Fixes format.

Signed-off-by: Franco Cipollone <[email protected]>
Ekumen-OS · May 3, 2024 · eced87d · eced87d
1 parent 0bf0459
commit eced87d
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Showing 4 changed files with 85 additions and 86 deletions.
diff --git a/TODO b/TODO
diff --git a/andino_gz/launch/andino_gz.launch.py b/andino_gz/launch/andino_gz.launch.py
@@ -16,10 +16,13 @@ def generate_launch_description():
     pkg_andino_gz = get_package_share_directory('andino_gz')
 
     ros_bridge_arg = DeclareLaunchArgument(
-        'ros_bridge', default_value='true', description = 'Run ROS bridge node.')
+        'ros_bridge', default_value='true', description='Run ROS bridge node.')
     rviz_arg = DeclareLaunchArgument('rviz', default_value='true', description='Start RViz.')
-    world_name_arg = DeclareLaunchArgument('world_name', default_value='depot.sdf', description='Name of the world to load.')
-    robots_arg = DeclareLaunchArgument('robots', default_value="andino={x: 0., y: 0., z: 0.1, yaw: 0.};", description='Robots to spawn, multiple robots can be stated separated by a ; ')
+    world_name_arg = DeclareLaunchArgument(
+        'world_name', default_value='depot.sdf', description='Name of the world to load.')
+    robots_arg = DeclareLaunchArgument(
+        'robots', default_value="andino={x: 0., y: 0., z: 0.1, yaw: 0.};",
+        description='Robots to spawn, multiple robots can be stated separated by a ; ')
 
     # Variables of launch file.
     rviz = LaunchConfiguration('rviz')
@@ -30,87 +33,92 @@ def generate_launch_description():
     world_path = PathJoinSubstitution([pkg_andino_gz, 'worlds', world_name])
 
     base_group = GroupAction(
-      scoped=True, forwarding=False,
-      launch_configurations={
-        'ros_bridge': ros_bridge,
-        'world_name': world_name
-      },
-      actions=[
-        # Gazebo Sim
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(
-                os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')
+        scoped=True, forwarding=False,
+        launch_configurations={
+            'ros_bridge': ros_bridge,
+            'world_name': world_name
+        },
+        actions=[
+            # Gazebo Sim
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')
+                ),
+                launch_arguments={'gz_args': world_path}.items(),
             ),
-            launch_arguments={'gz_args': world_path}.items(),
-        ),
-        # ROS Bridge for generic Gazebo stuff
-        Node(
-            package='ros_gz_bridge',
-            executable='parameter_bridge',
-            arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
-            output='screen',
-            namespace='andino_gz_sim',
-            condition=IfCondition(ros_bridge),
-        ),
-    ])
+            # ROS Bridge for generic Gazebo stuff
+            Node(
+                package='ros_gz_bridge',
+                executable='parameter_bridge',
+                arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock'],
+                output='screen',
+                namespace='andino_gz_sim',
+                condition=IfCondition(ros_bridge),
+            ),
+        ]
+    )
 
