Add pre-commit for automatic formatting

.clang-format

@@ -0,0 +1,20 @@
+---
+Language: Cpp
+BasedOnStyle: Google
+
+SortIncludes: false
+AccessModifierOffset: -2
+AlignAfterOpenBracket: AlwaysBreak
+BraceWrapping:
+  AfterClass: true
+  AfterFunction: true
+  AfterNamespace: true
+  AfterStruct: true
+BreakBeforeBraces: Custom
+ColumnLimit: 100
+ConstructorInitializerIndentWidth: 0
+ContinuationIndentWidth: 2
+DerivePointerAlignment: false
+PointerAlignment: Middle
+ReflowComments: false
+...

.github/workflows/format.yaml

@@ -0,0 +1,28 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  pre-commit:
+    name: pre-commit
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+      - name: Install clang-format
+        run: sudo apt-get install clang-format
+      - uses: pre-commit/[email protected]
+        id: precommit
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit

.github/workflows/foxy-devel.yaml

@@ -7,7 +7,7 @@ on:
   push:
     branches:
       - foxy-devel
-      
+
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}

.github/workflows/galactic-devel.yaml

@@ -7,7 +7,7 @@ on:
   push:
     branches:
       - galactic-devel
-      
+
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}

.github/workflows/humble-devel.yaml

@@ -7,7 +7,7 @@ on:
   push:
     branches:
       - humble-devel
-      
+
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}

.pre-commit-config.yaml

@@ -0,0 +1,54 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 22.3.0
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-12
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        exclude: CHANGELOG.rst

README.md

@@ -25,9 +25,9 @@ This project is the result of several years of experience in the development of
 
 We hope that this software helps to include planning in more Robotics projects, offering simple and powerful software to generate intelligent behaviors for robots.
 
-Please, cite us if you use PlanSys2 in your reseach:
+Please, cite us if you use PlanSys2 in your research:
 
-``` 
+```
 @INPROCEEDINGS
  {PlanSys2,
     author    = "Francisco Mart{\'{\i}}n and Jonatan Gin{\'{e}}s and Francisco J. Rodr{\'{i}}guez and Vicente Matell{\'{a}}n",

plansys2_bringup/CMakeLists.txt

@@ -29,6 +29,7 @@ target_compile_definitions(plansys2_node PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTI
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_uncrustify_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

plansys2_bringup/launch/plansys2_bringup_launch_distributed.py

@@ -1,3 +1,4 @@
+# -*- coding: utf-8 -*-
 # Copyright 2019 Intelligent Robotics Lab
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -24,51 +25,60 @@
 
 
 def generate_launch_description():
-    bringup_dir = get_package_share_directory('plansys2_bringup')
+    bringup_dir = get_package_share_directory("plansys2_bringup")
 
     # Create the launch configuration variables
-    model_file = LaunchConfiguration('model_file')
-    namespace = LaunchConfiguration('namespace')
-    params_file = LaunchConfiguration('params_file')
-    action_bt_file = LaunchConfiguration('action_bt_file')
-    start_action_bt_file = LaunchConfiguration('start_action_bt_file')
-    end_action_bt_file = LaunchConfiguration('end_action_bt_file')
+    model_file = LaunchConfiguration("model_file")
+    namespace = LaunchConfiguration("namespace")
+    params_file = LaunchConfiguration("params_file")
+    action_bt_file = LaunchConfiguration("action_bt_file")
+    start_action_bt_file = LaunchConfiguration("start_action_bt_file")
+    end_action_bt_file = LaunchConfiguration("end_action_bt_file")
     bt_builder_plugin = LaunchConfiguration("bt_builder_plugin")
 
     declare_model_file_cmd = DeclareLaunchArgument(
-        'model_file',
-        description='PDDL Model file')
+        "model_file", description="PDDL Model file"
+    )
 
     declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Namespace')
+        "namespace", default_value="", description="Namespace"
+    )
 
     declare_params_file_cmd = DeclareLaunchArgument(
-        'params_file',
-        default_value=os.path.join(bringup_dir, 'params', 'plansys2_params.yaml'),
-        description='Full path to the ROS2 parameters file to use for all launched nodes')
+        "params_file",
+        default_value=os.path.join(bringup_dir, "params", "plansys2_params.yaml"),
+        description="Full path to the ROS2 parameters file to use for all launched nodes",
+    )
 
