Enable cpplint and copyright linters

navmap_core/CMakeLists.txt

@@ -38,8 +38,10 @@ install(TARGETS
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  set(ament_cmake_copyright_FOUND TRUE)
-  set(ament_cmake_cpplint_FOUND TRUE)
+  # Humble's ament_copyright does not recognize the license with the EasyNav line in the header
+  if("$ENV{ROS_DISTRO}" STREQUAL "humble")
+    list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_copyright)
+  endif()
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)

navmap_core/include/navmap_core/Geometry.hpp

@@ -26,14 +26,15 @@
  *  - Closest point on triangle and point–triangle distance.
  */
 
-#ifndef NAVMAP_CORE__GEOMETRY_HPP
-#define NAVMAP_CORE__GEOMETRY_HPP
+#ifndef NAVMAP_CORE__GEOMETRY_HPP_
+#define NAVMAP_CORE__GEOMETRY_HPP_
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <limits>
 #include <cmath>
 #include <algorithm>
+#include <utility>
 
 namespace navmap
 {
@@ -376,4 +377,4 @@ inline float point_triangle_squared_distance(
 
 }  // namespace navmap
 
-#endif  // NAVMAP_CORE__GEOMETRY_HPP
+#endif  // NAVMAP_CORE__GEOMETRY_HPP_

navmap_core/include/navmap_core/NavMap.hpp

@@ -1,25 +1,20 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3.0, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
-#ifndef NAVMAP_CORE__NAVMAP_HPP
-#define NAVMAP_CORE__NAVMAP_HPP
+#ifndef NAVMAP_CORE__NAVMAP_HPP_
+#define NAVMAP_CORE__NAVMAP_HPP_
 
 /**
  * \file
@@ -50,8 +45,9 @@
 #include <type_traits>
 #include <deque>
 #include <algorithm>
+#include <utility>
 
-#include <Eigen/Core>
+#include "Eigen/Core"
 #include "navmap_core/Geometry.hpp"
 
 namespace navmap
@@ -881,7 +877,7 @@ class NavMap
     auto src_base = layers.get(src);
     auto src_view = std::dynamic_pointer_cast<LayerView<T>>(src_base);
     if (!src_view) {
-      return false; // source layer missing or wrong type
+      return false;  // source layer missing or wrong type
     }
 
     // Ensure destination exists with correct length (navcels.size())
@@ -906,7 +902,7 @@ class NavMap
     // Hash-based skip: O(1) if cached, O(n) only on first compute (then cached)
     const bool same_hash = (src_view->content_hash() == dst_view->content_hash());
     if (same_hash) {
-      return true; // identical content → avoid copy
+      return true;  // identical content → avoid copy
     }
 
     // Copy only when different. set_data() marks hash as dirty for dst.
@@ -1193,4 +1189,4 @@ inline bool NavMap::locate_navcel(
 
 }  // namespace navmap
 
-#endif  // NAVMAP_CORE__NAVMAP_HPP
+#endif  // NAVMAP_CORE__NAVMAP_HPP_

navmap_core/src/navmap_core/NavMap.cpp

@@ -42,7 +42,7 @@ inline std::uint64_t fnv1a64(
   }
   return h;
 }
-} // namespace
+}  // namespace
 
 NavMap::NavMap()
 {
@@ -696,7 +696,7 @@ bool NavMap::locate_navcel_core(
       const Vec3 c = positions.at(tri.v[2]);
       Vec3 bary_tmp;
       if (!point_in_triangle_bary(h.p, a, b, c, bary_tmp, opts.planar_eps)) {
-        continue; // numerical guard
+        continue;  // numerical guard
       }
       if (dz < best_dz) {
         best_dz = dz;

navmap_core/tests/test_geometry.cpp

@@ -17,7 +17,11 @@
 #include <Eigen/Core>
 #include "navmap_core/Geometry.hpp"
 
-using namespace navmap;
+using navmap::AABB;
+using navmap::Vec3;
+using navmap::ray_triangle_intersect;
+using navmap::triangle_area;
+using navmap::triangle_normal;
 
 static constexpr float kEps = 1e-6f;
 

navmap_core/tests/test_locate_grid.cpp

@@ -16,7 +16,9 @@
 #include <gtest/gtest.h>
 #include "navmap_core/NavMap.hpp"
 
-using namespace navmap;
+using navmap::NavCelId;
+using navmap::NavMap;
+using navmap::Surface;
 
