Run flake8 test

NestorDP · Aug 11, 2023 · 04d777d · 04d777d
1 parent 825e4c3
commit 04d777d
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Showing 6 changed files with 55 additions and 58 deletions.
diff --git a/littlebot_bringup/launch/littlebot_bringup.launch.py b/littlebot_bringup/launch/littlebot_bringup.launch.py
@@ -12,7 +12,7 @@
 # def generate_launch_description():
 
 #     description_path = get_package_share_path('littlebot_description')
-#     urdf_model_path  = description_path / 'urdf/littlebot_description.urdf.xacro'
+#     model_path = description_path / 'urdf/littlebot_description.urdf.xacro'
 #     rviz_config_path = description_path / 'config/littlebot_description.rviz'
 #     use_sim_time     = LaunchConfiguration('use_sim_time', default='false')
 
@@ -23,15 +23,15 @@
 #         default_value='false',
 #         choices=['true', 'false'],
 #         description='Use simulation (Gazebo) clock if true')
-    
+
 #     joint_gui_arg   = DeclareLaunchArgument(
-#         name='joint_gui', 
-#         default_value='true', 
+#         name='joint_gui',
+#         default_value='true',
 #         choices=['true', 'false'],
 #         description='Flag to enable joint_state_publisher_gui')
 
 #     model_arg = DeclareLaunchArgument(
-#         name='model', 
+#         name='model',
 #         default_value=str(urdf_model_path),
 #         description='Absolute path to robot urdf file')
 
@@ -43,7 +43,7 @@
 #     # Parameters
 #     #-----------------------------------------------------------------------------
 #     robot_description = ParameterValue(
-#         Command(['xacro ', LaunchConfiguration('model')]), 
+#         Command(['xacro ', LaunchConfiguration('model')]),
 #         value_type=str)
 
 #     # Nodes
@@ -53,7 +53,7 @@
 #         executable='robot_state_publisher',
 #         name='robot_state_publisher',
 #         parameters=[
-#             {'robot_description': robot_description}, 
+#             {'robot_description': robot_description},
 #             {'use_sim_time': use_sim_time}],
 #         output='screen'
 #     )
@@ -89,4 +89,4 @@
 #         joint_state_publisher_gui_node,
 #         robot_state_publisher_node,
 #         rviz_node
-#     ])    
+#     ])
diff --git a/littlebot_control/launch/littlebot_control.launch.py b/littlebot_control/launch/littlebot_control.launch.py
@@ -3,6 +3,7 @@
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
+
 def generate_launch_description():
 
     filepath_config_twist_mux = PathJoinSubstitution(
@@ -13,10 +14,11 @@ def generate_launch_description():
         package='twist_mux',
         executable='twist_mux',
         output='screen',
-        remappings={('/cmd_vel_out', '/littlebot_velocity_controller/cmd_vel_unstamped')},
+        remappings={('/cmd_vel_out',
+                     '/littlebot_velocity_controller/cmd_vel_unstamped')},
         parameters=[filepath_config_twist_mux]
     )
 
     ld = LaunchDescription()
     ld.add_action(node_twist_mux)
-    return ld
+    return ld
diff --git a/littlebot_description/launch/littlebot_description.launch.py b/littlebot_description/launch/littlebot_description.launch.py
@@ -12,48 +12,45 @@
 def generate_launch_description():
 
     description_path = get_package_share_path('littlebot_description')
-    urdf_model_path  = description_path / 'urdf/littlebot_description.urdf.xacro'
+    model_path = description_path / 'urdf/littlebot_description.urdf.xacro'
     rviz_config_path = description_path / 'config/littlebot_description.rviz'
-    use_sim_time     = LaunchConfiguration('use_sim_time', default='false')
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
 
     # Launch arguments
-    #-----------------------------------------------------------------------------
-    time_arg  = DeclareLaunchArgument(
+    time_arg = DeclareLaunchArgument(
         'use_sim_time',
         default_value='false',
         choices=['true', 'false'],
         description='Use simulation (Gazebo) clock if true')
-    
-    joint_gui_arg   = DeclareLaunchArgument(
-        name='joint_gui', 
-        default_value='true', 
+
+    joint_gui_arg = DeclareLaunchArgument(
+        name='joint_gui',
+        default_value='true',
         choices=['true', 'false'],
         description='Flag to enable joint_state_publisher_gui')
 
     model_arg = DeclareLaunchArgument(
-        name='model', 
-        default_value=str(urdf_model_path),
+        name='model',
+        default_value=str(model_path),
         description='Absolute path to robot urdf file')
 
-    rviz_arg  = DeclareLaunchArgument(
+    rviz_arg = DeclareLaunchArgument(
         name='rvizconfig',
         default_value=str(rviz_config_path),
         description='Absolute path to rviz config file')
 
