From 04d777dc851fd7a6d44228d604703c8b01609147 Mon Sep 17 00:00:00 2001 From: NestorDP Date: Fri, 11 Aug 2023 00:04:15 -0300 Subject: [PATCH] Run flake8 test --- .../launch/littlebot_bringup.launch.py | 16 ++++---- .../launch/littlebot_control.launch.py | 6 ++- .../launch/littlebot_description.launch.py | 30 ++++++-------- .../littlebot_description_sim.launch.py | 40 +++++++++---------- .../launch/littlebot_localization.launch.py | 5 +-- .../launch/littlebot_navigation.launch.py | 16 ++++---- 6 files changed, 55 insertions(+), 58 deletions(-) diff --git a/littlebot_bringup/launch/littlebot_bringup.launch.py b/littlebot_bringup/launch/littlebot_bringup.launch.py index 5bb2f39..e4f1f5d 100644 --- 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 index 1a0d99d..438b537 100755 --- 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 \ No newline at end of file + return ld diff --git a/littlebot_description/launch/littlebot_description.launch.py b/littlebot_description/launch/littlebot_description.launch.py index 8631568..7dd6287 100755 --- 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 index ea7d953..f8e8028 100755 --- 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') - ]) - \ No newline at end of file + 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 index 3dbca3c..89e4774 100755 --- 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 \ No newline at end of file + return ld diff --git a/littlebot_navigation2/launch/littlebot_navigation.launch.py b/littlebot_navigation2/launch/littlebot_navigation.launch.py index c5f6633..cb1ffd9 100644 --- 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,