set up additional tests with some minor fixes, but ignore common warnings

Author: David Conner

.flake8

@@ -1,3 +1,4 @@
 [flake8]
-exclude = .git
+exclude = .git, build, install, dist
 max-line-length = 130
+ignore = B902, W503, D100, D105, D107

flexbe_manipulation_states/.flake8

@@ -0,0 +1,6 @@
+[flake8]
+exclude = .git, build, install, dist
+max-line-length = 130
+ignore = B902, W503, D100, D101, D102, D104, D105, D107,
+          D200, D201, D202, D205, D208, D210, D400, D401, D403,
+          I100, I202, Q000

flexbe_manipulation_states/flexbe_manipulation_states/get_joints_from_srdf_group.py

@@ -86,7 +86,6 @@ def __init__(self, move_group, robot_name=""):
 
     def execute(self, userdata):
         """ execute the state """
-
         if self._param_error:
             return 'param_error'
         robot = None

flexbe_manipulation_states/flexbe_manipulation_states/joint_state_to_moveit.py

@@ -145,9 +145,9 @@ def on_enter(self, userdata):
         goal_constraints = Constraints()
         for i, jnt_name in enumerate(self._joint_names):
             goal_constraints.joint_constraints.append(JointConstraint(
-                                                          joint_name=jnt_name,
-                                                          position=self._joint_config[i],
-                                                          weight=1.0))
+                                                      joint_name=jnt_name,
+                                                      position=self._joint_config[i],
+                                                      weight=1.0))
         action_goal.request.goal_constraints.append(goal_constraints)
 
         try:

flexbe_manipulation_states/flexbe_manipulation_states/moveit_to_joints_state.py

@@ -99,7 +99,7 @@ def execute(self, userdata):  # pylint: disable=R0911
 
             if result.error_code.val == MoveItErrorCodes.CONTROL_FAILED:
                 Logger.logwarn('Control failed for move action of group:'
-                               f' { self._move_group} (error code: {str(result.error_code)}')
+                               f' {self._move_group} (error code: {str(result.error_code)}')
                 self._control_failed = True
                 return 'control_failed'
 

flexbe_manipulation_states/setup.py

@@ -21,12 +21,15 @@
         ('share/' + PACKAGE_NAME + "/launch", glob('tests/*.launch.py')),
     ],
     install_requires=['setuptools'],
+    extras_require={'test': ['pytest']},
     zip_safe=True,
-    maintainer='phil',
-    maintainer_email='philsplus@gmail.com',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    author='phil',
+    author_email='philsplus@gmail.com',
+    maintainer='David Conner',
+    maintainer_email='robotics@cnu.edu',
+    description='flexbe_manipulation_states provides a collection of robot-agnostic states'
+                ' related to manipulation and trajectory execution.',
+    license='BSD',
     entry_points={
         'console_scripts': [
         ],

flexbe_manipulation_states/tests/test_flake8.py

@@ -0,0 +1,14 @@
+"""Run flake8 test."""
+import warnings
+from pathlib import Path
+
+from ament_flake8.main import main
+
+
+def test_flake8():
+    """Run test using pytest."""
+    repo_root = Path(__file__).resolve().parents[1]
+    cfg = repo_root / '.flake8'
+    with warnings.catch_warnings():
+        warnings.filterwarnings('ignore', '.*multi-threaded.*fork.*')
+        assert main(argv=['--config', str(cfg)]) == 0

flexbe_navigation_states/.flake8

@@ -0,0 +1,6 @@
+[flake8]
+exclude = .git, build, install, dist
+max-line-length = 130
+ignore = B902, W503, D100, D101, D102, D104, D105, D107,
+          D200, D201, D202, D205, D208, D210, D400, D401, D403,
+          I100, I202, Q000

flexbe_navigation_states/setup.py

@@ -13,12 +13,15 @@
         ('share/' + package_name, ['package.xml']),
     ],
     install_requires=['setuptools'],
+    extras_require={'test': ['pytest']},
     zip_safe=True,
-    maintainer='phil',
-    maintainer_email='philsplus@gmail.com',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    author='phil',
+    author_email='philsplus@gmail.com',
+    maintainer='David Conner',
+    maintainer_email='robotics@cnu.edu',
+    description='flexbe_navigation_states provides a collection of robot-agnostic '
+                'states related to mobile robot navigation.',
+    license='BSD',
     entry_points={
         'console_scripts': [
         ],

flexbe_navigation_states/tests/run_tests.launch.py

@@ -36,11 +36,12 @@
 from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.substitutions import LaunchConfiguration
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+
 from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
-
+    """Generate launch setup for tests."""
     flexbe_testing_dir = get_package_share_directory('flexbe_testing')
     flex_nav_states_test_dir = get_package_share_directory('flexbe_navigation_states')