Move linters to pre-commit

.clang-format

@@ -1,17 +1,6 @@
 ---
 BasedOnStyle:  Google
 DerivePointerAlignment: false
-IncludeBlocks: Regroup
-IncludeCategories:
-  # Headers in "" with extension.
-  - Regex:  '"([A-Za-z0-9.\Q/-_\E])+"'
-    Priority: 1
-  # Headers in <> without extension.
-  - Regex:  '<([A-Za-z0-9\Q/-_\E])+>'
-    Priority: 2
-  # Headers in <> from specific external libraries.
-  - Regex:  '<(catch2|boost|rclcpp.*)\/'
-    Priority: 3
-  # Headers in <> with extension.
-  - Regex:  '<([A-Za-z0-9.\Q/-_\E])+>'
-    Priority: 4
+IncludeBlocks: Preserve
+InsertBraces: true
+---

.github/workflows/format.yaml

@@ -1,6 +1,3 @@
-# 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:
@@ -12,17 +9,6 @@ on:
 
 jobs:
   pre-commit:
-    name: pre-commit
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v6
-      - uses: actions/setup-python@v6
-      - name: Install clang-format
-        run: sudo apt-get install clang-format
-      - uses: pre-commit/action@v3.0.1
-        id: precommit
-      - name: Upload pre-commit changes
-        if: failure() && steps.precommit.outcome == 'failure'
-        uses: rhaschke/upload-git-patch-action@main
-        with:
-          name: pre-commit
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: rolling

.pre-commit-config.yaml

@@ -34,6 +34,7 @@ repos:
       - id: check-vcs-permalinks
       - id: check-yaml
         exclude: generate_parameter_library_py/generate_parameter_library_py/test
+        args: ["--allow-multiple-documents"]
       - id: debug-statements
       - id: destroyed-symlinks
       - id: detect-private-key
@@ -75,3 +76,31 @@ repos:
     rev: v3.21.2
     hooks:
       - id: pyupgrade
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        entry: ament_copyright
+        language: system
+        exclude: .*/conf\.py$

example/CMakeLists.txt

@@ -36,12 +36,6 @@ rclcpp_components_register_node(minimal_publisher
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  set(ament_cmake_cpplint_FOUND TRUE) # Conflicts with clang-foramt
-  set(ament_cmake_flake8_FOUND TRUE) # Conflicts with black
-  set(ament_cmake_uncrustify_FOUND TRUE) # Conflicts with clang-format
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
   # example_test_gtest
   add_rostest_with_parameters_gtest(test_example_gtest test/example_test_gtest.cpp

example/include/generate_parameter_library_example/example_validators.hpp

@@ -28,11 +28,11 @@
 
 #pragma once
 
+#include <fmt/core.h>
+
 #include <string>
 
 #include <rclcpp/rclcpp.hpp>
-
-#include <fmt/core.h>
 #include <tl_expected/expected.hpp>
 
 namespace custom_validators {

example/include/generate_parameter_library_example/minimal_publisher.hpp

@@ -28,6 +28,8 @@
 
 #pragma once
 
+#include <memory>
+
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
 
@@ -37,7 +39,8 @@ namespace admittance_controller {
 
 class MinimalPublisher : public rclcpp::Node {
  public:
-  MinimalPublisher(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
+  explicit MinimalPublisher(
+      const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
 
  private:
   void timer_callback();

example/package.xml

@@ -20,9 +20,6 @@
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

example/test/descriptor_test_gtest.cpp

@@ -29,13 +29,13 @@
 // Author: Chance Cardona
 //
 
+#include <limits>
+#include <memory>
+
 #include "generate_parameter_library_example/admittance_controller_parameters.hpp"
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 
-#include <limits>
-#include <memory>
-
 class DescriptorTest : public ::testing::Test {
  public:
   void SetUp() {

example/test/example_test_gmock.cpp

@@ -29,12 +29,12 @@
 // Author: Denis Štogl
 //
 
+#include <memory>
+
 #include "generate_parameter_library_example/admittance_controller_parameters.hpp"
 #include "gmock/gmock.h"
 #include "rclcpp/rclcpp.hpp"
 
-#include <memory>
-
 class ExampleTest : public ::testing::Test {
  public:
   void SetUp() {

example/test/example_test_gtest.cpp

@@ -29,12 +29,12 @@
 // Author: Denis Štogl
 //
 
+#include <memory>
+
 #include "generate_parameter_library_example/admittance_controller_parameters.hpp"
 #include "gtest/gtest.h"
 #include "rclcpp/rclcpp.hpp"
 
-#include <memory>
-
 class ExampleTest : public ::testing::Test {
  public:
   void SetUp() {

example_cmake_python/package.xml

@@ -17,9 +17,6 @@
 
   <buildtool_depend>ament_cmake_python</buildtool_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

example_external/CMakeLists.txt

@@ -50,12 +50,4 @@ install(
 ament_export_targets(export_generate_parameter_library_example_external HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp rclcpp_components generate_parameter_library_example)
 
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  set(ament_cmake_cpplint_FOUND TRUE) # Conflicts with clang-foramt
-  set(ament_cmake_flake8_FOUND TRUE) # Conflicts with black
-  set(ament_cmake_uncrustify_FOUND TRUE) # Conflicts with clang-format
-  ament_lint_auto_find_test_dependencies()
-endif()
-
 ament_package()

example_external/include/generate_parameter_library_example_external/minimal_publisher_external.hpp

@@ -1,34 +1,30 @@
 // Copyright 2025 Forssea Robotics
-//
 // All rights reserved.
 //
-// Software License Agreement (BSD License 2.0)
-//
 // Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions
-// are met:
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
 //
-//  * Redistributions of source code must retain the above copyright
-//    notice, this list of conditions and the following disclaimer.
-//  * Redistributions in binary form must reproduce the above
-//    copyright notice, this list of conditions and the following
-//    disclaimer in the documentation and/or other materials provided
-//    with the distribution.
-//  * Neither the name of the Forssea Robotics nor the names of its
-//    contributors may be used to endorse or promote products derived
-//    from this software without specific prior written permission.
+//    * Neither the name of the Forssea Robotics nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
 //
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
 #pragma once

example_external/package.xml

@@ -20,9 +20,6 @@
 
   <buildtool_export_depend>ament_cmake_core</buildtool_export_depend>
 
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

example_external/src/minimal_publisher_external.cpp

@@ -1,34 +1,30 @@
 // Copyright 2025 Forssea Robotics
-//
 // All rights reserved.
 //
-// Software License Agreement (BSD License 2.0)
-//
 // Redistribution and use in source and binary forms, with or without
-// modification, are permitted provided that the following conditions
-// are met:
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
 //
-//  * Redistributions of source code must retain the above copyright
-//    notice, this list of conditions and the following disclaimer.
-//  * Redistributions in binary form must reproduce the above
-//    copyright notice, this list of conditions and the following
-//    disclaimer in the documentation and/or other materials provided
-//    with the distribution.
-//  * Neither the name of the Forssea Robotics nor the names of its
-//    contributors may be used to endorse or promote products derived
-//    from this software without specific prior written permission.
+//    * Neither the name of the Forssea Robotics nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
 //
-// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
 #include "generate_parameter_library_example_external/minimal_publisher_external.hpp"

example_python/package.xml

@@ -15,9 +15,6 @@
   <depend>generate_parameter_library_py</depend>
   <depend>rclpy</depend>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <export>

example_python/setup.py

@@ -1,3 +1,33 @@
+#!/usr/bin/env python3
+
+# Copyright 2023 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
 import sys
 
 from setuptools import setup