From 009ee56c26fdfa1d6bd283e1ae8aff5b78d020ed Mon Sep 17 00:00:00 2001
From: Serafadam <serafadam@gmail.com>
Date: Mon, 13 Nov 2023 10:16:38 +0000
Subject: [PATCH] format

---
 depthai_bridge/include/depthai_bridge/ImuConverter.hpp         | 3 +--
 .../depthai_ros_driver/param_handlers/imu_param_handler.hpp    | 2 +-
 depthai_ros_driver/src/param_handlers/imu_param_handler.cpp    | 2 +-
 3 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/depthai_bridge/include/depthai_bridge/ImuConverter.hpp b/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
index b6d4d685..fa769c40 100644
--- a/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
+++ b/depthai_bridge/include/depthai_bridge/ImuConverter.hpp
@@ -247,7 +247,7 @@ class ImuConverter {
         interpolated.push_back(interp0);
     }
 
-        template <typename I, typename S, typename T, typename M>
+    template <typename I, typename S, typename T, typename M>
     void interpolate(std::deque<I>& interpolated, std::deque<S>& second, std::deque<T>& third, std::deque<M>& imuMsgs) {
         I interp0, interp1;
         S currSecond;
@@ -302,7 +302,6 @@ class ImuConverter {
         interpolated.push_back(interp0);
     }
 
-
     template <typename I, typename S, typename T, typename F, typename M>
     void interpolate(std::deque<I>& interpolated, std::deque<S>& second, std::deque<T>& third, std::deque<F>& fourth, std::deque<M>& imuMsgs) {
         I interp0, interp1;
diff --git a/depthai_ros_driver/include/depthai_ros_driver/param_handlers/imu_param_handler.hpp b/depthai_ros_driver/include/depthai_ros_driver/param_handlers/imu_param_handler.hpp
index 9f4257f2..dbe7c9b2 100644
--- a/depthai_ros_driver/include/depthai_ros_driver/param_handlers/imu_param_handler.hpp
+++ b/depthai_ros_driver/include/depthai_ros_driver/param_handlers/imu_param_handler.hpp
@@ -4,8 +4,8 @@
 #include <string>
 #include <vector>
 
-#include "depthai/pipeline/datatype/CameraControl.hpp"
 #include "depthai-shared/properties/IMUProperties.hpp"
+#include "depthai/pipeline/datatype/CameraControl.hpp"
 #include "depthai_bridge/ImuConverter.hpp"
 #include "depthai_ros_driver/param_handlers/base_param_handler.hpp"
 #include "depthai_ros_driver/parametersConfig.h"
diff --git a/depthai_ros_driver/src/param_handlers/imu_param_handler.cpp b/depthai_ros_driver/src/param_handlers/imu_param_handler.cpp
index 7d2b088b..e7821384 100644
--- a/depthai_ros_driver/src/param_handlers/imu_param_handler.cpp
+++ b/depthai_ros_driver/src/param_handlers/imu_param_handler.cpp
@@ -23,7 +23,7 @@ void ImuParamHandler::declareParams(std::shared_ptr<dai::node::IMU> imu, const s
                              {"ARVR_STABILIZED_GAME_ROTATION_VECTOR", dai::IMUSensor::ARVR_STABILIZED_GAME_ROTATION_VECTOR}};
     declareAndLogParam<bool>("i_get_base_device_timestamp", false);
     declareAndLogParam<int>("i_max_q_size", 30);
-    auto messageType = declareAndLogParam<std::string>("i_message_type", "IMU");    
+    auto messageType = declareAndLogParam<std::string>("i_message_type", "IMU");
     declareAndLogParam<std::string>("i_sync_method", "LINEAR_INTERPOLATE_ACCEL");
     declareAndLogParam<float>("i_acc_cov", 0.0);
     declareAndLogParam<float>("i_gyro_cov", 0.0);