Fix linter errors (#15)

Author: relffok

mir_description/launch/mir_display_launch.py

@@ -11,28 +11,30 @@
 def generate_launch_description():
 
     mir_description_dir = get_package_share_directory('mir_description')
-    rviz_config_file = os.path.join(mir_description_dir, 'rviz', 'mir_description.rviz')
+    rviz_config_file = os.path.join(
+        mir_description_dir, 'rviz', 'mir_description.rviz')
 
     return LaunchDescription([
 
-      DeclareLaunchArgument(
-        'joint_state_publisher_enabled',
-        default_value='true',
-        description='Enable to publish joint states using joint state publisher'),
-
-      IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-          os.path.join(mir_description_dir, 'launch', 'mir_launch.py')),
-        launch_arguments={
-          'joint_state_publisher_enabled': LaunchConfiguration('joint_state_publisher_enabled'),
-        }.items()
-      ),
-
-      Node(
-        package='rviz2',
-        executable='rviz2',
-        arguments=['-d', rviz_config_file],
-        parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}]
-      )
+        DeclareLaunchArgument(
+            'joint_state_publisher_enabled',
+            default_value='true',
+            description='Enable to publish joint states using joint state publisher'),
+
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(mir_description_dir, 'launch', 'mir_launch.py')),
+            launch_arguments={
+                'joint_state_publisher_enabled':
+                LaunchConfiguration('joint_state_publisher_enabled'),
+            }.items()
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            arguments=['-d', rviz_config_file],
+            parameters=[{'use_sim_time': LaunchConfiguration('use_sim_time')}]
+        )
 
     ])

mir_description/launch/mir_launch.py

@@ -15,16 +15,14 @@ def generate_launch_description():
     mir_description_dir = get_package_share_directory('mir_description')
 
     def create_robot_description(context):
-      ns = context.launch_configurations['namespace']
-      if ns.startswith('/'):
-        ns = ns[1:]
-
-      prefix = context.launch_configurations['prefix']
-      urdf_dir = os.path.join(mir_description_dir, 'urdf')
-      xacro_file = os.path.join(urdf_dir, 'mir.urdf.xacro')
-      doc = xacro.process_file(xacro_file, mappings={'tf_prefix' : ns})
-      robot_desc = doc.toprettyxml(indent='  ')
-      return [SetLaunchConfiguration('robot_description', robot_desc)]
+        ns = context.launch_configurations['namespace']
+        if ns.startswith('/'):
+            ns = ns[1:]
+        urdf_dir = os.path.join(mir_description_dir, 'urdf')
+        xacro_file = os.path.join(urdf_dir, 'mir.urdf.xacro')
+        doc = xacro.process_file(xacro_file, mappings={'tf_prefix': ns})
+        robot_desc = doc.toprettyxml(indent='  ')
+        return [SetLaunchConfiguration('robot_description', robot_desc)]
 
     return LaunchDescription([
 
@@ -50,8 +48,8 @@ def create_robot_description(context):
         executable='robot_state_publisher',
         name='robot_state_publisher',
         output='both',
-        parameters=[{'use_sim_time': use_sim_time, 
-                      'robot_description': LaunchConfiguration('robot_description')}],
+        parameters=[{'use_sim_time': use_sim_time,
+                    'robot_description': LaunchConfiguration('robot_description')}],
         namespace=LaunchConfiguration('namespace'),
       ),
 

mir_driver/launch/additions_launch.py

@@ -5,7 +5,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import Node
 
 
 def generate_launch_description():
@@ -23,15 +22,15 @@ def generate_launch_description():
         ),
 
         DeclareLaunchArgument(
-        'rviz_config_file',
-        default_value= os.path.join(mir_description_dir, 'rviz', 'mir_visu_full.rviz'),
-        description='Define rviz config to be used'
+            'rviz_config_file',
+            default_value=os.path.join(mir_description_dir, 'rviz', 'mir_visu_full.rviz'),
+            description='Define rviz config to be used'
         ),
 
         Node(
             package='teleop_twist_keyboard',
             executable='teleop_twist_keyboard',
-            namespace=LaunchConfiguration('namespace'),
+            namespace=namespace,
             prefix='xterm -e'),
 
         Node(

mir_driver/launch/mir_headless_launch.py

@@ -12,7 +12,6 @@
 def generate_launch_description():
 
     mir_description_dir = get_package_share_directory('mir_description')
-    rviz_config_file = LaunchConfiguration('rviz_config_file')
     use_sim_time = LaunchConfiguration('use_sim_time')
 
     return LaunchDescription([
@@ -47,9 +46,10 @@ def generate_launch_description():
                 os.path.join(mir_description_dir, 'launch', 'mir_launch.py')),
             launch_arguments={
                 'joint_state_publisher_enabled': 'false',
-                'namespace' : LaunchConfiguration('namespace')
+                'namespace': LaunchConfiguration('namespace')
             }.items(),
-            condition=IfCondition(LaunchConfiguration('robot_state_publisher_enabled'))
+            condition=IfCondition(LaunchConfiguration(
+                'robot_state_publisher_enabled'))
         ),
 
         Node(
@@ -92,7 +92,8 @@ def generate_launch_description():
                          'cloud_destination_topic': 'scan_cloud',
                          'min_height': -0.25,
                          'max_merge_time_diff': 0.05,
-                         'max_delay_scan_time': 2.5,  # driver (msg converter) delay
+                         # driver (msg converter) delay
+                         'max_delay_scan_time': 2.5,
                          'max_completion_time': 0.1,
                          'alow_scan_delay': True,
                          'use_sim_time': use_sim_time,

mir_driver/mir_driver/fake_mir_joint_publisher.py

@@ -18,7 +18,7 @@ def __init__(self):
 
         pub = self.create_publisher(
                 msg_type=JointState,
-                topic = 'joint_states', # no prefix to joint states, just namespace
+                topic='joint_states',  # no prefix to joint states, just namespace
                 qos_profile=qos_profile_system_default  # TODO Check QoS Settings
         )