     declare_action_bt_file_cmd = DeclareLaunchArgument(
-        'action_bt_file',
+        "action_bt_file",
         default_value=os.path.join(
-          get_package_share_directory('plansys2_executor'),
-          'behavior_trees', 'plansys2_action_bt.xml'),
-        description='BT representing a PDDL action')
+            get_package_share_directory("plansys2_executor"),
+            "behavior_trees",
+            "plansys2_action_bt.xml",
+        ),
+        description="BT representing a PDDL action",
+    )
 
     declare_start_action_bt_file_cmd = DeclareLaunchArgument(
-        'start_action_bt_file',
+        "start_action_bt_file",
         default_value=os.path.join(
-          get_package_share_directory('plansys2_executor'),
-          'behavior_trees', 'plansys2_start_action_bt.xml'),
-        description='BT representing a PDDL start action')
+            get_package_share_directory("plansys2_executor"),
+            "behavior_trees",
+            "plansys2_start_action_bt.xml",
+        ),
+        description="BT representing a PDDL start action",
+    )
 
     declare_end_action_bt_file_cmd = DeclareLaunchArgument(
-        'end_action_bt_file',
+        "end_action_bt_file",
         default_value=os.path.join(
-          get_package_share_directory('plansys2_executor'),
-          'behavior_trees', 'plansys2_end_action_bt.xml'),
-        description='BT representing a PDDL end action')
+            get_package_share_directory("plansys2_executor"),
+            "behavior_trees",
+            "plansys2_end_action_bt.xml",
+        ),
+        description="BT representing a PDDL end action",
+    )
 
     declare_bt_builder_plugin_cmd = DeclareLaunchArgument(
         "bt_builder_plugin",
@@ -77,58 +87,72 @@ def generate_launch_description():
     )
 
     domain_expert_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(
-            get_package_share_directory('plansys2_domain_expert'),
-            'launch',
-            'domain_expert_launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("plansys2_domain_expert"),
+                "launch",
+                "domain_expert_launch.py",
+            )
+        ),
         launch_arguments={
-          'model_file': model_file,
-          'namespace': namespace,
-          'params_file': params_file
-        }.items())
+            "model_file": model_file,
+            "namespace": namespace,
+            "params_file": params_file,
+        }.items(),
+    )
 
     problem_expert_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(
-            get_package_share_directory('plansys2_problem_expert'),
-            'launch',
-            'problem_expert_launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("plansys2_problem_expert"),
+                "launch",
+                "problem_expert_launch.py",
+            )
+        ),
         launch_arguments={
-          'model_file': model_file,
-          'namespace': namespace,
-          'params_file': params_file
-        }.items())
+            "model_file": model_file,
+            "namespace": namespace,
+            "params_file": params_file,
+        }.items(),
+    )
 
     planner_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(
-            get_package_share_directory('plansys2_planner'),
-            'launch',
-            'planner_launch.py')),
-        launch_arguments={
-          'namespace': namespace,
-          'params_file': params_file
-        }.items())
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("plansys2_planner"),
+                "launch",
+                "planner_launch.py",
+            )
+        ),
+        launch_arguments={"namespace": namespace, "params_file": params_file}.items(),
+    )
 
     executor_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(
-            get_package_share_directory('plansys2_executor'),
-            'launch',
-            'executor_launch.py')),
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("plansys2_executor"),
+                "launch",
+                "executor_launch.py",
+            )
+        ),
         launch_arguments={
-          'namespace': namespace,
-          'params_file': params_file,
-          'default_action_bt_xml_filename': action_bt_file,
-          'default_start_action_bt_xml_filename': start_action_bt_file,
-          'default_end_action_bt_xml_filename': end_action_bt_file,
-          'bt_builder_plugin': bt_builder_plugin,
-        }.items())
+            "namespace": namespace,
+            "params_file": params_file,
+            "default_action_bt_xml_filename": action_bt_file,
+            "default_start_action_bt_xml_filename": start_action_bt_file,
+            "default_end_action_bt_xml_filename": end_action_bt_file,
+            "bt_builder_plugin": bt_builder_plugin,
+        }.items(),
+    )
 
     lifecycle_manager_cmd = Node(
-        package='plansys2_lifecycle_manager',
-        executable='lifecycle_manager_node',
-        name='lifecycle_manager_node',
+        package="plansys2_lifecycle_manager",
+        executable="lifecycle_manager_node",
+        name="lifecycle_manager_node",
         namespace=namespace,
-        output='screen',
-        parameters=[])
+        output="screen",
+        parameters=[],
+    )
 
     # Create the launch description and populate
     ld = LaunchDescription()