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chan-1207chan-1207
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Add lint workflow
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17 files changed

+217
-163
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‎.github/workflows/ros-lint.yml‎

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# The name of the workflow
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name: Lint
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# Specifies the events that trigger the workflow
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on:
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pull_request:
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# Defines a set of jobs to be run as part of the workflow
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jobs:
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ament_lint:
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runs-on: ubuntu-latest
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container:
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image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
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strategy:
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fail-fast: false
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matrix:
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linter: [flake8, pep257, xmllint, copyright]
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Setup ROS environment
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uses: ros-tooling/[email protected]
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- name: Run Linter
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env:
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AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
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uses: ros-tooling/action-ros-lint@master
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with:
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linter: ${{ matrix.linter }}
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distribution: rolling
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package-name: "*"

‎turtlebot3_manipulation_bringup/launch/base.launch.py‎

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@@ -133,7 +133,7 @@ def generate_launch_description():
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('~/cmd_vel_unstamped', 'cmd_vel'),
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('~/odom', 'odom')
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],
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output="both",
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output='both',
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condition=UnlessCondition(use_sim))
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robot_state_pub_node = Node(

‎turtlebot3_manipulation_bringup/launch/hardware.launch.py‎

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@@ -22,10 +22,9 @@
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import PathJoinSubstitution
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import PathJoinSubstitution
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from launch.substitutions import ThisLaunchFileDir
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from launch_ros.substitutions import FindPackageShare
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‎turtlebot3_manipulation_cartographer/launch/cartographer.launch.py‎

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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from launch.substitutions import PathJoinSubstitution
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from launch.substitutions import ThisLaunchFileDir
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch_ros.substitutions import FindPackageShare

‎turtlebot3_manipulation_description/launch/model.launch.py‎

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@@ -99,7 +99,7 @@ def generate_launch_description():
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output='screen'),
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Node(
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package="joint_state_publisher_gui",
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executable="joint_state_publisher_gui",
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package='joint_state_publisher_gui',
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executable='joint_state_publisher_gui',
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condition=IfCondition(use_gui)),
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])

‎turtlebot3_manipulation_moveit_config/launch/move_group.launch.py‎

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@@ -26,102 +26,104 @@
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import os
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import yaml
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import xacro
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30+
from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import xacro
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import yaml
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def generate_launch_description():
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# Robot description
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robot_description_config = xacro.process_file(
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os.path.join(
43-
get_package_share_directory("turtlebot3_manipulation_description"),
44-
"urdf",
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"turtlebot3_manipulation.urdf.xacro",
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get_package_share_directory('turtlebot3_manipulation_description'),
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'urdf',
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'turtlebot3_manipulation.urdf.xacro',
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)
4747
)
48-
robot_description = {"robot_description": robot_description_config.toxml()}
48+
robot_description = {'robot_description': robot_description_config.toxml()}
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5050
# Robot description Semantic config
5151
robot_description_semantic_path = os.path.join(
52-
get_package_share_directory("turtlebot3_manipulation_moveit_config"),
53-
"config",
54-
"turtlebot3_manipulation.srdf",
52+
get_package_share_directory('turtlebot3_manipulation_moveit_config'),
53+
'config',
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'turtlebot3_manipulation.srdf',
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)
56-
with open(robot_description_semantic_path, "r") as file:
56+
with open(robot_description_semantic_path, 'r') as file:
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robot_description_semantic_config = file.read()
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5959
robot_description_semantic = {
60-
"robot_description_semantic": robot_description_semantic_config
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'robot_description_semantic': robot_description_semantic_config
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}
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# kinematics yaml
6464
kinematics_yaml_path = os.path.join(
65-
get_package_share_directory("turtlebot3_manipulation_moveit_config"),
66-
"config",
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"kinematics.yaml",
65+
get_package_share_directory('turtlebot3_manipulation_moveit_config'),
66+
'config',
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'kinematics.yaml',
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)
69-
with open(kinematics_yaml_path, "r") as file:
69+
with open(kinematics_yaml_path, 'r') as file:
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kinematics_yaml = yaml.safe_load(file)
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# Planning Functionality
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# Planning Functionality
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ompl_planning_pipeline_config = {
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"move_group": {
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"planning_plugin": "ompl_interface/OMPLPlanner",
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"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization \
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default_planner_request_adapters/FixWorkspaceBounds \
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default_planner_request_adapters/FixStartStateBounds \
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default_planner_request_adapters/FixStartStateCollision \
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default_planner_request_adapters/FixStartStatePathConstraints""",
82-
"start_state_max_bounds_error": 0.1,
75+
'move_group': {
76+
'planning_plugin': 'ompl_interface/OMPLPlanner',
77+
'request_adapters': (
78+
'default_planner_request_adapters/AddTimeOptimalParameterization '
79+
'default_planner_request_adapters/FixWorkspaceBounds '
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'default_planner_request_adapters/FixStartStateBounds '
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'default_planner_request_adapters/FixStartStateCollision '
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'default_planner_request_adapters/FixStartStatePathConstraints'
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),
84+
'start_state_max_bounds_error': 0.1,
8385
}
8486
}
8587
ompl_planning_yaml_path = os.path.join(
86-
get_package_share_directory("turtlebot3_manipulation_moveit_config"),
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"config",
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"ompl_planning.yaml",
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get_package_share_directory('turtlebot3_manipulation_moveit_config'),
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'config',
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'ompl_planning.yaml',
8991
)
90-
with open(ompl_planning_yaml_path, "r") as file:
92+
with open(ompl_planning_yaml_path, 'r') as file:
9193
ompl_planning_yaml = yaml.safe_load(file)
92-
ompl_planning_pipeline_config["move_group"].update(ompl_planning_yaml)
94+
ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml)
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9496
# Trajectory Execution
9597
trajectory_execution = {
96-
"moveit_manage_controllers": True,
97-
"trajectory_execution.allowed_execution_duration_scaling": 1.2,
98-
"trajectory_execution.allowed_goal_duration_margin": 0.5,
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"trajectory_execution.allowed_start_tolerance": 0.05,
98+
'moveit_manage_controllers': True,
99+
'trajectory_execution.allowed_execution_duration_scaling': 1.2,
100+
'trajectory_execution.allowed_goal_duration_margin': 0.5,
101+
'trajectory_execution.allowed_start_tolerance': 0.05,
100102
}
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102104
# Moveit Controllers
103105
moveit_simple_controllers_yaml_path = os.path.join(
104-
get_package_share_directory("turtlebot3_manipulation_moveit_config"),
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"config",
106-
"moveit_controllers.yaml",
106+
get_package_share_directory('turtlebot3_manipulation_moveit_config'),
107+
'config',
108+
'moveit_controllers.yaml',
107109
)
108-
with open(moveit_simple_controllers_yaml_path, "r") as file:
110+
with open(moveit_simple_controllers_yaml_path, 'r') as file:
109111
moveit_simple_controllers_yaml = yaml.safe_load(file)
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111113
moveit_controllers = {
112-
"moveit_simple_controller_manager": moveit_simple_controllers_yaml,
113-
"moveit_controller_manager":
114-
"moveit_simple_controller_manager/MoveItSimpleControllerManager",
114+
'moveit_simple_controller_manager': moveit_simple_controllers_yaml,
115+
'moveit_controller_manager':
116+
'moveit_simple_controller_manager/MoveItSimpleControllerManager',
115117
}
116118