 TEST(NavMap_LocateGrid, MultiFloorsChoosesClosestByDz)
 {
@@ -46,6 +48,6 @@ TEST(NavMap_LocateGrid, MultiFloorsChoosesClosestByDz)
   size_t sidx; NavCelId cid; Eigen::Vector3f bary; Eigen::Vector3f hit;
   bool ok = nm.locate_navcel(p, sidx, cid, bary, &hit);
   ASSERT_TRUE(ok);
-  EXPECT_EQ(sidx, 1u); // should pick upper floor
+  EXPECT_EQ(sidx, 1u);  // should pick upper floor
   EXPECT_NEAR(hit.z(), 3.0f, 1e-6);
 }

navmap_core/tests/test_navmap.cpp

@@ -23,7 +23,11 @@
 
 #include "navmap_core/NavMap.hpp"
 
-using namespace navmap;
+using navmap::LayerType;
+using navmap::LayerView;
+using navmap::NavCelId;
+using navmap::NavMap;
+using navmap::PointId;
 
 namespace
 {

navmap_core/tests/test_navmap_assign.cpp

@@ -1,22 +1,17 @@
 // Copyright 2025 Intelligent Robotics Lab
 //
 // This file is part of the project Easy Navigation (EasyNav in short)
-// licensed under the GNU General Public License v3.0.
-// See <http://www.gnu.org/licenses/> for details.
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
 //
-// Easy Navigation program is free software: you can redistribute it and/or modify
-// it under the terms of the GNU General Public License as published by
-// the Free Software Foundation, either version 3.0, or
-// (at your option) any later version.
+//     http://www.apache.org/licenses/LICENSE-2.0
 //
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU General Public License
-// along with this program. If not, see <http://www.gnu.org/licenses/>.
-
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
 
 #include <gtest/gtest.h>
 #include <cstdint>
@@ -25,7 +20,9 @@
 
 #include "navmap_core/NavMap.hpp"
 
-using namespace navmap;
+using navmap::LayerView;
+using navmap::NavMap;
+using navmap::layer_type_tag;
 
 namespace
 {
@@ -44,7 +41,7 @@ void fill_one_tri_map(NavMap & m)
     auto occ = m.layers.add_or_get<uint8_t>("occ", 1, layer_type_tag<uint8_t>());
     auto & v = occ->mutable_data();
     v.resize(1);
-    v[0] = 254; // occupied (black)
+    v[0] = 254;  // occupied (black)
     m.layer_meta["occ"].description = "occupancy";
     m.layer_meta["occ"].unit = "";
     m.layer_meta["occ"].per_cell = true;
@@ -69,7 +66,7 @@ void fill_one_tri_map_variant(NavMap & m)
 
   if (auto occ = std::dynamic_pointer_cast<LayerView<uint8_t>>(m.layers.get("occ"))) {
     auto & v = occ->mutable_data();
-    v[0] = 0; // free (white)
+    v[0] = 0;  // free (white)
   }
   if (auto cost = std::dynamic_pointer_cast<LayerView<float>>(m.layers.get("cost"))) {
     auto & v = cost->mutable_data();
@@ -88,12 +85,12 @@ void fill_one_tri_map_variant(NavMap & m)
   }
 }
 
-} // namespace
+}  // namespace
 
 TEST(NavMapAssign, CopiesOnlyLayersWhenGeometryEqualAndRemovesExtras)
 {
   NavMap src; fill_one_tri_map(src);
-  NavMap dst; fill_one_tri_map_variant(dst); // has extra layer and different values
+  NavMap dst; fill_one_tri_map_variant(dst);  // has extra layer and different values
 
   // Keep destination geometry pointers to verify geometry is not rebuilt
   const float * px = dst.positions.x.data();
@@ -206,7 +203,7 @@ TEST(NavMapAssign, HashSkipsCopyWhenLayerIdentical)
   auto occ_dst_after = std::dynamic_pointer_cast<LayerView<uint8_t>>(dst.layers.get("occ"));
   ASSERT_TRUE(occ_dst_after);
   const uint8_t * occ_ptr_after = occ_dst_after->data().data();
-  EXPECT_EQ(occ_ptr_before, occ_ptr_after); // same backing storage
+  EXPECT_EQ(occ_ptr_before, occ_ptr_after);  // same backing storage
 
