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Fix formatting issues introduced earlier #1748

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Merged
urfeex merged 1 commit into from
Apr 2, 2026
+27 −15
Merged

Fix formatting issues introduced earlier #1748

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22 changes: 13 additions & 9 deletions ur_robot_driver/launch/ur_control.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -106,23 +106,27 @@ def launch_setup(context):
],
)

tool_comm_path = PathJoinSubstitution([
FindPackagePrefix("ur_client_library"),
"lib",
"ur_client_library",
"tool_communication.py",
])
tool_comm_path = PathJoinSubstitution(
[
FindPackagePrefix("ur_client_library"),
"lib",
"ur_client_library",
"tool_communication.py",
]
)

tool_communication_script = ExecuteProcess(
name="ur_tool_comm",
condition=IfCondition(use_tool_communication),
cmd=[
tool_comm_path,
robot_ip,
"--tcp-port", tool_tcp_port,
"--device-name", tool_device_name,
"--tcp-port",
tool_tcp_port,
"--device-name",
tool_device_name,
],
output="screen"
output="screen",
)

urscript_interface = Node(
Expand Down
20 changes: 14 additions & 6 deletions ur_robot_driver/scripts/tool_communication.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,7 @@
from pathlib import Path
from ament_index_python.packages import get_package_prefix


class UrToolCommunication(Node):
"""
Wrapper node for tool communication.
Expand Down Expand Up @@ -62,25 +63,32 @@ def __init__(self):

# Path where the refactored (canonical) tool_communication script is located
ur_client_lib_prefix = get_package_prefix("ur_client_library")
tool_comm_script = Path(ur_client_lib_prefix) / "lib" / "ur_client_library" / "tool_communication.py"
tool_comm_script = (
Path(ur_client_lib_prefix) / "lib" / "ur_client_library" / "tool_communication.py"
)

# Pass the arguments to the refactored script
cmd = [
str(tool_comm_script),
robot_ip,
"--tcp-port", str(tcp_port),
"--device-name", device_name,
robot_ip,
"--tcp-port",
str(tcp_port),
"--device-name",
device_name,
]

self.get_logger().info("Launching tool communication via ur_client_library tool_communication.py")
self.get_logger().info(
"Launching tool communication via ur_client_library tool_communication.py"
)

subprocess.call(cmd)


def main():
rclpy.init()
node = UrToolCommunication()
rclpy.spin(node)


if __name__ == "__main__":
main()
main()
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