fix clang-tidy failures for rolling

Author: AimanHaidar

moveit_planners/pilz_industrial_motion_planner/src/path_polyline_generator.cpp

@@ -73,12 +73,12 @@ std::vector<KDL::Frame> PathPolylineGenerator::filterWaypoints(const KDL::Frame&
   double dist;
 
   // add points and skip the points which are too close to each other
-  for (size_t i = 0; i < waypoints.size(); ++i)
+  for (const auto& waypoint : waypoints)
   {
-    dist = (last_point() - waypoints[i].p).Norm();
+    dist = (last_point() - waypoint.p).Norm();
     if (dist > MIN_SEGMENT_LENGTH)
     {
-      filtered_waypoints.push_back(waypoints[i]);
+      filtered_waypoints.push_back(waypoint);
       ++last_added_point_indx;
     }
   }

moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator.cpp

@@ -382,7 +382,7 @@ TrajectoryGenerator::MotionPlanInfo::MotionPlanInfo(const planning_scene::Planni
 
 void TrajectoryGenerator::setMaxCartesianSpeed(const moveit_msgs::msg::MotionPlanRequest& req)
 {
-  if (req.max_cartesian_speed > 0.0 && req.cartesian_speed_limited_link != "")
+  if (req.max_cartesian_speed > 0.0 && !req.cartesian_speed_limited_link.empty())
   {
     max_cartesian_speed_ = req.max_cartesian_speed;
     RCLCPP_INFO(getLogger(), "received max_cartesian_speed: %f", max_cartesian_speed_);

moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_polyline.cpp

@@ -145,13 +145,21 @@ void TrajectoryGeneratorPolyline::plan(const planning_scene::PlanningSceneConstP
     int code = e.GetType();
     std::ostringstream os;
     if (code == 3102 || code == 3103)
+    {
       os << "zero distance between two points";
+    }
     else if (code == 3104)
+    {
       os << "waypoints specified in path constraints have three consicutive colinear points";
+    }
     else if (code == 3105 || code == 3106)
+    {
       os << "rounding circle of a point is bigger than the distance with one of the neighbor points";
+    }
     else if (code == 3001 || code == 3002)
+    {
       os << "the rounding radius is lower than KDL::epsilon. use bigger smoothness or resample your waypoints";
+    }
     throw ConsicutiveColinearWaypoints(os.str());
   }
   // create velocity profile