   // Content must still be equal
   auto occ_src = std::dynamic_pointer_cast<LayerView<uint8_t>>(src.layers.get("occ"));

navmap_core/tests/test_navmap_easy.cpp

@@ -226,7 +226,7 @@ TEST(NavMap_EasyAPI, AddSurfaceMoveOverload)
   Surface s = nm.create_surface_obj("map");
   s.navcels.clear();
   std::size_t idx1 = nm.add_surface(s);           // by copy
-  std::size_t idx2 = nm.add_surface(std::move(s)); // by move
+  std::size_t idx2 = nm.add_surface(std::move(s));  // by move
   EXPECT_EQ(idx1, 0u);
   EXPECT_EQ(idx2, 1u);
   EXPECT_EQ(nm.surfaces.size(), 2u);
@@ -363,7 +363,7 @@ TEST(NavMap_SetArea, TypeMismatchReturnsFalseAndDoesNotModifyData)
 static void make_grid(NavMap & nm, int nx, int ny, float z = 0.0f)
 {
   // Build a [0,1]x[0,1] plane subdivided in nx*ny quads, 2 triangles per quad
-  nm.create_surface("map"); // index 0
+  nm.create_surface("map");  // index 0
   auto addv = [&](float x, float y) {
       return nm.add_vertex(Eigen::Vector3f(x, y, z));
     };

navmap_core/tests/test_navmap_uniform_and_closest.cpp

@@ -17,7 +17,9 @@
 #include <Eigen/Core>
 #include "navmap_core/NavMap.hpp"
 
-using namespace navmap;
+using navmap::NavCelId;
+using navmap::NavMap;
+using navmap::PointId;
 
 namespace
 {

navmap_core/tests/test_raycast_many.cpp

@@ -16,7 +16,9 @@
 #include <gtest/gtest.h>
 #include "navmap_core/NavMap.hpp"
 
-using namespace navmap;
+using navmap::NavMap;
+using navmap::Ray;
+using navmap::RayHit;
 
 TEST(NavMap_RaycastMany, FlatFloorBatchHits)
 {

navmap_examples/CMakeLists.txt

@@ -50,8 +50,10 @@ endif()
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  set(ament_cmake_copyright_FOUND TRUE)
-  set(ament_cmake_cpplint_FOUND TRUE)
+  # Humble's ament_copyright does not recognize the license with the EasyNav line in the header
+  if("$ENV{ROS_DISTRO}" STREQUAL "humble")
+    list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_copyright)
+  endif()
   ament_lint_auto_find_test_dependencies()
 endif()
 

navmap_examples/launch/navmap_to_occgrid.launch.py

@@ -1,3 +1,18 @@
+# Copyright 2025 Intelligent Robotics Lab
+#
+# This file is part of the project Easy Navigation (EasyNav in short)
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from launch import LaunchDescription
 from launch_ros.actions import Node
 

navmap_examples/src/01_flat_plane.cpp

@@ -17,8 +17,8 @@
 #include <iostream>
 #include <vector>
 #include <cstdint>
-#include <Eigen/Core>
 
+#include "Eigen/Core"
 #include "navmap_core/NavMap.hpp"
 
 using navmap::NavMap;
@@ -59,7 +59,7 @@ int main()
   cout << "locate=" << ok << " sidx=" << sidx << " cid=" << cid << " hit=(" << hit.x() << "," <<
     hit.y() << "," << hit.z() << ")\n";
   if (ok) {
-    cout << "occ at cid: " << (int)nm.navcel_value<uint8_t>(cid, *occ) << endl;
+    cout << "occ at cid: " << static_cast<int>(nm.navcel_value<uint8_t>(cid, *occ)) << endl;
   }
   return 0;
 }

navmap_examples/src/02_two_floors.cpp

@@ -16,8 +16,8 @@
 
 #include <iostream>
 #include <vector>
-#include <Eigen/Core>
 
+#include "Eigen/Core"
 #include "navmap_core/NavMap.hpp"
 
 using navmap::NavMap;

navmap_examples/src/03_slope_surface.cpp

@@ -16,8 +16,8 @@
 
 #include <iostream>
 #include <vector>
-#include <Eigen/Core>
 
+#include "Eigen/Core"
 #include "navmap_core/NavMap.hpp"
 
 using navmap::NavMap;

navmap_examples/src/04_layers.cpp

@@ -16,8 +16,8 @@
 
 #include <iostream>
 #include <cstdint>
-#include <Eigen/Core>
 
+#include "Eigen/Core"
 #include "navmap_core/NavMap.hpp"
 
 using navmap::NavMap;
@@ -44,7 +44,7 @@ int main()
   nm.layer_set<float>("cost", c0, 5.5f);
 
   auto names = nm.list_layers();
-  cout << "Layers:"; for (auto & n:names) {
+  cout << "Layers:"; for (auto & n : names) {
     cout << " " << n;
   }
   cout << endl;