loco-3d · mergify · Apr 7, 2026 · Apr 6, 2026 · Apr 7, 2026 · Apr 7, 2026
diff --git a/.github/dependabot.yml b/.github/dependabot.yml
@@ -1,6 +1,6 @@
 version: 2
 updates:
-  - package-ecosystem: github-actions
-    directory: /
+  - package-ecosystem: "github-actions"
+    directory: "/"
     schedule:
-      interval: monthly
+      interval: "monthly"
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
@@ -22,7 +22,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: cachix/install-nix-action@v31
-      - uses: cachix/cachix-action@v16
+      - uses: cachix/cachix-action@v17
         with:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
@@ -39,7 +39,7 @@ jobs:
     steps:
       - uses: actions/checkout@v6
       - uses: cachix/install-nix-action@v31
-      - uses: cachix/cachix-action@v16
+      - uses: cachix/cachix-action@v17
         with:
           name: gepetto
           authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'

diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml
@@ -1,10 +1,8 @@
 name: update-flake-lock
-
 on:
   workflow_dispatch:
   schedule:
     - cron: '0 11 8 * *'
-
 jobs:
   update-flake-inputs:
     runs-on: ubuntu-slim
@@ -14,7 +12,7 @@ jobs:
     steps:
       - name: Generate GitHub App Token
         id: app-token
-        uses: actions/create-github-app-token@v2
+        uses: actions/create-github-app-token@v3
         with:
           app-id: ${{ secrets.GEPETTO_NIX_APP_ID }}
           private-key: ${{ secrets.GEPETTO_NIX_APP_PRIVATE_KEY }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -1,36 +1,40 @@
 ci:
   autoupdate_schedule: quarterly
 repos:
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.15.5
-  hooks:
-  - id: ruff-check
-  - id: ruff-format
-- repo: https://github.com/cheshirekow/cmake-format-precommit
-  rev: v0.6.13
-  hooks:
-  - id: cmake-format
-- repo: https://github.com/pre-commit/mirrors-clang-format
-  rev: v22.1.0
-  hooks:
-  - id: clang-format
-    args:
-    - --style=Google
-- repo: https://github.com/pre-commit/pre-commit-hooks
-  rev: v6.0.0
-  hooks:
-  - id: check-added-large-files
-  - id: check-ast
-  - id: check-executables-have-shebangs
-  - id: check-json
-  - id: check-merge-conflict
-  - id: check-symlinks
-  - id: check-toml
-  - id: check-yaml
-  - id: debug-statements
-  - id: destroyed-symlinks
-  - id: detect-private-key
-  - id: end-of-file-fixer
-  - id: fix-byte-order-marker
-  - id: mixed-line-ending
-  - id: trailing-whitespace
+  - repo: https://github.com/BlankSpruce/gersemi
+    rev: 0.26.1
+    hooks:
+      - id: gersemi
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.15.9
+    hooks:
+      - id: ruff-check
+      - id: ruff-format
+  - repo: https://github.com/pappasam/toml-sort
+    rev: v0.24.4
+    hooks:
+      - id: toml-sort-fix
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v22.1.2
+    hooks:
+      - id: clang-format
+        args:
+          - --style=Google
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v6.0.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-executables-have-shebangs
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: fix-byte-order-marker
+      - id: mixed-line-ending
+      - id: trailing-whitespace
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,27 +4,32 @@ set(PROJECT_NAME linear_feedback_controller)
 set(PROJECT_DESCRIPTION "ROS2 control with Ricatti gains")
 set(PROJECT_URL "http://github.com/loco-3d/linear-feedback-controller")
 
-option(BUILD_DOCUMENTATION
-       "Build the documentation for the linear-feedback-controller package" OFF)
+option(
+    BUILD_DOCUMENTATION
+    "Build the documentation for the linear-feedback-controller package"
+    OFF
+)
 
