Fix flake8

python scripts don't seem to be ported to ROS2 tho

Author: gleichdick

tf2_sensor_msgs/src/tf2_sensor_msgs/__init__.py

@@ -25,3 +25,5 @@
 # CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
+
+from tf2_sensor_msgs import *  # noqa(E401)

tf2_sensor_msgs/src/tf2_sensor_msgs/tf2_sensor_msgs.py

@@ -1,8 +1,8 @@
 # Copyright 2008 Willow Garage, Inc.
-# 
+#
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:
-# 
+#
 #    * Redistributions of source code must retain the above copyright
 #      notice, this list of conditions and the following disclaimer.
 #
@@ -13,7 +13,7 @@
 #    * Neither the name of the Willow Garage, Inc. nor the names of its
 #      contributors may be used to endorse or promote products derived from
 #      this software without specific prior written permission.
-# 
+#
 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
@@ -29,26 +29,33 @@
 from sensor_msgs.msg import PointCloud2
 from sensor_msgs.point_cloud2 import read_points, create_cloud
 import PyKDL
-import rospy
+import rospy  # noqa(E401)
 import tf2_ros
 
+
 def to_msg_msg(msg):
     return msg
 
+
 tf2_ros.ConvertRegistration().add_to_msg(PointCloud2, to_msg_msg)
 
+
 def from_msg_msg(msg):
     return msg
 
+
 tf2_ros.ConvertRegistration().add_from_msg(PointCloud2, from_msg_msg)
 
+
 def transform_to_kdl(t):
-    return PyKDL.Frame(PyKDL.Rotation.Quaternion(t.transform.rotation.x, t.transform.rotation.y,
-                                                 t.transform.rotation.z, t.transform.rotation.w),
-                       PyKDL.Vector(t.transform.translation.x, 
-                                    t.transform.translation.y, 
+    return PyKDL.Frame(PyKDL.Rotation.Quaternion(
+                            t.transform.rotation.x, t.transform.rotation.y,
+                            t.transform.rotation.z, t.transform.rotation.w),
+                       PyKDL.Vector(t.transform.translation.x,
+                                    t.transform.translation.y,
                                     t.transform.translation.z))
 
+
 # PointStamped
 def do_transform_cloud(cloud, transform):
     t_kdl = transform_to_kdl(transform)
@@ -58,4 +65,6 @@ def do_transform_cloud(cloud, transform):
         points_out.append(p_out)
     res = create_cloud(transform.header, cloud.fields, points_out)
     return res
+
+
 tf2_ros.TransformRegistration().add(PointCloud2, do_transform_cloud)

tf2_sensor_msgs/test/test_tf2_sensor_msgs.py

@@ -36,44 +36,52 @@
 from tf2_ros import TransformStamped
 import copy
 
-## A sample python unit test
+
+# A sample python unit test
 class PointCloudConversions(unittest.TestCase):
     def setUp(self):
         self.point_cloud_in = point_cloud2.PointCloud2()
-        self.point_cloud_in.fields = [PointField('x', 0, PointField.FLOAT32, 1),
-                                PointField('y', 4, PointField.FLOAT32, 1),
-                                PointField('z', 8, PointField.FLOAT32, 1)]
+        self.point_cloud_in.fields = [
+            PointField('x', 0, PointField.FLOAT32, 1),
+            PointField('y', 4, PointField.FLOAT32, 1),
+            PointField('z', 8, PointField.FLOAT32, 1)]
 
         self.point_cloud_in.point_step = 4 * 3
         self.point_cloud_in.height = 1
         # we add two points (with x, y, z to the cloud)
         self.point_cloud_in.width = 2
-        self.point_cloud_in.row_step = self.point_cloud_in.point_step * self.point_cloud_in.width
+        self.point_cloud_in.row_step = \
+            self.point_cloud_in.point_step * self.point_cloud_in.width
 
         points = [1, 2, 0, 10, 20, 30]
         self.point_cloud_in.data = struct.pack('%sf' % len(points), *points)
 
-
         self.transform_translate_xyz_300 = TransformStamped()
         self.transform_translate_xyz_300.transform.translation.x = 300
         self.transform_translate_xyz_300.transform.translation.y = 300
         self.transform_translate_xyz_300.transform.translation.z = 300
-        self.transform_translate_xyz_300.transform.rotation.w = 1  # no rotation so we only set w
+        # no rotation so we only set w
+        self.transform_translate_xyz_300.transform.rotation.w = 1
 
-        assert(list(point_cloud2.read_points(self.point_cloud_in)) == [(1.0, 2.0, 0.0), (10.0, 20.0, 30.0)])
+        assert(list(point_cloud2.read_points(self.point_cloud_in)) ==
+               [(1.0, 2.0, 0.0), (10.0, 20.0, 30.0)])
 
     def test_simple_transform(self):
-        old_data = copy.deepcopy(self.point_cloud_in.data)  # deepcopy is not required here because we have a str for now
-        point_cloud_transformed = tf2_sensor_msgs.do_transform_cloud(self.point_cloud_in, self.transform_translate_xyz_300)
+        # deepcopy is not required here because we have a str for now
+        old_data = copy.deepcopy(self.point_cloud_in.data)
+        point_cloud_transformed = tf2_sensor_msgs.do_transform_cloud(
+            self.point_cloud_in, self.transform_translate_xyz_300)
 
         k = 300
         expected_coordinates = [(1+k, 2+k, 0+k), (10+k, 20+k, 30+k)]
         new_points = list(point_cloud2.read_points(point_cloud_transformed))
         print("new_points are %s" % new_points)
         assert(expected_coordinates == new_points)
-        assert(old_data == self.point_cloud_in.data)  # checking no modification in input cloud
+        # checking no modification in input cloud
+        assert(old_data == self.point_cloud_in.data)
+
 
 if __name__ == '__main__':
     import rosunit
-    rosunit.unitrun("test_tf2_sensor_msgs", "test_point_cloud_conversion", PointCloudConversions)
-
+    rosunit.unitrun("test_tf2_sensor_msgs", "test_point_cloud_conversion",
+                    PointCloudConversions)