Adapted ruff formetter

rt-net · Nov 20, 2024 · 0c851db · 0c851db
1 parent 2c1d411
commit 0c851db
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Showing 8 changed files with 272 additions and 197 deletions.
diff --git a/launch/camera_line_follower.launch.py b/launch/camera_line_follower.launch.py
@@ -23,72 +23,71 @@
 
 def generate_launch_description():
     declare_mouse = DeclareLaunchArgument(
-        'mouse',
-        default_value="true",
-        description='Launch raspimouse node'
+        'mouse', default_value='true', description='Launch raspimouse node'
     )
     declare_use_camera_node = DeclareLaunchArgument(
-        'use_camera_node',
-        default_value='true',
-        description='Use camera node.'
+        'use_camera_node', default_value='true', description='Use camera node.'
     )
     declare_video_device = DeclareLaunchArgument(
-        'video_device',
-        default_value='/dev/video0',
-        description='Set video device.'
+        'video_device', default_value='/dev/video0', description='Set video device.'
     )
 
     """Generate launch description with multiple components."""
     container = ComposableNodeContainer(
-            name='camera_line_follower_container',
-            namespace='',
-            package='rclcpp_components',
-            executable='component_container_mt',
-            composable_node_descriptions=[
-                ComposableNode(
-                    package='raspimouse_ros2_examples',
-                    plugin='camera_line_follower::CameraFollower',
-                    name='camera_follower',
-                    extra_arguments=[{'use_intra_process_comms': True}]),
-                ComposableNode(
-                    package='raspimouse',
-                    plugin='raspimouse::Raspimouse',
-                    name='raspimouse',
-                    parameters=[{'use_light_sensors': False}],
-                    extra_arguments=[{'use_intra_process_comms': True}],
-                    condition=IfCondition(LaunchConfiguration('mouse'))),
-                ComposableNode(
-                    package='usb_cam',
-                    plugin='usb_cam::UsbCamNode',
-                    name='usb_cam',
-                    remappings=[('image_raw', 'camera/color/image_raw')],
-                    parameters=[
-                        {'video_device': LaunchConfiguration('video_device')},
-                        {'frame_id': 'camera_color_optical_frame'},
-                        {'pixel_format': 'yuyv2rgb'},
-                        {'image_width': 320},
-                        {'image_height': 240},
-                        {'auto_white_balance': False},
-                        {'autoexposure': False}
-                    ],
-                    extra_arguments=[{'use_intra_process_comms': True}],
-                    condition=IfCondition(LaunchConfiguration('use_camera_node'))),
-            ],
-            output='screen',
+        name='camera_line_follower_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='raspimouse_ros2_examples',
+                plugin='camera_line_follower::CameraFollower',
+                name='camera_follower',
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+            ComposableNode(
+                package='raspimouse',
+                plugin='raspimouse::Raspimouse',
+                name='raspimouse',
+                parameters=[{'use_light_sensors': False}],
+                extra_arguments=[{'use_intra_process_comms': True}],
+                condition=IfCondition(LaunchConfiguration('mouse')),
+            ),
+            ComposableNode(
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam',
+                remappings=[('image_raw', 'camera/color/image_raw')],
+                parameters=[
+                    {'video_device': LaunchConfiguration('video_device')},
+                    {'frame_id': 'camera_color_optical_frame'},
+                    {'pixel_format': 'yuyv2rgb'},
+                    {'image_width': 320},
+                    {'image_height': 240},
+                    {'auto_white_balance': False},
+                    {'autoexposure': False},
+                ],
+                extra_arguments=[{'use_intra_process_comms': True}],
+                condition=IfCondition(LaunchConfiguration('use_camera_node')),
+            ),
+        ],
+        output='screen',
     )
 
     manager = Node(
         name='manager',
         package='raspimouse_ros2_examples',
         executable='lifecycle_node_manager',
         output='screen',
-        parameters=[{'components': ['raspimouse', 'camera_follower']}]
+        parameters=[{'components': ['raspimouse', 'camera_follower']}],
     )
 