     # Parameters
-    #-----------------------------------------------------------------------------
     robot_description = ParameterValue(
-        Command(['xacro ', LaunchConfiguration('model')]), 
+        Command(['xacro ', LaunchConfiguration('model')]),
         value_type=str)
 
     # Nodes
-    #-----------------------------------------------------------------------------
     robot_state_publisher_node = Node(
         package='robot_state_publisher',
         executable='robot_state_publisher',
         name='robot_state_publisher',
         parameters=[
-            {'robot_description': robot_description}, 
+            {'robot_description': robot_description},
             {'use_sim_time': use_sim_time}],
         output='screen'
     )
@@ -79,7 +76,6 @@ def generate_launch_description():
     )
 
     # Return
-    #-----------------------------------------------------------------------------
     return LaunchDescription([
         time_arg,
         joint_gui_arg,
@@ -89,4 +85,4 @@ def generate_launch_description():
         joint_state_publisher_gui_node,
         robot_state_publisher_node,
         rviz_node
-    ])    
+    ])
diff --git a/littlebot_description/launch/littlebot_description_sim.launch.py b/littlebot_description/launch/littlebot_description_sim.launch.py
@@ -5,30 +5,30 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
 
-  use_sim_time = LaunchConfiguration('use_sim_time', default='false')
-  urdf_file_name = 'urdf/littlebot_description.urdf'
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+    urdf_file_name = 'urdf/littlebot_description.urdf'
 
-  print("urdf_file_name : {}".format(urdf_file_name))
+    print("urdf_file_name : {}".format(urdf_file_name))
 
-  urdf = os.path.join(
-      get_package_share_directory('littlebot_description'),
-      urdf_file_name)
+    urdf = os.path.join(
+        get_package_share_directory('littlebot_description'),
+        urdf_file_name)
 
-  return LaunchDescription([
+    return LaunchDescription([
 
-        DeclareLaunchArgument(
-            'use_sim_time',
-            default_value='true',
-            description='Use simulation (Gazebo) clock if true'),
+            DeclareLaunchArgument(
+                'use_sim_time',
+                default_value='true',
+                description='Use simulation (Gazebo) clock if true'),
 
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            arguments=[urdf],
-            parameters=[{'use_sim_time': use_sim_time}],
-            output='screen')
-  ])
-
+            Node(
+                package='robot_state_publisher',
+                executable='robot_state_publisher',
+                name='robot_state_publisher',
+                arguments=[urdf],
+                parameters=[{'use_sim_time': use_sim_time}],
+                output='screen')
+    ])
diff --git a/littlebot_localization/launch/littlebot_localization.launch.py b/littlebot_localization/launch/littlebot_localization.launch.py
@@ -8,8 +8,7 @@ def generate_launch_description():
 
     config_littlebot_ekf = PathJoinSubstitution(
         [FindPackageShare('littlebot_localization'),
-        'config',
-        'littlebot_localization.yaml'],
+         'config', 'littlebot_localization.yaml'],
     )
 
     node_ekf = Node(
@@ -38,4 +37,4 @@ def generate_launch_description():
     ld = LaunchDescription()
     ld.add_action(node_ekf)
 
-    return ld
+    return ld
diff --git a/littlebot_navigation2/launch/littlebot_navigation.launch.py b/littlebot_navigation2/launch/littlebot_navigation.launch.py
@@ -18,7 +18,7 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, GroupAction, SetEnvironmentVariable
+from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
@@ -27,7 +27,6 @@
 
 def generate_launch_description():
     # Configurations
-    #-----------------------------------------
     use_sim_time = LaunchConfiguration('use_sim_time', default='false')
 
     map_dir = LaunchConfiguration(
@@ -45,11 +44,10 @@ def generate_launch_description():
             'littlebot_navigation2.yaml'))
 
     # Path to lauch folder of the nav2_bringup package
-    #-----------------------------------------
-    nav2_launch_file_dir = os.path.join(get_package_share_directory('nav2_bringup'), 
+    nav2_launch_file_dir = os.path.join(
+        get_package_share_directory('nav2_bringup'),
         'launch')
 
-
     return LaunchDescription([
         DeclareLaunchArgument(
             'map',
@@ -65,12 +63,14 @@ def generate_launch_description():
             'use_sim_time',
             default_value='false',
             description='Use simulation (Gazebo) clock if true'),
-        
+
         GroupAction([
-            SetRemap(src='/cmd_vel', dst='/littlebot_velocity_controller/cmd_vel'),
+            SetRemap(src='/cmd_vel',
+                     dst='/littlebot_velocity_controller/cmd_vel'),
             SetRemap(src='/odom', dst='/odometry/filtered'),
             IncludeLaunchDescription(
-                PythonLaunchDescriptionSource([nav2_launch_file_dir, '/bringup_launch.py']),
+                PythonLaunchDescriptionSource([nav2_launch_file_dir,
+                                               '/bringup_launch.py']),
                 launch_arguments={
                     'map': map_dir,
                     'use_sim_time': use_sim_time,