fix yaml linting

Author: nathanhhughes

hydra_ros/launch/datasets/zed2i.launch.yaml

@@ -1,22 +1,20 @@
+---
 launch:
-  - arg: { name: model_name,            default: "/root/hydra_ws/.models/ade20k-efficientvit_seg_l2.onnx" }
-  - arg: { name: model_config_path,     default: "/root/hydra_ws/src/semantic_inference/semantic_inference_ros/config/models/ade20k-efficientvit_seg_l2.yaml" }
-  - arg: { name: labelspace_name,       default: "ade20k_mit" }
+  - arg: {name: model_name, default: /root/hydra_ws/.models/ade20k-efficientvit_seg_l2.onnx}
+  - arg: {name: model_config_path, default: /root/hydra_ws/src/semantic_inference/semantic_inference_ros/config/models/ade20k-efficientvit_seg_l2.yaml}
+  - arg: {name: labelspace_name, default: ade20k_mit}
+  - arg: {name: zed_rgb_topic, default: /zed/zed_node/left/image_rect_color}
+  - arg: {name: zed_depth_topic, default: /zed/zed_node/depth/depth_registered}
+  - arg: {name: zed_camera_info_topic, default: /zed/zed_node/left/camera_info}
+  - arg: {name: use_sim_time, default: 'false'}
+  - arg: {name: dataset, default: zed2i}
 
-  - arg: { name: zed_rgb_topic,         default: "/zed/zed_node/left/image_rect_color" }
-  - arg: { name: zed_depth_topic,       default: "/zed/zed_node/depth/depth_registered" }
-  - arg: { name: zed_camera_info_topic, default: "/zed/zed_node/left/camera_info" }
-  - arg: { name: use_sim_time,          default: "false" }
-
-  - arg: { name: dataset,               default: "zed2i" }
-
-  #zed
+  # zed
   - include:
       file: $(find-pkg-share zed_wrapper)/launch/zed_camera.launch.py
       arg:
-        - { name: camera_model, value: zed2i }
-        - { name: use_sim_time, value: $(var use_sim_time) }
-
+        - {name: camera_model, value: zed2i}
+        - {name: use_sim_time, value: $(var use_sim_time)}
 
   # semantic inference
   - node:
@@ -25,21 +23,21 @@ launch:
       namespace: frontleft
       name: segmentation
       remap:
-        - { from: color/image_raw,   to: $(var zed_rgb_topic) }
-        - { from: color/camera_info, to: $(var zed_camera_info_topic) }
-        - { from: depth/image_rect,  to: $(var zed_depth_topic) }
+        - {from: color/image_raw, to: $(var zed_rgb_topic)}
+        - {from: color/camera_info, to: $(var zed_camera_info_topic)}
+        - {from: depth/image_rect, to: $(var zed_depth_topic)}
       args: >
         --config-utilities-file $(var model_config_path)
         --config-utilities-file $(find-pkg-share semantic_inference_ros)/config/label_groupings/$(var labelspace_name).yaml@output/recolor
         --config-utilities-yaml {output: {recolor: {colormap_path: $(find-pkg-share semantic_inference_ros)/config/distinct_150_colors.csv}}}
         --config-utilities-yaml {segmenter: {model: {model_file: $(var model_name)}}}
         --config-utilities-yaml {worker: {max_queue_size: 1, image_separation_s: 0.0}}
 