117119
# Planning Scene Monitor Parameters
118120
planning_scene_monitor_parameters = {
119-
"publish_planning_scene": True,
120-
"publish_geometry_updates": True,
121-
"publish_state_updates": True,
122-
"publish_transforms_updates": True,
123-
"publish_robot_description": True,
124-
"publish_robot_description_semantic": True
121+
'publish_planning_scene': True,
122+
'publish_geometry_updates': True,
123+
'publish_state_updates': True,
124+
'publish_transforms_updates': True,
125+
'publish_robot_description': True,
126+
'publish_robot_description_semantic': True
125127
}
126128

127129
ld = LaunchDescription()
@@ -133,9 +135,9 @@ def generate_launch_description():
133135
ld.add_action(declare_use_sim)
134136

135137
move_group_node = Node(
136-
package="moveit_ros_move_group",
137-
executable="move_group",
138-
output="screen",
138+
package='moveit_ros_move_group',
139+
executable='move_group',
140+
output='screen',
139141
parameters=[
140142
robot_description,
141143
robot_description_semantic,

‎turtlebot3_manipulation_moveit_config/launch/moveit_core.launch.py‎

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import os
2020

21+
from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
2324
from launch.launch_description_sources import PythonLaunchDescriptionSource
24-
from ament_index_python.packages import get_package_share_directory
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2727
def generate_launch_description():

‎turtlebot3_manipulation_moveit_config/launch/moveit_fake.launch.py‎

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import os
2020

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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
25-
from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():

‎turtlebot3_manipulation_moveit_config/launch/moveit_gazebo.launch.py‎

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import os
2020

21+
from ament_index_python.packages import get_package_share_directory
2122
from launch import LaunchDescription
2223
from launch.actions import DeclareLaunchArgument
2324
from launch.actions import IncludeLaunchDescription
24-
from launch.substitutions import PathJoinSubstitution
2525
from launch.launch_description_sources import PythonLaunchDescriptionSource
26+
from launch.substitutions import PathJoinSubstitution
2627
from launch_ros.substitutions import FindPackageShare
27-
from ament_index_python.packages import get_package_share_directory
2828

2929

3030
def generate_launch_description():

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