Fix clang-tidy wanrings

moveit_core/collision_detection_fcl/src/collision_common.cpp

@@ -167,8 +167,10 @@ bool collisionCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, voi
     return false;
 
   if (cdata->req_->verbose)
+  {
     RCLCPP_DEBUG(getLogger(), "Actually checking collisions between %s and %s", cd1->getID().c_str(),
                  cd2->getID().c_str());
+  }
 
   // see if we need to compute a contact
   std::size_t want_contact_count{ 0 };
@@ -534,8 +536,10 @@ bool distanceCallback(fcl::CollisionObjectd* o1, fcl::CollisionObjectd* o2, void
     return false;
   }
   if (cdata->req->verbose)
+  {
     RCLCPP_DEBUG(getLogger(), "Actually checking collisions between %s and %s", cd1->getID().c_str(),
                  cd2->getID().c_str());
+  }
 
   double dist_threshold = cdata->req->distance_threshold;
 

moveit_core/robot_state/src/conversions.cpp

@@ -359,8 +359,10 @@ void msgToAttachedBody(const Transforms* tf, const moveit_msgs::msg::AttachedCol
   else if (aco.object.operation == moveit_msgs::msg::CollisionObject::REMOVE)
   {
     if (!state.clearAttachedBody(aco.object.id))
+    {
       RCLCPP_ERROR(getLogger(), "The attached body '%s' can not be removed because it does not exist",
                    aco.link_name.c_str());
+    }
   }
   else
     RCLCPP_ERROR(getLogger(), "Unknown collision object operation: %d", aco.object.operation);

moveit_core/utils/include/moveit/utils/moveit_error_code.h

@@ -79,7 +79,7 @@ class MoveItErrorCode : public moveit_msgs::msg::MoveItErrorCodes
    @param error_code Error code to be translated to a string
    @return Error code string
  */
-inline std::string errorCodeToString(MoveItErrorCode error_code)
+inline std::string errorCodeToString(const MoveItErrorCode& error_code)
 {
   switch (error_code.val)
   {

moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp

@@ -58,9 +58,10 @@
 #include <sstream>
 
 static void publishOctomap(const rclcpp::Publisher<octomap_msgs::msg::Octomap>::SharedPtr& octree_binary_pub,
-                           occupancy_map_monitor::OccupancyMapMonitor& server, rclcpp::Logger logger)
+                           occupancy_map_monitor::OccupancyMapMonitor& server)
 {
   octomap_msgs::msg::Octomap map;
+  const auto logger = moveit::getLogger("occupancy_map_monitor");
 
   map.header.frame_id = server.getMapFrame();
   map.header.stamp = rclcpp::Clock().now();
@@ -100,9 +101,8 @@ int main(int argc, char** argv)
   std::shared_ptr<tf2_ros::Buffer> buffer = std::make_shared<tf2_ros::Buffer>(clock_ptr, tf2::durationFromSec(5.0));
   tf2_ros::TransformListener listener(*buffer, node, false /* spin_thread - disables executor */);
   occupancy_map_monitor::OccupancyMapMonitor server(node, buffer);
-  server.setUpdateCallback([&octree_binary_pub, &server, logger = node->get_logger()] {
-    return publishOctomap(octree_binary_pub, server, logger);
-  });
+  server.setUpdateCallback(
+      [&octree_binary_pub, &server, logger = node->get_logger()] { return publishOctomap(octree_binary_pub, server); });
   server.startMonitor();
 
   rclcpp::spin(node);

moveit_ros/planning/planning_pipeline_interfaces/src/planning_pipeline_interfaces.cpp

@@ -44,10 +44,9 @@ namespace moveit
 namespace planning_pipeline_interfaces
 {
 
-rclcpp::Logger get_logger()
+rclcpp::Logger getLogger()
 {
-  static rclcpp::Logger logger = moveit::getLogger("planning_pipeline_interfaces");
-  return logger;
+  return moveit::getLogger("planning_pipeline_interfaces");
 }
 
