Fix formatting

Signed-off-by: Florian Vahl <[email protected]>

Author: Flova

tf2_ros_py/test/test_buffer.py

@@ -133,7 +133,6 @@ def test_await_transform_full_delayed(self):
         assert transform == excinfo.value.value
         coro.close()
 
-
     def await_transform_timeout_template(self, transform_coroutine):
         # wait for timeout in an async call
 
@@ -153,7 +152,7 @@ async def async_environment():
 
                 # Indicate that we had a success
                 stop_fut.set_result(True)
-            except tf2.LookupException as e:
+            except tf2.LookupException:
                 # Indicate that we had a timeout
                 stop_fut.set_result(False)
 
@@ -163,7 +162,8 @@ async def async_environment():
         # Trigger the guard condition to start the async call
         gc.trigger()
 
-        # Runs the event loop until the future is done or times out (not the timeout that we want to test)
+        # Runs the event loop until the future is done
+        # or times out (not the timeout that we want to test)
         rclpy.spin_until_future_complete(node, stop_fut, executor, timeout_sec=0.2)
 
         # Check if we actually timed out
@@ -185,36 +185,59 @@ async def async_environment():
         # Check if we can still get the transform after the timeout
         assert stop_fut.done() and stop_fut.result()
 
-
     def test_await_transform_timeout(self):
         # wait for timeout in an async call
 
         def transform_coroutine(buffer, target, source, rclpy_time):
-            return buffer.wait_for_transform_async(target, source, rclpy_time, timeout=rclpy.duration.Duration(seconds=0.1))
+            return buffer.wait_for_transform_async(
+                target,
+                source,
+                rclpy_time,
+                timeout=rclpy.duration.Duration(seconds=0.1)
+            )
 
         self.await_transform_timeout_template(transform_coroutine)
 
     def test_await_transform_full_timeout(self):
         # wait for timeout in an async call
 
         def transform_coroutine(buffer, target, source, rclpy_time):
-            return buffer.wait_for_transform_full_async(target, rclpy_time, source, rclpy_time, target, timeout=rclpy.duration.Duration(seconds=0.1))
+            return buffer.wait_for_transform_full_async(
+                target,
+                rclpy_time,
+                source,
+                rclpy_time,
+                target,
+                timeout=rclpy.duration.Duration(seconds=0.1)
+            )
 
         self.await_transform_timeout_template(transform_coroutine)
 
     def test_async_lookup_transform_timeout(self):
         # wait for timeout in an async call
 
         def transform_coroutine(buffer, target, source, rclpy_time):
-            return buffer.lookup_transform_async(target, source, rclpy_time, timeout=rclpy.duration.Duration(seconds=0.1))
+            return buffer.lookup_transform_async(
+                target,
+                source,
+                rclpy_time,
+                timeout=rclpy.duration.Duration(seconds=0.1)
+            )
 
         self.await_transform_timeout_template(transform_coroutine)
 
     def test_async_lookup_transform_full_timeout(self):
         # wait for timeout in an async call
 
         def transform_coroutine(buffer, target, source, rclpy_time):
-            return buffer.lookup_transform_full_async(target, rclpy_time, source, rclpy_time, target, timeout=rclpy.duration.Duration(seconds=0.1))
+            return buffer.lookup_transform_full_async(
+                target,
+                rclpy_time,
+                source,
+                rclpy_time,
+                target,
+                timeout=rclpy.duration.Duration(seconds=0.1)
+            )
 
         self.await_transform_timeout_template(transform_coroutine)
 

tf2_ros_py/tf2_ros/buffer.py

@@ -166,8 +166,8 @@ async def lookup_transform_async(
         :param target_frame: Name of the frame to transform into.
         :param source_frame: Name of the input frame.
         :param time: The time at which to get the transform (0 will get the latest).
-        :param timeout: Time to wait for the target frame to become available. Needs a Node instance
-            to be set on the Buffer to work.
+        :param timeout: Time to wait for the target frame to become available.
+            Needs a Node instance to be set on the Buffer to work.
         :return: The transform between the frames.
         """
         return await self.wait_for_transform_async(target_frame, source_frame, time, timeout)
@@ -214,8 +214,8 @@ async def lookup_transform_full_async(
         :param source_frame: Name of the input frame.
         :param source_time: The time at which source_frame will be evaluated (0 gets the latest).
         :param fixed_frame: Name of the frame to consider constant in time.
-        :param timeout: Time to wait for the target frame to become available. Needs a Node instance
-            to be set on the Buffer to work.
+        :param timeout: Time to wait for the target frame to become available.
+            Needs a Node instance to be set on the Buffer to work.
         :return: The transform between the frames.
         """
         return await self.wait_for_transform_full_async(
@@ -313,8 +313,8 @@ def wait_for_transform_async(
         :param target_frame: Name of the frame to transform into.
         :param source_frame: Name of the input frame.
         :param time: The time at which to get the transform (0 will get the latest).
-        :param timeout: Time to wait for the target frame to become available. Needs a Node instance
-            to be set on the Buffer to work.
+        :param timeout: Time to wait for the target frame to become available.
+            Needs a Node instance to be set on the Buffer to work.
         :return: A future that contains the transform when it becomes available.
         """
         fut = rclpy.task.Future()
@@ -344,7 +344,7 @@ def _on_timeout():
         # Check if a timeout is specified
         if timeout is not None:
             if self.node is None:
-                raise RuntimeError("Async timeouts require a Node instance to be set.")
+                raise RuntimeError('Async timeouts require a Node instance to be set.')
 
             timeout_timer = self.node.create_timer(
                 timeout.nanoseconds / 1e9, _on_timeout, clock=self.node.get_clock(),
@@ -380,8 +380,8 @@ def wait_for_transform_full_async(
         :param source_frame: Name of the input frame.
         :param source_time: The time at which source_frame will be evaluated (0 gets the latest).
         :param fixed_frame: Name of the frame to consider constant in time.
-        :param timeout: Time to wait for the target frame to become available. Needs a Node instance
-            to be set on the Buffer to work.
+        :param timeout: Time to wait for the target frame to become available.
+            Needs a Node instance to be set on the Buffer to work.
         :return: A future that becomes true when the transform is available.
         """
         fut = rclpy.task.Future()
@@ -414,7 +414,7 @@ def _on_timeout():
         # Check if a timeout is specified
         if timeout is not None:
             if self.node is None:
-                raise RuntimeError("Async timeouts require a Node instance to be set.")
+                raise RuntimeError('Async timeouts require a Node instance to be set.')
 
             timeout_timer = self.node.create_timer(
                 timeout.nanoseconds / 1e9, _on_timeout, clock=self.node.get_clock(),