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[ROS2][refact] Synchronize with master

Tong Fu requested to merge ROS2/refact/UpdateToMaster into feat/ROS2


Update feat/ROS2 branch w.r.t master branch so that the content of the slam_lib is exactly the same.


  • Minor style issue in slam_lib
  • Fix variable type: unsigned int NbLaserRings, int nbLasers
  • Fix several errors
  • Add missing display of IMU information when slam launch
  • Update documentation


  • Camel case everywhere except for ROS variables/parameters
  • Lower case for local variables and lambda functions
  • Upper case for pour members, methods and tool functions (in Utils)
  • Precise namespace when calling a function (or this->X or classe.X)
  • Align code (for multiline if and while, "&&" or "||" go in upper line to ensure alignement)
  • Space between if, while, for and parenthesis
  • Space between operators and variables: e.g. a + b
  • Space after ","
  • Mind your commit titles/desc (plurals, he/she + "s", correct tags, title should begin by a verb...)
  • Function names should start with a verb, variable names should start with a name
  • Macros should be between {}
  • Do not use negative boolean (i.e. noJoe)
  • Check minimal size of the types (double -> float -> int -> uint)
  • Check const and ref in functions arguments
  • References should be written "type& name", not "type &name"
  • Update documentation if needed
  • Add MR labels [ROS]/[ROS2]/[PV]
  • If ros/ros2, update task table here
  • Add a comment over each non trivial function in header files
  • Adda header to each new file

What remains to solve

  • this
  • this
  • that
Edited by Tong Fu

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