 ::planning_interface::MotionPlanResponse
@@ -59,7 +58,7 @@ planWithSinglePipeline(const ::planning_interface::MotionPlanRequest& motion_pla
   auto it = planning_pipelines.find(motion_plan_request.pipeline_id);
   if (it == planning_pipelines.end())
   {
-    RCLCPP_ERROR(get_logger(), "No planning pipeline available for name '%s'", motion_plan_request.pipeline_id.c_str());
+    RCLCPP_ERROR(getLogger(), "No planning pipeline available for name '%s'", motion_plan_request.pipeline_id.c_str());
     motion_plan_response.error_code = moveit::core::MoveItErrorCode::FAILURE;
     return motion_plan_response;
   }
@@ -88,7 +87,7 @@ const std::vector<::planning_interface::MotionPlanResponse> planWithParallelPipe
   const auto hardware_concurrency = std::thread::hardware_concurrency();
   if (motion_plan_requests.size() > hardware_concurrency && hardware_concurrency != 0)
   {
-    RCLCPP_WARN(get_logger(),
+    RCLCPP_WARN(getLogger(),
                 "More parallel planning problems defined ('%ld') than possible to solve concurrently with the "
                 "hardware ('%d')",
                 motion_plan_requests.size(), hardware_concurrency);
@@ -106,7 +105,7 @@ const std::vector<::planning_interface::MotionPlanResponse> planWithParallelPipe
       }
       catch (const std::exception& e)
       {
-        RCLCPP_ERROR(get_logger(), "Planning pipeline '%s' threw exception '%s'", request.pipeline_id.c_str(), e.what());
+        RCLCPP_ERROR(getLogger(), "Planning pipeline '%s' threw exception '%s'", request.pipeline_id.c_str(), e.what());
         plan_solution = ::planning_interface::MotionPlanResponse();
         plan_solution.error_code = moveit::core::MoveItErrorCode::FAILURE;
       }
@@ -118,7 +117,7 @@ const std::vector<::planning_interface::MotionPlanResponse> planWithParallelPipe
         if (stopping_criterion_callback(plan_responses_container, motion_plan_requests))
         {
           // Terminate planning pipelines
-          RCLCPP_INFO(get_logger(), "Stopping criterion met: Terminating planning pipelines that are still active");
+          RCLCPP_INFO(getLogger(), "Stopping criterion met: Terminating planning pipelines that are still active");
           for (const auto& request : motion_plan_requests)
           {
             try
@@ -131,7 +130,7 @@ const std::vector<::planning_interface::MotionPlanResponse> planWithParallelPipe
             }
             catch (const std::out_of_range&)
             {
-              RCLCPP_WARN(get_logger(), "Cannot terminate pipeline '%s' because no pipeline with that name exists",
+              RCLCPP_WARN(getLogger(), "Cannot terminate pipeline '%s' because no pipeline with that name exists",
                           request.pipeline_id.c_str());
             }
           }
@@ -174,7 +173,7 @@ createPlanningPipelineMap(const std::vector<std::string>& pipeline_names,
     // Check if pipeline already exists
     if (planning_pipelines.count(planning_pipeline_name) > 0)
     {
-      RCLCPP_WARN(get_logger(), "Skipping duplicate entry for planning pipeline '%s'.", planning_pipeline_name.c_str());
+      RCLCPP_WARN(getLogger(), "Skipping duplicate entry for planning pipeline '%s'.", planning_pipeline_name.c_str());
       continue;
     }
 
@@ -184,7 +183,7 @@ createPlanningPipelineMap(const std::vector<std::string>& pipeline_names,
 
     if (!pipeline->getPlannerManager())
     {
-      RCLCPP_ERROR(get_logger(), "Failed to initialize planning pipeline '%s'.", planning_pipeline_name.c_str());
+      RCLCPP_ERROR(getLogger(), "Failed to initialize planning pipeline '%s'.", planning_pipeline_name.c_str());
       continue;
     }
 

moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp

@@ -1341,7 +1341,9 @@ MoveGroupInterface::~MoveGroupInterface()
 }
 
 MoveGroupInterface::MoveGroupInterface(MoveGroupInterface&& other) noexcept
-  : remembered_joint_values_(std::move(other.remembered_joint_values_)), impl_(other.impl_), logger_(other.logger_)
+  : remembered_joint_values_(std::move(other.remembered_joint_values_))
+  , impl_(other.impl_)
+  , logger_(std::move(other.logger_))
 {
   other.impl_ = nullptr;
 }

moveit_ros/warehouse/src/save_as_text.cpp

@@ -57,7 +57,7 @@ typedef std::pair<geometry_msgs::msg::Point, geometry_msgs::msg::Quaternion> Lin
 typedef std::map<std::string, LinkConstraintPair> LinkConstraintMap;
 
 void collectLinkConstraints(const moveit_msgs::msg::Constraints& constraints, LinkConstraintMap& lcmap,
-                            rclcpp::Logger logger)
+                            const rclcpp::Logger& logger)
 {
   for (const moveit_msgs::msg::PositionConstraint& position_constraint : constraints.position_constraints)
   {