From 12fc61cff9b04fcf88fdb8b86b138539f74c02c7 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 4 Apr 2024 18:23:53 +0000 Subject: [PATCH] Fix flake8 --- .../launch/cart_example_effort.launch.py | 15 ++++++++++----- .../launch/cart_example_position.launch.py | 12 ++++++++---- .../launch/cart_example_velocity.launch.py | 15 ++++++++++----- .../launch/diff_drive_example.launch.py | 12 ++++++++---- .../launch/gripper_mimic_joint_example.launch.py | 12 ++++++++---- .../launch/tricycle_drive_example.launch.py | 12 ++++++++---- 6 files changed, 52 insertions(+), 26 deletions(-) diff --git a/gz_ros2_control_demos/launch/cart_example_effort.launch.py b/gz_ros2_control_demos/launch/cart_example_effort.launch.py index 1b7b88ad..2f0c6bad 100644 --- a/gz_ros2_control_demos/launch/cart_example_effort.launch.py +++ b/gz_ros2_control_demos/launch/cart_example_effort.launch.py @@ -17,7 +17,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -33,7 +33,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_effort.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_cart_effort.xacro.urdf"] ), ] ) @@ -50,7 +51,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", + "-name", "cart", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -60,7 +62,8 @@ def generate_launch_description(): ) load_joint_effort_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'effort_controller'], + cmd=['ros2', 'control', 'load_controller', + '--set-state', 'active', 'effort_controller'], output='screen' ) @@ -68,7 +71,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit( diff --git a/gz_ros2_control_demos/launch/cart_example_position.launch.py b/gz_ros2_control_demos/launch/cart_example_position.launch.py index 933a361a..03896e25 100644 --- a/gz_ros2_control_demos/launch/cart_example_position.launch.py +++ b/gz_ros2_control_demos/launch/cart_example_position.launch.py @@ -17,7 +17,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -33,7 +33,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_position.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_cart_position.xacro.urdf"] ), ] ) @@ -50,7 +51,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", + "-name", "cart", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -69,7 +71,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit( diff --git a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py index 5c7753fb..5694dd16 100644 --- a/gz_ros2_control_demos/launch/cart_example_velocity.launch.py +++ b/gz_ros2_control_demos/launch/cart_example_velocity.launch.py @@ -17,7 +17,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -33,7 +33,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_cart_velocity.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_cart_velocity.xacro.urdf"] ), ] ) @@ -50,7 +51,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "cart", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", + "-name", "cart", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -60,7 +62,8 @@ def generate_launch_description(): ) load_joint_velocity_controller = ExecuteProcess( - cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'velocity_controller'], + cmd=['ros2', 'control', 'load_controller', + '--set-state', 'active', 'velocity_controller'], output='screen' ) @@ -68,7 +71,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 3 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit( diff --git a/gz_ros2_control_demos/launch/diff_drive_example.launch.py b/gz_ros2_control_demos/launch/diff_drive_example.launch.py index a29796bc..84bce494 100644 --- a/gz_ros2_control_demos/launch/diff_drive_example.launch.py +++ b/gz_ros2_control_demos/launch/diff_drive_example.launch.py @@ -17,7 +17,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -33,7 +33,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_diff_drive.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_diff_drive.xacro.urdf"] ), ] ) @@ -50,7 +51,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "diff_drive", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", "-name", + "diff_drive", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -69,7 +71,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit( diff --git a/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py b/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py index db0cdb7c..90fbb0db 100644 --- a/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py +++ b/gz_ros2_control_demos/launch/gripper_mimic_joint_example.launch.py @@ -20,7 +20,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -36,7 +36,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_gripper_mimic_joint.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_gripper_mimic_joint.xacro.urdf"] ), ] ) @@ -53,7 +54,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "gripper", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", "-name", + "gripper", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -72,7 +74,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit( diff --git a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py index bfe3ce0e..5aaeac5a 100644 --- a/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py +++ b/gz_ros2_control_demos/launch/tricycle_drive_example.launch.py @@ -17,7 +17,7 @@ from launch.actions import RegisterEventHandler from launch.event_handlers import OnProcessExit from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import Command, FindExecutable, PathJoinSubstitution, LaunchConfiguration +from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare @@ -33,7 +33,8 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("gz_ros2_control_demos"), "urdf", "test_tricycle_drive.xacro.urdf"] + [FindPackageShare("gz_ros2_control_demos"), + "urdf", "test_tricycle_drive.xacro.urdf"] ), ] ) @@ -50,7 +51,8 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', output='screen', - arguments=["-topic", "robot_description", "-name", "tricyle", "-allow_renaming", "true"], + arguments=["-topic", "robot_description", "-name", + "tricyle", "-allow_renaming", "true"], ) load_joint_state_broadcaster = ExecuteProcess( @@ -78,7 +80,9 @@ def generate_launch_description(): # Launch gazebo environment IncludeLaunchDescription( PythonLaunchDescriptionSource( - [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), 'launch', 'gz_sim.launch.py'])]), + [PathJoinSubstitution([FindPackageShare('ros_gz_sim'), + 'launch', + 'gz_sim.launch.py'])]), launch_arguments=[('gz_args', [' -r -v 4 empty.sdf'])]), RegisterEventHandler( event_handler=OnProcessExit(