-  #hydra
-  - set_remap: { from: hydra/input/frontleft/rgb/image_raw, to: $(var zed_rgb_topic) }
-  - set_remap: { from: hydra/input/frontleft/depth_registered/image_rect, to: $(var zed_depth_topic) }
-  - set_remap: { from: hydra/input/frontleft/rgb/camera_info, to: $(var zed_camera_info_topic) }
-  - set_remap: { from: hydra/input/frontleft/semantic/image_raw, to: /frontleft/semantic/image_raw }
+  # hydra
+  - set_remap: {from: hydra/input/frontleft/rgb/image_raw, to: $(var zed_rgb_topic)}
+  - set_remap: {from: hydra/input/frontleft/depth_registered/image_rect, to: $(var zed_depth_topic)}
+  - set_remap: {from: hydra/input/frontleft/rgb/camera_info, to: $(var zed_camera_info_topic)}
+  - set_remap: {from: hydra/input/frontleft/semantic/image_raw, to: /frontleft/semantic/image_raw}
   - node:
       pkg: hydra_ros
       exec: hydra_ros_node
@@ -53,10 +51,10 @@ launch:
         --config-utilities-yaml {log_path: $(env HOME)/.hydra/$(var dataset)}
         --config-utilities-yaml {glog_level: 0, glog_verbosity: 0}
 
-   #hydra visualizer
-   - set_remap: {from: hydra_visualizer/dsg, to: hydra/backend/dsg}
-   - include:
-       file: $(find-pkg-share hydra_visualizer)/launch/streaming_visualizer.launch.yaml
-       arg:
-         - {name: visualizer_frame, value: map}
-         - {name: rviz_path, value: $(find-pkg-share hydra_ros)/hydra_visualizer/rviz/zed.rviz}
+  # hydra visualizer
+  - set_remap: {from: hydra_visualizer/dsg, to: hydra/backend/dsg}
+  - include:
+      file: $(find-pkg-share hydra_visualizer)/launch/streaming_visualizer.launch.yaml
+      arg:
+        - {name: visualizer_frame, value: map}
+        - {name: rviz_path, value: $(find-pkg-share hydra_ros)/hydra_visualizer/rviz/zed.rviz}

hydra_ros/launch/hydra.launch.yaml

@@ -7,8 +7,8 @@ launch:
   - arg: {name: print_missing, default: 'false', description: Have config utilities print all missing parameters when parsing configs}
   # robot configuration
   - arg: {name: use_sim_time, default: 'false', description: Use ROS sim time}
-  - arg: {name: dataset, description: dataset name, description: Dataset hydra is running}
-  - arg: {name: labelspace, description: labelspace to use, description: Closed-set semantics description}
+  - arg: {name: dataset, description: Dataset hydra is running}
+  - arg: {name: labelspace, description: Closed-set semantics description}
   - arg: {name: robot_id, default: '0', description: Unique robot identifier}
   - arg: {name: sensor_frame, default: left_cam, description: Camera frame}
   - arg: {name: robot_frame, default: base_link_gt, description: Robot body tf frame}
@@ -26,7 +26,7 @@ launch:
   - arg: {name: log_path, default: $(env HOME)/.hydra/$(var log_name), description: Directory to output to}
   - arg: {name: exit_after_clock, default: 'false', description: Shutdown hydra node after a rosbag finishes playing}
   - arg: {name: enable_zmq, default: 'false', description: Turn on zmq-based publishing for scene graph}
-  - arg: {name: zmq_url, default: tcp://127.0.0.1:8001, description: ZMQ publish url}
+  - arg: {name: zmq_url, default: 'tcp://127.0.0.1:8001', description: ZMQ publish url}
   - arg: {name: zmq_send_mesh, default: 'false', description: Whether or not to serialize mesh when using ZMQ}
   # hydra node
   - node:

hydra_visualizer/launch/streaming_visualizer.launch.yaml

@@ -12,7 +12,7 @@ launch:
   # communication
   - arg: {name: use_zmq, default: 'false', description: use zmq to receive scene graphs}
   - arg: {name: visualizer_frame, default: map, description: frame ID for zmq to use}
-  - arg: {name: zmq_url, default: tcp://127.0.0.1:8001, description: full zmq url}
+  - arg: {name: zmq_url, default: 'tcp://127.0.0.1:8001', description: full zmq url}
   # visualizer node and control for launching
   - arg: {name: start_visualizer, default: 'true'}
   - node: