.launch.py
@@ -37,9 +37,9 @@
 def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
-            package='image_rotate', node_executable='image_rotate', output='screen',
+            package='image_flip', node_executable='image_flip', output='screen',
             remappings=[('image', '/camera/rgb/image_raw'),
                         ('camera_info', '/camera/rgb/camera_info'),
                         ('output_image', '/camera/rotated/image_raw'),
-                        ('output_camera_info', '/camera/rotated/camera_info']),
+                        ('output_camera_info', '/camera/rotated/camera_info')]),
     ])
diff --git a/image_flip/src/image_flip_node.cpp b/image_flip/src/image_flip_node.cpp
@@ -138,12 +138,12 @@ void ImageFlipNode::do_work(
     // based on https://stackoverflow.com/questions/15043152/rotate-opencv-matrix-by-90-180-270-degrees
     if (config_.rotation_steps == 1) {
       transpose(in_image, out_image);
-      flip(out_image, out_image,0); //transpose+flip(0)=CCW
+      flip(out_image, out_image, 0);  //transpose+flip(0)=CCW
     } else if (config_.rotation_steps ==2){
-      flip(in_image, out_image,-1);    //flip(-1)=180
+      flip(in_image, out_image, -1);    //flip(-1)=180
     } else if (config_.rotation_steps == 3){
       transpose(in_image, out_image);
-      flip(out_image, out_image,1); //transpose+flip(1)=CW
+      flip(out_image, out_image, 1);  //transpose+flip(1)=CW
     } else if (config_.rotation_steps == 0) {
       // Simple pass through
       out_image = in_image;
@@ -164,8 +164,7 @@ void ImageFlipNode::do_work(
       out_info->height = out_img->height;
       out_info->width = out_img->width;
       cam_pub_.publish(out_img, out_info);
-    }
-    else {
+    } else {
       img_pub_.publish(out_img);
     }
 
@@ -197,17 +196,17 @@ void ImageFlipNode::subscribe()
   RCUTILS_LOG_INFO("Subscribing to image topic %s.", image_topic.c_str());
 
   if (config_.use_camera_info) {
-    auto custom_qos = rmw_qos_profile_sensor_data; // To match Gazebo 11 pub
+    auto custom_qos = rmw_qos_profile_sensor_data;  // To match Gazebo 11 pub
     cam_sub_ = image_transport::create_camera_subscription(
       this,
-      image_topic, //"image",
+      image_topic,  //"image",
       std::bind(
         &ImageFlipNode::imageCallbackWithInfo, this,
         std::placeholders::_1, std::placeholders::_2),
       "raw",
       custom_qos);
   } else {
-    auto custom_qos = rmw_qos_profile_sensor_data; // To match Gazebo 11 pub
+    auto custom_qos = rmw_qos_profile_sensor_data;  // To match Gazebo 11 pub
     img_sub_ = image_transport::create_subscription(
       this,
       image_topic, //"image",
@@ -274,7 +273,6 @@ void ImageFlipNode::onInit()
 
   tf_pub_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*this);
   tf_unpublished_ = true;
-
 }
 }  // namespace image_flip