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rules:
- id: use-nav2-node
patterns:
- pattern-regex: "rclcpp::Node(?!Options)\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::Node"
message: "Use nav2::Node instead of rclcpp::Node"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-client
patterns:
- pattern-regex: "rclcpp::Client\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::Client"
message: "Use nav2::ServiceClient<T> instead of rclcpp::Client<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-service
patterns:
- pattern-regex: "rclcpp::Service\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::Service"
message: "Use nav2::ServiceServer<T> instead of rclcpp::Service<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-publisher
patterns:
- pattern-regex: "rclcpp::Publisher\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::Publisher"
message: "Use nav2::Publisher<T> instead of rclcpp::Publisher<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-subscription
patterns:
- pattern-regex: "rclcpp::Subscription\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::Subscription"
message: "Use nav2::Subscription<T> instead of rclcpp::Subscription<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-action-client
patterns:
- pattern-regex: "rclcpp_action::Client\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp_action::Client"
message: "Use nav2::ActionClient<T> instead of rclcpp_action::Client<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-action-server
patterns:
- pattern-regex: "rclcpp_action::Server\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp_action::Server"
message: "Use nav2::SimpleActionServer<T> instead of rclcpp_action::Server<T>"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-create-client
patterns:
- pattern-regex: "rclcpp::create_client\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::create_client"
message: "Use nav2 lifecycle node create_client instead of rclcpp::create_client"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-create-service
patterns:
- pattern-regex: "rclcpp::create_service\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::create_service"
message: "Use nav2 lifecycle node create_service instead of rclcpp::create_service"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-create-publisher
patterns:
- pattern-regex: "rclcpp::create_publisher\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::create_publisher"
message: "Use nav2 lifecycle node create_publisher instead of rclcpp::create_publisher"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-create-subscription
patterns:
- pattern-regex: "rclcpp::create_subscription\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp::create_subscription"
message: "Use nav2 lifecycle node create_subscription instead of rclcpp::create_subscription"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-action-create-client
patterns:
- pattern-regex: "rclcpp_action::create_client\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp_action::create_client"
message: "Use nav2 action client factories instead of rclcpp_action::create_client"
severity: WARNING
languages: [cpp]
- id: detect-rclcpp-action-create-server
patterns:
- pattern-regex: "rclcpp_action::create_server\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*rclcpp_action::create_server"
message: "Use nav2 action server factories instead of rclcpp_action::create_server"
severity: WARNING
languages: [cpp]
- id: detect-tf2-buffer
patterns:
- pattern-regex: "tf2_ros::Buffer\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::Buffer"
message: "Use nav2::TransformBuffer instead of tf2_ros::Buffer"
severity: WARNING
languages: [cpp]
- id: detect-tf2-transform-listener
patterns:
- pattern-regex: "tf2_ros::TransformListener\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::TransformListener"
message: "Use nav2::TransformListener instead of tf2_ros::TransformListener"
severity: WARNING
languages: [cpp]
- id: detect-tf2-transform-broadcaster
patterns:
- pattern-regex: "tf2_ros::TransformBroadcaster\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::TransformBroadcaster"
message: "Use nav2::TransformBroadcaster instead of tf2_ros::TransformBroadcaster"
severity: WARNING
languages: [cpp]
- id: detect-tf2-static-transform-broadcaster
patterns:
- pattern-regex: "tf2_ros::StaticTransformBroadcaster\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::StaticTransformBroadcaster"
message: "Use nav2::StaticTransformBroadcaster instead of tf2_ros::StaticTransformBroadcaster"
severity: WARNING
languages: [cpp]
- id: detect-tf2-message-filter
patterns:
- pattern-regex: "tf2_ros::MessageFilter\\s*<"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::MessageFilter"
message: "Use nav2::MessageFilter<T> instead of tf2_ros::MessageFilter<T>"
severity: WARNING
languages: [cpp]
- id: detect-tf2-create-timer-ros
patterns:
- pattern-regex: "tf2_ros::CreateTimerROS\\b"
- pattern-not-regex: "^\\s*//.*"
- pattern-not-regex: ".*//.*tf2_ros::CreateTimerROS"
message: "Use nav2::create_transform_buffer() instead of tf2_ros::CreateTimerROS"
severity: WARNING
languages: [cpp]