style(pre-commit): autofix

autowarefoundation · Dec 26, 2024 · 7c4a6e9 · 7c4a6e9
1 parent 4f42e33
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Showing 104 changed files with 271 additions and 248 deletions.
diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
@@ -15,16 +15,6 @@
 #ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
 #define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
 
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int32_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int64_multi_array_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/int64_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
@@ -51,7 +41,8 @@ struct is_debug_message<autoware_internal_debug_msgs::msg::BoolStamped> : std::t
 };
 
 template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>
+: std::true_type
 {
 };
 
@@ -61,7 +52,8 @@ struct is_debug_message<autoware_internal_debug_msgs::msg::Float32Stamped> : std
 };
 
 template <>
-struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped> : std::true_type
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped>
+: std::true_type
 {
 };
 

diff --git a/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
@@ -25,6 +25,7 @@
 #include <pcl_ros/transforms.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <autoware_planning_msgs/msg/trajectory.hpp>
 #include <autoware_system_msgs/msg/autoware_state.hpp>
@@ -33,7 +34,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
-#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
 #include <visualization_msgs/msg/marker.hpp>
@@ -348,7 +348,8 @@ class AEB : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr virtual_wall_publisher_;
   rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
     debug_processing_time_detail_pub_;
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr debug_rss_distance_publisher_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32Stamped>::SharedPtr
+    debug_rss_distance_publisher_;
   rclcpp::Publisher<MetricArray>::SharedPtr metrics_pub_;
   // timer
   rclcpp::TimerBase::SharedPtr timer_;

diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp
@@ -48,8 +48,8 @@ ControlValidator::ControlValidator(const rclcpp::NodeOptions & options)
 
   pub_markers_ = create_publisher<visualization_msgs::msg::MarkerArray>("~/output/markers", 1);
 
-  pub_processing_time_ =
-    this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  pub_processing_time_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 
   debug_pose_publisher_ = std::make_shared<ControlValidatorDebugMarkerPublisher>(this);
 

diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml
@@ -14,6 +14,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_adapi_v1_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_motion_utils</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/...mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp
@@ -26,13 +26,13 @@
 #include <diagnostic_updater/diagnostic_updater.hpp>
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "geometry_msgs/msg/pose.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
-#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp"
 
 #include <deque>
 #include <memory>
@@ -45,11 +45,11 @@ namespace autoware::motion::control::mpc_lateral_controller
 
 namespace trajectory_follower = ::autoware::motion::control::trajectory_follower;
 using autoware_control_msgs::msg::Lateral;
+using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
+using autoware_internal_debug_msgs::msg::Float32Stamped;
 using autoware_planning_msgs::msg::Trajectory;
 using autoware_vehicle_msgs::msg::SteeringReport;
 using nav_msgs::msg::Odometry;
-using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped;
-using autoware_internal_debug_msgs::msg::Float32Stamped;
 using trajectory_follower::LateralHorizon;
 
 class MpcLateralController : public trajectory_follower::LateralControllerBase

diff --git a/...l_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/...l_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp
@@ -34,11 +34,11 @@
 
 #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp"
 #include "autoware_control_msgs/msg/longitudinal.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "tf2_msgs/msg/tf_message.hpp"
-#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 
 #include <deque>
@@ -98,8 +98,10 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro
   rclcpp::Clock::SharedPtr clock_;
   rclcpp::Logger logger_;
   // ros variables
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_slope;
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr m_pub_debug;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    m_pub_slope;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    m_pub_debug;
   rclcpp::Publisher<MarkerArray>::SharedPtr m_pub_virtual_wall_marker;
 
   rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr m_set_param_res;

diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml
@@ -21,6 +21,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
@@ -37,7 +38,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...e_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp b/...e_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
@@ -42,11 +42,11 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
@@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase
 
   // Debug Publisher
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_values_;
   // Predicted Trajectory publish
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;
 

diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
   // Debug Publishers
   pub_debug_marker_ =
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
-  pub_debug_values_ = node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
-    "~/debug/ld_outputs", rclcpp::QoS{1});
+  pub_debug_values_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+      "~/debug/ld_outputs", rclcpp::QoS{1});
 
   // Publish predicted trajectory
   pub_predicted_trajectory_ = node.create_publisher<autoware_planning_msgs::msg::Trajectory>(

diff --git a/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py
@@ -21,6 +21,9 @@
 
 from autoware_adapi_v1_msgs.msg import OperationModeState
 from autoware_control_msgs.msg import Control
+from autoware_internal_debug_msgs.msg import BoolStamped
+from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
+from autoware_internal_debug_msgs.msg import Float32Stamped
 from autoware_planning_msgs.msg import Trajectory
 from autoware_planning_msgs.msg import TrajectoryPoint
 from autoware_smart_mpc_trajectory_follower.scripts import drive_controller
@@ -43,9 +46,6 @@
 from scipy.spatial.transform import Rotation as R
 from scipy.spatial.transform import Slerp
 from std_msgs.msg import String
-from autoware_internal_debug_msgs.msg import BoolStamped
-from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped
-from autoware_internal_debug_msgs.msg import Float32Stamped
 from visualization_msgs.msg import Marker
 from visualization_msgs.msg import MarkerArray
 

diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml
@@ -21,6 +21,7 @@
 
   <depend>autoware_adapi_v1_msgs</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_interpolation</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_osqp_interface</depend>
@@ -37,7 +38,6 @@
   <depend>std_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>

diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml
@@ -19,6 +19,7 @@
   <depend>autoware_component_interface_specs</depend>
   <depend>autoware_component_interface_utils</depend>
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
@@ -30,7 +31,6 @@
   <depend>std_srvs</depend>
   <depend>tier4_api_utils</depend>
   <depend>tier4_control_msgs</depend>
-  <depend>autoware_internal_debug_msgs</depend>
   <depend>tier4_external_api_msgs</depend>
   <depend>tier4_system_msgs</depend>
   <depend>tier4_vehicle_msgs</depend>

diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
@@ -77,8 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options)
   engage_pub_ = create_publisher<EngageMsg>("output/engage", durable_qos);
   pub_external_emergency_ = create_publisher<Emergency>("output/external_emergency", durable_qos);
   operation_mode_pub_ = create_publisher<OperationModeState>("output/operation_mode", durable_qos);
-  processing_time_pub_ =
-    this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  processing_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
 
   is_filter_activated_pub_ =
     create_publisher<IsFilterActivated>("~/is_filter_activated", durable_qos);

diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
@@ -32,6 +32,8 @@
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
 #include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_vehicle_msgs/msg/engage.hpp>
 #include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
@@ -41,8 +43,6 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <std_srvs/srv/trigger.hpp>
 #include <tier4_control_msgs/msg/gate_mode.hpp>
-#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/msg/heartbeat.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
@@ -62,6 +62,7 @@ using autoware_adapi_v1_msgs::msg::MrmState;
 using autoware_adapi_v1_msgs::msg::OperationModeState;
 using autoware_control_msgs::msg::Control;
 using autoware_control_msgs::msg::Longitudinal;
+using autoware_internal_debug_msgs::msg::BoolStamped;
 using autoware_vehicle_cmd_gate::msg::IsFilterActivated;
 using autoware_vehicle_msgs::msg::GearCommand;
 using autoware_vehicle_msgs::msg::HazardLightsCommand;
@@ -70,7 +71,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
 using std_srvs::srv::Trigger;
 using tier4_control_msgs::msg::GateMode;
-using autoware_internal_debug_msgs::msg::BoolStamped;
 using tier4_external_api_msgs::msg::Emergency;
 using tier4_external_api_msgs::msg::Heartbeat;
 using tier4_external_api_msgs::srv::SetEmergency;
@@ -116,7 +116,8 @@ class VehicleCmdGate : public rclcpp::Node
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr filter_activated_marker_raw_pub_;
   rclcpp::Publisher<BoolStamped>::SharedPtr filter_activated_flag_pub_;
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_pub_;
   // Parameter callback
   OnSetParametersCallbackHandle::SharedPtr set_param_res_;
   rcl_interfaces::msg::SetParametersResult onParameter(

diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml
@@ -25,6 +25,7 @@
   <build_depend>builtin_interfaces</build_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_signal_processing</depend>
@@ -41,7 +42,6 @@
   <depend>tf2</depend>
   <depend>tf2_eigen</depend>
   <depend>tf2_ros</depend>
-  <depend>autoware_internal_debug_msgs</depend>
   <exec_depend>autoware_global_parameter_loader</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>

diff --git a/control/control_performance_analysis/scripts/control_performance_plot.py b/control/control_performance_analysis/scripts/control_performance_plot.py
@@ -17,13 +17,13 @@
 import argparse
 import math
 
+from autoware_internal_debug_msgs.msg import BoolStamped
 from control_performance_analysis.msg import DrivingMonitorStamped
 from control_performance_analysis.msg import ErrorStamped
 import matplotlib.pyplot as plt
 from nav_msgs.msg import Odometry
 import rclpy
 from rclpy.node import Node
-from autoware_internal_debug_msgs.msg import BoolStamped
 
 parser = argparse.ArgumentParser()
 parser.add_argument("-i", "--interval", help="interval distance to plot")

diff --git a/.../autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/.../autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
@@ -25,9 +25,9 @@
 #include <rclcpp/rclcpp.hpp>
 
 #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <nav_msgs/msg/odometry.hpp>
-#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
 
@@ -85,7 +85,8 @@ class ControlEvaluatorNode : public rclcpp::Node
     LaneletMapBin, autoware::universe_utils::polling_policy::Newest>
     vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()};
 
-  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr processing_time_pub_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
+    processing_time_pub_;
   rclcpp::Publisher<MetricArrayMsg>::SharedPtr metrics_pub_;
 
   // update Route Handler

diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp
@@ -34,8 +34,8 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti
   using std::placeholders::_1;
 
   // Publisher
-  processing_time_pub_ =
-    this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("~/debug/processing_time_ms", 1);
+  processing_time_pub_ = this->create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
+    "~/debug/processing_time_ms", 1);
   metrics_pub_ = create_publisher<MetricArrayMsg>("~/metrics", 1);
 
   // Parameters