Using modern python

Author: destogl

ur_bringup/launch/ur_moveit.launch.py

@@ -31,9 +31,9 @@ def load_yaml(package_name, file_path):
     absolute_file_path = os.path.join(package_path, file_path)
 
     try:
-        with open(absolute_file_path, "r") as file:
+        with open(absolute_file_path) as file:
             return yaml.safe_load(file)
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError where available
+    except OSError:  # parent of IOError, OSError *and* WindowsError where available
         return None
 
 

ur_robot_driver/test/io_test.py

@@ -27,7 +27,7 @@
 
 class IOTest(unittest.TestCase):
     def __init__(self, *args):
-        super(IOTest, self).__init__(*args)
+        super().__init__(*args)
         rospy.init_node("io_test")
 
         timeout = 10
@@ -53,9 +53,7 @@ def test_set_io(self):
 
         while pin_state:
             if messages >= maximum_messages:
-                self.fail(
-                    "Could not read desired state after {} messages.".format(maximum_messages)
-                )
+                self.fail(f"Could not read desired state after {maximum_messages} messages.")
             io_state = rospy.wait_for_message("/ur_hardware_interface/io_states", IOStates)
             pin_state = io_state.digital_out_states[pin].state
             messages += 1
@@ -67,9 +65,7 @@ def test_set_io(self):
 
         while not pin_state:
             if messages >= maximum_messages:
-                self.fail(
-                    "Could not read desired state after {} messages.".format(maximum_messages)
-                )
+                self.fail(f"Could not read desired state after {maximum_messages} messages.")
             io_state = rospy.wait_for_message("/ur_hardware_interface/io_states", IOStates)
             pin_state = io_state.digital_out_states[pin].state
             messages += 1

ur_robot_driver/test/switch_on_test.py

@@ -27,7 +27,7 @@
 
 class IOTest(unittest.TestCase):
     def __init__(self, *args):
-        super(IOTest, self).__init__(*args)
+        super().__init__(*args)
 
         rospy.init_node("switch_on_robot")
         self.client = actionlib.SimpleActionClient("/ur_hardware_interface/set_mode", SetModeAction)

ur_robot_driver/test/trajectory_test.py

@@ -34,7 +34,7 @@
 
 class TrajectoryTest(unittest.TestCase):
     def __init__(self, *args):
-        super(TrajectoryTest, self).__init__(*args)
+        super().__init__(*args)
         rospy.init_node("trajectory_testing_client")
         self.client = actionlib.SimpleActionClient(
             "follow_joint_trajectory", FollowJointTrajectoryAction