     robots_list = ParseMultiRobotPose('robots').value()
     # When no robots are specified, spawn a single robot at the origin.
     # The default value isn't getting parsed correctly, so we need to check for an empty dictionary.
     if (robots_list == {}):
-        robots_list = {"andino": { "x": 0., "y": 0., "z": 0.1, "yaw": 0. } }
+        robots_list = {"andino": {"x": 0., "y": 0., "z": 0.1, "yaw": 0.}}
     log_number_robots = LogInfo(msg="Robots to spawn: " + str(robots_list))
     spawn_robots_group = []
     for robot_name in robots_list:
         init_pose = robots_list[robot_name]
         # As it is scoped and not forwarding, the launch configuration in this context gets cleared.
         group = GroupAction(
-          scoped=True, forwarding=False,
-          launch_configurations={
-            'rviz': rviz,
-            'ros_bridge': ros_bridge
-          },
-          actions=[
-            LogInfo(msg="Group for robot: " + robot_name),
-            PushRosNamespace(condition=IfCondition(PythonExpression([TextSubstitution(text=str(len(robots_list.keys()))), ' > 1'])), namespace=robot_name),
-            # Spawn the robot and the Robot State Publisher node.
-            IncludeLaunchDescription(
-              PythonLaunchDescriptionSource(
-                  os.path.join(pkg_andino_gz, 'launch', 'include', 'spawn_robot.launch.py')
-              ),
-              launch_arguments={
-                  'entity': robot_name,
-                  'initial_pose_x': str(init_pose['x']),
-                  'initial_pose_y': str(init_pose['y']),
-                  'initial_pose_z': str(init_pose['z']),
-                  'initial_pose_yaw':  str(init_pose['yaw']),
-                  'robot_description_topic': 'robot_description',
-                  'use_sim_time': 'true',
-              }.items(),
-            ),
-            # RViz
-            Node(
-                condition=IfCondition(rviz),
-                package='rviz2',
-                executable='rviz2',
-                arguments=['-d', os.path.join(pkg_andino_gz, 'rviz', 'andino_gz.rviz')],
-                parameters=[{'use_sim_time': True}],
-                remappings=[
-                  ('/tf', 'tf'),
-                  ('/tf_static', 'tf_static'),
-                ],
-            ),
-            # Run ros_gz bridge
-            IncludeLaunchDescription(
-                PythonLaunchDescriptionSource(
-                    os.path.join(pkg_andino_gz, 'launch', 'include', 'gz_ros_bridge.launch.py')
+            scoped=True, forwarding=False,
+            launch_configurations={
+                'rviz': rviz,
+                'ros_bridge': ros_bridge
+            },
+            actions=[
+                LogInfo(msg="Group for robot: " + robot_name),
+                PushRosNamespace(
+                    condition=IfCondition(
+                        PythonExpression([TextSubstitution(text=str(len(robots_list.keys()))), ' > 1'])),
+                    namespace=robot_name),
+                # Spawn the robot and the Robot State Publisher node.
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        os.path.join(pkg_andino_gz, 'launch', 'include', 'spawn_robot.launch.py')
+                    ),
+                    launch_arguments={
+                        'entity': robot_name,
+                        'initial_pose_x': str(init_pose['x']),
+                        'initial_pose_y': str(init_pose['y']),
+                        'initial_pose_z': str(init_pose['z']),
+                        'initial_pose_yaw': str(init_pose['yaw']),
+                        'robot_description_topic': 'robot_description',
+                        'use_sim_time': 'true',
+                    }.items(),
+                ),
+                # RViz
+                Node(
+                    condition=IfCondition(rviz),
+                    package='rviz2',
+                    executable='rviz2',
+                    arguments=['-d', os.path.join(pkg_andino_gz, 'rviz', 'andino_gz.rviz')],
+                    parameters=[{'use_sim_time': True}],
+                    remappings=[
+                        ('/tf', 'tf'),
+                        ('/tf_static', 'tf_static'),
+                    ],
                 ),
-                launch_arguments={
-                    'entity': robot_name,
-                }.items(),
-                condition=IfCondition(LaunchConfiguration('ros_bridge')),
-            )
-        ])
+                # Run ros_gz bridge
+                IncludeLaunchDescription(
+                    PythonLaunchDescriptionSource(
+                        os.path.join(pkg_andino_gz, 'launch', 'include', 'gz_ros_bridge.launch.py')
+                    ),
+                    launch_arguments={
+                        'entity': robot_name,
+                    }.items(),
+                    condition=IfCondition(LaunchConfiguration('ros_bridge')),
+                )
+            ]
+        )
         spawn_robots_group.append(group)
 
     ld = LaunchDescription()

diff --git a/andino_gz/launch/include/gz_ros_bridge.launch.py b/andino_gz/launch/include/gz_ros_bridge.launch.py
@@ -7,7 +7,8 @@
 from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
 
-from nav2_common.launch import ReplaceString, RewrittenYaml
+from nav2_common.launch import ReplaceString
+
 
 def generate_launch_description():
     pkg_andino_gz = get_package_share_directory('andino_gz')
@@ -27,11 +28,11 @@ def generate_launch_description():
         executable='parameter_bridge',
         output='screen',
         parameters=[{
-          'config_file': bridge_config
+            'config_file': bridge_config
         }],
     )
 
     return LaunchDescription([
-      entity_arg,
-      bridge_node,
+        entity_arg,
+        bridge_node,
     ])
diff --git a/andino_gz/launch/include/spawn_robot.launch.py b/andino_gz/launch/include/spawn_robot.launch.py
@@ -5,15 +5,14 @@
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration
-from launch.substitutions import PythonExpression
 from launch_ros.actions import Node
 from xacro import process_file
 
 PKG_ANDINO_DESCRIPTION = get_package_share_directory('andino_description')
 PKG_ANDINO_GZ = get_package_share_directory('andino_gz')
 
+
 def get_robot_description() -> str:
     """
     Obtain the URDF from the xacro file.