style(pre-commit): autofix

common/autoware_node/README.md

@@ -1,38 +1,37 @@
-# Autoware Node 
+# Autoware Node
 
 ## Overview
 
-Autoware Node is an Autoware.Core package designed to provide a base class for all future nodes in the system. It provides ability to registrate node to *Autoware_control_center* (ACC), report node state, publish heartbeat and subscribe to monitored topics. It also inheritates all lifecycle control capabilities of the base class [LifecycleNode](https://docs.ros2.org/latest/api/rclcpp_lifecycle/classrclcpp__lifecycle_1_1LifecycleNode.html) 
+Autoware Node is an Autoware.Core package designed to provide a base class for all future nodes in the system. It provides ability to registrate node to _Autoware_control_center_ (ACC), report node state, publish heartbeat and subscribe to monitored topics. It also inheritates all lifecycle control capabilities of the base class [LifecycleNode](https://docs.ros2.org/latest/api/rclcpp_lifecycle/classrclcpp__lifecycle_1_1LifecycleNode.html)
 
 ## Usage
 
-You can use *autoware_node* as a base class for any node in Autoware.Core system. There is an example package *test_node* which shows how *autoware_node* commuticate with ACC and other *autoware_nodes*. You can check it for more information. 
+You can use _autoware_node_ as a base class for any node in Autoware.Core system. There is an example package _test_node_ which shows how _autoware_node_ commuticate with ACC and other _autoware_nodes_. You can check it for more information.
 
-## Design 
+## Design
 
-*Autoware_node* inheritates from  ROS2 [*lifecycle_node*](https://design.ros2.org/articles/node_lifecycle.html) and has all basic fuctions of it. 
+_Autoware_node_ inheritates from  ROS2 [_lifecycle_node_](https://design.ros2.org/articles/node_lifecycle.html) and has all basic fuctions of it.
 
 Below are the main add-ons and how they work.
 
 ### Registration
 
-After startup each *autoware_node* tries to register itself to ACC via a service call of *AutowareNodeRegister*. It happens in  the dedicated timer. The timer will stop after the successful registration. 
+After startup each _autoware_node_ tries to register itself to ACC via a service call of _AutowareNodeRegister_. It happens in the dedicated timer. The timer will stop after the successful registration.
 
-### De-registraion 
+### De-registraion
 
-If *autoware_node* receives a request to it's *AutowareControlCenterDeregister* service. It will disable the flag *registered* and it will startup timer which control registration client.
+If _autoware_node_ receives a request to it's _AutowareControlCenterDeregister_ service. It will disable the flag _registered_ and it will startup timer which control registration client.
 
 ### Error state
 
-*Autoware_node* has `send_state` method to send it's state to ACC via *AutowareNodeError* service. You need to provide `AutowareNodeState` and log message as parameters to the method. 
+_Autoware_node_ has `send_state` method to send it's state to ACC via _AutowareNodeError_ service. You need to provide `AutowareNodeState` and log message as parameters to the method.
 
 ### Heartbeat
 
-The heartbeat publisher is configured to publish the heartbeat message each 200 ms. You can change it by the `period` parameter during the launch of *autoware_node*. Be aware that you will also need to configure ACC accordingly. 
+The heartbeat publisher is configured to publish the heartbeat message each 200 ms. You can change it by the `period` parameter during the launch of _autoware_node_. Be aware that you will also need to configure ACC accordingly.
 
 Heartbeat functionality is based on ros2 [software_watchdogs](https://github.com/ros-safety/software_watchdogs) package.
 
 ### Monitored subscription
 
-*Autoware_node* provides the `create_monitored_subscription` method. It wraps around a standard `create_subscription` method  and adds a function to monitor a frequency of messages received in the topic. If it violates the condition provided in the `hz` parameter of the method *autoware_node* will send an error state to the ACC. 
-
+_Autoware_node_ provides the `create_monitored_subscription` method. It wraps around a standard `create_subscription` method and adds a function to monitor a frequency of messages received in the topic. If it violates the condition provided in the `hz` parameter of the method _autoware_node_ will send an error state to the ACC.