 #
 # Project definition
 #
 find_package(jrl-cmakemodules QUIET CONFIG)
 if(jrl-cmakemodules_FOUND)
-  message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
-  get_property(
-    JRL_CMAKE_MODULES
-    TARGET jrl-cmakemodules::jrl-cmakemodules
-    PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+    get_property(
+        JRL_CMAKE_MODULES
+        TARGET jrl-cmakemodules::jrl-cmakemodules
+        PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    )
 else()
-  message(STATUS "JRL cmakemodules not found. Let's fetch it.")
-  include(FetchContent)
-  FetchContent_Declare(
-    "jrl-cmakemodules"
-    GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
-  FetchContent_MakeAvailable("jrl-cmakemodules")
-  FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+        "jrl-cmakemodules"
+        GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
+    )
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
 endif()
 include("${JRL_CMAKE_MODULES}/base.cmake")
 compute_project_args(PROJECT_ARGS LANGUAGES CXX)
@@ -47,7 +52,8 @@ ament_auto_find_build_dependencies()
 include(cmake/sec_generate_parameter_library.cmake)
 # Main node params
 sec_generate_parameter_library_markdown(${PROJECT_NAME}_parameters_doc
-                                        src/${PROJECT_NAME}.yaml)
+                                        src/${PROJECT_NAME}.yaml
+)
 sec_generate_parameter_library(
   generated_parameters # Lib name
   ${PROJECT_NAME}_parameters # CMake target name for the parameter library.
@@ -56,26 +62,32 @@ sec_generate_parameter_library(
 add_dependencies(${PROJECT_NAME}_parameters ${PROJECT_NAME}_parameters_doc)
 # Joint estimator params
 sec_generate_parameter_library_markdown(joint_state_estimator_parameters_doc
-                                        src/joint_state_estimator.yaml)
+                                        src/joint_state_estimator.yaml
+)
 sec_generate_parameter_library(
   joint_state_estimator_generated_parameters # Lib name
   joint_state_estimator_parameters # CMake target name for the parameter
                                    # library.
   src/joint_state_estimator.yaml # Path to input yaml file
 )
-add_dependencies(joint_state_estimator_parameters
-                 joint_state_estimator_parameters_doc)
+add_dependencies(
+    joint_state_estimator_parameters
+    joint_state_estimator_parameters_doc
+)
 # Passthrough params
 sec_generate_parameter_library_markdown(passthrough_controller_parameters_doc
-                                        src/passthrough_controller.yaml)
+                                        src/passthrough_controller.yaml
+)
 sec_generate_parameter_library(
   passthrough_controller_generated_parameters # Lib name
   passthrough_controller_parameters # CMake target name for the parameter
   # library.
   src/passthrough_controller.yaml # Path to input yaml file
 )
-add_dependencies(passthrough_controller_parameters
-                 passthrough_controller_parameters_doc)
+add_dependencies(
+    passthrough_controller_parameters
+    passthrough_controller_parameters_doc
+)
 
 #
 # Main Library
@@ -88,24 +100,28 @@ set(${PROJECT_NAME}_headers
     include/${PROJECT_NAME}/linear_feedback_controller_ros.hpp
     include/${PROJECT_NAME}/passthrough_controller.hpp
     include/${PROJECT_NAME}/pd_controller.hpp
-    include/${PROJECT_NAME}/robot_model_builder.hpp)
+    include/${PROJECT_NAME}/robot_model_builder.hpp
+)
 set(${PROJECT_NAME}_sources
     src/joint_state_estimator.cpp #
     src/lf_controller.cpp #
     src/linear_feedback_controller.cpp #
     src/linear_feedback_controller_ros.cpp #
     src/passthrough_controller.cpp #
     src/pd_controller.cpp #
-    src/robot_model_builder.cpp)
+    src/robot_model_builder.cpp
+)
 ament_auto_add_library(${PROJECT_NAME} ${${PROJECT_NAME}_sources}
-                       ${${PROJECT_NAME}_headers})
+                       ${${PROJECT_NAME}_headers}
+)
 
 set_target_properties(${PROJECT_NAME} PROPERTIES CXX_VISIBILITY_PRESET hidden)
 
 target_compile_definitions(
-  ${PROJECT_NAME}
-  PUBLIC -DLINEAR_FEEDBACK_CONTROLLER_IS_SHARED
-  PRIVATE -DLINEAR_FEEDBACK_CONTROLLER_DO_EXPORT)
+    ${PROJECT_NAME}
+    PUBLIC -DLINEAR_FEEDBACK_CONTROLLER_IS_SHARED
+    PRIVATE -DLINEAR_FEEDBACK_CONTROLLER_DO_EXPORT
+)
 