-    return launch.LaunchDescription([
-        declare_mouse,
-        declare_use_camera_node,
-        declare_video_device,
-        container,
-        manager
-    ])
+    return launch.LaunchDescription(
+        [
+            declare_mouse,
+            declare_use_camera_node,
+            declare_video_device,
+            container,
+            manager,
+        ]
+    )
diff --git a/launch/direction_controller.launch.py b/launch/direction_controller.launch.py
@@ -20,19 +20,29 @@
 def generate_launch_description():
     """Generate launch description with multiple components."""
     mouse_node = LifecycleNode(
-        name='raspimouse', namespace="",
+        name='raspimouse',
+        namespace='',
         package='raspimouse',
         executable='raspimouse',
         output='screen',
-        parameters=[{'use_light_sensors': False, }]
+        parameters=[
+            {
+                'use_light_sensors': False,
+            }
+        ],
     )
 
     imu_driver = LifecycleNode(
-        name='rt_usb_9axisimu_driver', namespace="",
+        name='rt_usb_9axisimu_driver',
+        namespace='',
         package='rt_usb_9axisimu_driver',
         executable='rt_usb_9axisimu_driver',
         output='screen',
-        parameters=[{'port': '/dev/ttyACM0', }]
+        parameters=[
+            {
+                'port': '/dev/ttyACM0',
+            }
+        ],
     )
 
     direction_controller = Node(
@@ -46,8 +56,9 @@ def generate_launch_description():
         package='raspimouse_ros2_examples',
         executable='lifecycle_node_manager',
         output='screen',
-        parameters=[{'components': ['raspimouse', 'rt_usb_9axisimu_driver']}]
+        parameters=[{'components': ['raspimouse', 'rt_usb_9axisimu_driver']}],
     )
 
-    return launch.LaunchDescription([
-        mouse_node, imu_driver, direction_controller, manager])
+    return launch.LaunchDescription(
+        [mouse_node, imu_driver, direction_controller, manager]
+    )
diff --git a/launch/line_follower.launch.py b/launch/line_follower.launch.py
@@ -22,15 +22,15 @@ def generate_launch_description():
         package='raspimouse_ros2_examples',
         executable='line_follower',
         output='screen',
-        parameters=[{'use_pulse_counters': False}]
+        parameters=[{'use_pulse_counters': False}],
     )
 
     manager = Node(
         name='manager',
         package='raspimouse_ros2_examples',
         executable='lifecycle_node_manager',
         output='screen',
-        parameters=[{'components': ['raspimouse', 'follower']}]
+        parameters=[{'components': ['raspimouse', 'follower']}],
     )
 
     return launch.LaunchDescription([line_follower, manager])
diff --git a/launch/mouse_with_lidar.launch.py b/launch/mouse_with_lidar.launch.py
@@ -25,25 +25,40 @@
 
 def generate_launch_description():
     declare_lidar = DeclareLaunchArgument(
-        'lidar', default_value='lds',
-        description='LiDAR: lds only, for now.'
+        'lidar', default_value='lds', description='LiDAR: lds only, for now.'
     )
 
     mouse_node = LifecycleNode(
-        name='raspimouse', namespace="",
-        package='raspimouse', executable='raspimouse', output='screen',
-        parameters=[os.path.join(get_package_share_directory(
-            'raspimouse_ros2_examples'), 'config', 'mouse.yml')]
+        name='raspimouse',
+        namespace='',
+        package='raspimouse',
+        executable='raspimouse',
+        output='screen',
+        parameters=[
+            os.path.join(
+                get_package_share_directory('raspimouse_ros2_examples'),
+                'config',
+                'mouse.yml',
             )
+        ],
+    )
 
     def func_launch_lidar_node(context):
         if context.launch_configurations['lidar'] == 'lds':
-            return [IncludeLaunchDescription(
-                PythonLaunchDescriptionSource([os.path.join(
-                    get_package_share_directory('hls_lfcd_lds_driver'),
-                    'launch'),
-                    '/hlds_laser.launch.py'
-                    ]),)]
+            return [
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        [
+                            os.path.join(
+                                get_package_share_directory('hls_lfcd_lds_driver'),
+                                'launch',
+                            ),
+                            '/hlds_laser.launch.py',
+                        ]
+                    ),
+                )
+            ]
+
     launch_lidar_node = OpaqueFunction(function=func_launch_lidar_node)
 
     ld = LaunchDescription()

diff --git a/launch/object_tracking.launch.py b/launch/object_tracking.launch.py
@@ -23,68 +23,67 @@
 
 def generate_launch_description():
     declare_mouse = DeclareLaunchArgument(
-        'mouse',
-        default_value="true",
-        description='Launch raspimouse node'
+        'mouse', default_value='true', description='Launch raspimouse node'
     )
     declare_use_camera_node = DeclareLaunchArgument(
-        'use_camera_node',
-        default_value='true',
-        description='Use camera node.'
+        'use_camera_node', default_value='true', description='Use camera node.'
     )
     declare_video_device = DeclareLaunchArgument(
-        'video_device',
-        default_value='/dev/video0',
-        description='Set video device.'
+        'video_device', default_value='/dev/video0', description='Set video device.'
     )
 
