Development

.clang-format

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+---
+BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
+AccessModifierOffset: -2
+ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
+AlignEscapedNewlinesLeft: false
+AlignTrailingComments: true
+
+AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
+AllowShortIfStatementsOnASingleLine: false
+AllowShortLoopsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
+AlwaysBreakTemplateDeclarations: true
+AlwaysBreakBeforeMultilineStrings: false
+BreakBeforeBinaryOperators: false
+BreakBeforeTernaryOperators: false
+BreakConstructorInitializersBeforeComma: true
+
+BinPackParameters: true
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+DerivePointerBinding: false
+PointerBindsToType: true
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
+PenaltyBreakString: 100
+PenaltyReturnTypeOnItsOwnLine: 50
+
+SpacesBeforeTrailingComments: 2
+SpacesInParentheses: false
+SpacesInAngles:  false
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
+SpaceAfterControlStatementKeyword: true
+SpaceBeforeAssignmentOperators: true
+
+# Configure each individual brace in BraceWrapping
+BreakBeforeBraces: Custom
+
+# Qualifiers (const, volatile, static, etc)
+QualifierAlignment: Custom
+QualifierOrder: ['static', 'inline', 'constexpr', 'const', 'volatile', 'type']
+
+# Control of individual brace wrapping cases
+BraceWrapping:
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
+...

.clang-tidy

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+---
+Checks:          '-*,
+                  performance-*,
+                  llvm-namespace-comment,
+                  modernize-redundant-void-arg,
+                  modernize-use-nullptr,
+                  modernize-use-default,
+                  modernize-use-override,
+                  modernize-loop-convert,
+                  modernize-make-shared,
+                  modernize-make-unique,
+                  modernize-avoid-bind,
+                  misc-unused-parameters,
+                  readability-braces-around-statements,
+                  readability-named-parameter,
+                  readability-redundant-smartptr-get,
+                  readability-redundant-string-cstr,
+                  readability-simplify-boolean-expr,
+                  readability-container-size-empty,
+                  readability-identifier-naming,
+                  readability-static-definition-in-anonymous-namespace,
+                  '
+HeaderFilterRegex: ''
+AnalyzeTemporaryDtors: false
+CheckOptions:
+  - key:             llvm-namespace-comment.ShortNamespaceLines
+    value:           '10'
+  - key:             llvm-namespace-comment.SpacesBeforeComments
+    value:           '2'
+  - key:             misc-unused-parameters.StrictMode
+    value:           '1'
+  - key:             readability-braces-around-statements.ShortStatementLines
+    value:           '2'
+  # type names
+  - key:             readability-identifier-naming.ClassCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.EnumCase
+    value:           CamelCase
+  - key:             readability-identifier-naming.UnionCase
+    value:           CamelCase
+  # function names
+  - key:             readability-identifier-naming.FunctionCase
+    value:           camelBack
+  # method names
+  - key:             readability-identifier-naming.MethodCase
+    value:           camelBack
+  # variable names
+  - key:             readability-identifier-naming.VariableCase
+    value:           lower_case
+  - key:             readability-identifier-naming.ProtectedMemberSuffix
+    value:           '_'
+  - key:             readability-identifier-naming.PrivateMemberSuffix
+    value:           '_'
+  # const static or global variables are UPPER_CASE
+  - key:             readability-identifier-naming.EnumConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.StaticVariableCasePrefix
+    value:           's_'
+  - key:             readability-identifier-naming.StaticConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.GlobalConstantCase
+    value:           UPPER_CASE
+  - key:             readability-identifier-naming.ClassConstantCase
+    value:           UPPER_CASE
+...

.codespell_words

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+ang
+ans
+atleast
+ba
+dof
+dur
+iff
+keyserver
+nto
+ot
+parameterizes
+planed
+tork
+uint
+whis
+sinic
+padd
+brin
+aas

.github/workflows/industrial_ci.yml

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+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [testing, main]
+        UPSTREAM_WORKSPACE: [moveit_middleware_benchmark.repos]
+        UPSTREAM_CMAKE_ARGS: [-DCMAKE_BUILD_TYPE=Release --packages-skip test_dynmsg dynmsg_demo]
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+          UPSTREAM_WORKSPACE: ${{ matrix.UPSTREAM_WORKSPACE }}
+          UPSTREAM_CMAKE_ARGS: ${{ matrix.UPSTREAM_CMAKE_ARGS }}

.gitignore

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+*~
+~$
+.swp$
+
+# colcon
+build/
+install/
+log/
+
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/.*Action\.msg$
+msg/.*ActionFeedback\.msg$
+msg/.*ActionGoal\.msg$
+msg/.*ActionResult\.msg$
+msg/.*Feedback\.msg$
+msg/.*Goal\.msg$
+msg/.*Result\.msg$
+msg/_.*\.py$
+
+\.pcd$
+.pyc$
+
+# Generated by dynamic reconfigure
+\.cfgc$
+/cfg/cpp/
+/cfg/.*\.py$
+
+# Ignore generated docs
+.dox$
+.wikidoc$
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_.*\.py$
+\.pcd$
+.pyc$
+qtcreator-*
+*.user
+
+*~$
+
+# Emacs
+.#*
+
+# VSCode
+.vscode
+
+# Vim
+*.swp
+
+# Continuous Integration
+.moveit_ci
+
+*.pyc
+
+#gdb
+*.gdb
+
+_build
+_autosummary
+
+# VSCode Devcontainer
+.devcontainer
+
+# clangd
+.cache
+
+# source dependencies (see moveit2.repos)
+moveit_msgs
+moveit_resources

.pre-commit-config.yaml

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+# 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: v4.5.0
+    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: 23.10.0
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-14
+        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: v2.2.6
+    hooks:
+      - id: codespell
+        args: ['--write-changes', '--ignore-words=.codespell_words', '--skip="*.eps"']
+        exclude: CHANGELOG.rst
+
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+        args:
+          - "--disabled-codes=C0301" # Disable Line too long lint
+          - "--suppress-decorations"

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(moveit_middleware_benchmark)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(moveit_ros_planning_interface REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(benchmark REQUIRED)
+find_package(dynmsg REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+add_executable(
+  scenario_perception_pipeline_benchmark_main
+  src/scenario_perception_pipeline_benchmark_main.cpp
+  src/scenarios/scenario_perception_pipeline.cpp)
+
+ament_target_dependencies(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC
+  "moveit_ros_planning_interface"
+  "rclcpp"
+  "benchmark"
+  "dynmsg"
+  "nav_msgs"
+  "yaml-cpp")
+
+target_include_directories(
+  scenario_perception_pipeline_benchmark_main
+  PUBLIC $<INSTALL_INTERFACE:include>
+         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+
+target_link_libraries(scenario_perception_pipeline_benchmark_main
+                      PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
+
+install(TARGETS scenario_perception_pipeline_benchmark_main
+        DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch config DESTINATION share/${PROJECT_NAME})
+
+ament_package()