 target_link_libraries(${PROJECT_NAME} Eigen3::Eigen)
 # Extract the version components of the controller_interface package.
@@ -116,65 +132,77 @@ list(GET version_list 1 controller_interface_VERSION_MINOR)
 list(GET version_list 2 controller_interface_VERSION_PATCH)
 # Define macros for the version components.
 target_compile_definitions(
-  ${PROJECT_NAME}
-  PRIVATE
-    CONTROLLER_INTERFACE_MAJOR_VERSION=${controller_interface_VERSION_MAJOR}
-    CONTROLLER_INTERFACE_MINOR_VERSION=${controller_interface_VERSION_MINOR}
-    CONTROLLER_INTERFACE_PATCH_VERSION=${controller_interface_VERSION_PATCH})
+    ${PROJECT_NAME}
+    PRIVATE
+        CONTROLLER_INTERFACE_MAJOR_VERSION=${controller_interface_VERSION_MAJOR}
+        CONTROLLER_INTERFACE_MINOR_VERSION=${controller_interface_VERSION_MINOR}
+        CONTROLLER_INTERFACE_PATCH_VERSION=${controller_interface_VERSION_PATCH}
+)
 target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
 target_link_libraries(
-  ${PROJECT_NAME} ${PROJECT_NAME}_parameters joint_state_estimator_parameters
-  passthrough_controller_parameters)
+    ${PROJECT_NAME}
+    ${PROJECT_NAME}_parameters
+    joint_state_estimator_parameters
+    passthrough_controller_parameters
+)
 
 #
 # Unit tests
 #
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_auto_find_test_dependencies()
-  find_package(GTest CONFIG QUIET)
-  if(NOT GTest_FOUND)
-    find_package(GTest REQUIRED)
-  endif()
-
-  set(TESTS_LIST test_pd_controller test_linear_feedback_controller
-                 test_robot_model_builder)
-
-  if(TARGET GTest::gmock)
-    set(TESTS_LIST ${TESTS_LIST} test_lf_controller)
-  endif()
+    find_package(ament_lint_auto REQUIRED)
+    ament_auto_find_test_dependencies()
+    find_package(GTest CONFIG QUIET)
+    if(NOT GTest_FOUND)
+        find_package(GTest REQUIRED)
+    endif()
 
-  foreach(test_name ${TESTS_LIST})
-    add_unit_test(${test_name} tests/${test_name}.cpp)
-    target_link_libraries(${test_name} PRIVATE ${PROJECT_NAME} GTest::gtest
-                                               GTest::gtest_main)
+    set(TESTS_LIST
+        test_pd_controller
+        test_linear_feedback_controller
+        test_robot_model_builder
+    )
 
     if(TARGET GTest::gmock)
-      target_link_libraries(${test_name} PRIVATE GTest::gmock)
+        set(TESTS_LIST ${TESTS_LIST} test_lf_controller)
     endif()
-  endforeach()
 
+    foreach(test_name ${TESTS_LIST})
+        add_unit_test(${test_name} tests/${test_name}.cpp)
+        target_link_libraries(
+            ${test_name}
+            PRIVATE ${PROJECT_NAME} GTest::gtest GTest::gtest_main
+        )
+
+        if(TARGET GTest::gmock)
+            target_link_libraries(${test_name} PRIVATE GTest::gmock)
+        endif()
+    endforeach()
 endif()
 
 #
 # Export plugins
 #
 pluginlib_export_plugin_description_file(controller_interface
-                                         controller_plugins.xml)
+                                         controller_plugins.xml
+)
 
 #
 # Installation
 #
 install(
-  FILES ${CMAKE_CURRENT_BINARY_DIR}/linear_feedback_controller.md
+    FILES
+        ${CMAKE_CURRENT_BINARY_DIR}/linear_feedback_controller.md
         ${CMAKE_CURRENT_BINARY_DIR}/joint_state_estimator.md
         ${CMAKE_CURRENT_BINARY_DIR}/passthrough_controller.md
-  DESTINATION share/${PROJECT_NAME}/doc)
+    DESTINATION share/${PROJECT_NAME}/doc
+)
 
 install(
-  PROGRAMS tests/pd_plus_controller.py
-  DESTINATION lib/${PROJECT_NAME}
-  RENAME pd_plus_controller)
+    PROGRAMS tests/pd_plus_controller.py
+    DESTINATION lib/${PROJECT_NAME}
+    RENAME pd_plus_controller
+)
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 ament_export_libraries(${PROJECT_NAME})