     """Generate launch description with multiple components."""
     container = ComposableNodeContainer(
-            name='object_tracking_container',
-            namespace='',
-            package='rclcpp_components',
-            executable='component_container_mt',
-            composable_node_descriptions=[
-                ComposableNode(
-                    package='raspimouse_ros2_examples',
-                    plugin='object_tracking::Tracker',
-                    name='tracker',
-                    extra_arguments=[{'use_intra_process_comms': True}]),
-                ComposableNode(
-                    package='raspimouse',
-                    plugin='raspimouse::Raspimouse',
-                    name='raspimouse',
-                    parameters=[{'use_light_sensors': False}],
-                    extra_arguments=[{'use_intra_process_comms': True}],
-                    condition=IfCondition(LaunchConfiguration('mouse'))),
-                ComposableNode(
-                    package='usb_cam',
-                    plugin='usb_cam::UsbCamNode',
-                    name='usb_cam',
-                    remappings=[('image_raw', 'camera/color/image_raw')],
-                    parameters=[
-                        {'video_device': LaunchConfiguration('video_device')},
-                        {'frame_id': 'camera_color_optical_frame'},
-                        {'pixel_format': 'yuyv2rgb'}
-                    ],
-                    extra_arguments=[{'use_intra_process_comms': True}],
-                    condition=IfCondition(LaunchConfiguration('use_camera_node'))),
-            ],
-            output='screen',
+        name='object_tracking_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container_mt',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='raspimouse_ros2_examples',
+                plugin='object_tracking::Tracker',
+                name='tracker',
+                extra_arguments=[{'use_intra_process_comms': True}],
+            ),
+            ComposableNode(
+                package='raspimouse',
+                plugin='raspimouse::Raspimouse',
+                name='raspimouse',
+                parameters=[{'use_light_sensors': False}],
+                extra_arguments=[{'use_intra_process_comms': True}],
+                condition=IfCondition(LaunchConfiguration('mouse')),
+            ),
+            ComposableNode(
+                package='usb_cam',
+                plugin='usb_cam::UsbCamNode',
+                name='usb_cam',
+                remappings=[('image_raw', 'camera/color/image_raw')],
+                parameters=[
+                    {'video_device': LaunchConfiguration('video_device')},
+                    {'frame_id': 'camera_color_optical_frame'},
+                    {'pixel_format': 'yuyv2rgb'},
+                ],
+                extra_arguments=[{'use_intra_process_comms': True}],
+                condition=IfCondition(LaunchConfiguration('use_camera_node')),
+            ),
+        ],
+        output='screen',
     )
 
     manager = Node(
         name='manager',
         package='raspimouse_ros2_examples',
         executable='lifecycle_node_manager',
         output='screen',
-        parameters=[{'components': ['raspimouse', 'tracker']}]
+        parameters=[{'components': ['raspimouse', 'tracker']}],
     )
 
-    return launch.LaunchDescription([
-        declare_mouse,
-        declare_use_camera_node,
-        declare_video_device,
-        container,
-        manager
-    ])
+    return launch.LaunchDescription(
+        [
+            declare_mouse,
+            declare_use_camera_node,
+            declare_video_device,
+            container,
+            manager,
+        ]
+    )
diff --git a/launch/slam.launch.py b/launch/slam.launch.py
@@ -20,29 +20,32 @@
 
 def generate_launch_description():
     slam_node = Node(
-        package='slam_toolbox', executable='sync_slam_toolbox_node',
+        package='slam_toolbox',
+        executable='sync_slam_toolbox_node',
         output='screen',
         parameters=[
-            get_package_share_directory(
-                'raspimouse_ros2_examples')
+            get_package_share_directory('raspimouse_ros2_examples')
             + '/config/mapper_params_offline.yaml'
         ],
     )
 
     rviz2_node = Node(
         name='rviz2',
-        package='rviz2', executable='rviz2', output='screen',
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
         arguments=[
             '-d',
             get_package_share_directory('raspimouse_ros2_examples')
-            + '/config/default.rviz'],
+            + '/config/default.rviz',
+        ],
     )
 
     static_transform_publisher_node = Node(
         package='tf2_ros',
-        executable='static_transform_publisher', output='screen',
-        arguments=['0', '0', '0.1', '0', '3.14',
-                   '3.14', 'base_footprint', 'laser'],
+        executable='static_transform_publisher',
+        output='screen',
+        arguments=['0', '0', '0.1', '0', '3.14', '3.14', 'base_footprint', 'laser'],
     )
 
     ld = LaunchDescription()