Merge pull request #4 from Wiktor-99/fix_ci

Fix ci

.github/actions/lint/run.sh

@@ -2,6 +2,7 @@
 set -e
 
 sudo apt-get update
+source /opt/ros/$ROS_DISTRO/setup.bash
 if [[ "ament_flake8" == "ament_${LINTER}" ]]; then
     ament_${LINTER} . --config python_linter.flake8
 else

.github/workflows/build_and_test.yaml

@@ -14,7 +14,7 @@ jobs:
     build:
         runs-on: ubuntu-latest
         container:
-            image: ubuntu:jammy
+            image: ubuntu:noble
 
         steps:
             - uses: ros-tooling/[email protected]

.pre-commit-config.yaml

@@ -32,11 +32,12 @@ repos:
         - id: black
           args: ["--line-length=120", "--preview", "--exclude=grasp_service_parameters.py"]
 
-    - repo: https://github.com/PyCQA/flake8
-      rev: 6.1.0
+    - repo: local
       hooks:
         - id: flake8
-          args: ["--ignore=E501,W503,E203", "--exclude=grasp_service_parameters.py"]
+          name: flake8 checker
+          entry: bash -c "flake8 --config python_linter.flake8"
+          language: python
 
     - repo: https://github.com/PyCQA/doc8
       rev: v1.1.1

python_linter.flake8

@@ -1,3 +1,4 @@
 [flake8]
 exclude = .git,__pycache__,grasp_service_parameters.py, install/*, build/*
+extend-ignore = Q000, D100, D101, D104, D103, D102, D107
 max-line-length = 120

ros2_grasp_service/ros2_grasp_service/grasp_service.py

@@ -1,14 +1,21 @@
-from rclpy import init, spin_once, shutdown, spin
-from control_msgs.action import FollowJointTrajectory, GripperCommand
-from rclpy.node import Node
-from std_srvs.srv import Empty
-from rclpy.action import ActionClient
+from time import sleep
+
 from action_msgs.msg import GoalStatus
-from trajectory_msgs.msg import JointTrajectoryPoint, JointTrajectory
+
 from builtin_interfaces.msg import Duration
-from time import sleep
+
+from control_msgs.action import FollowJointTrajectory, GripperCommand
+
+from rclpy import init, shutdown, spin, spin_once
+from rclpy.action import ActionClient
+from rclpy.node import Node
+
 from ros2_grasp_service.grasp_service_parameters import grasp_service_parameters
 
+from std_srvs.srv import Empty
+
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+
 
 class FollowJointTrajectoryActionClient(Node):
     def __init__(self, joints_controller_name):

ros2_grasp_service/setup.py

@@ -1,7 +1,9 @@
+import os
+from glob import glob
+
 from generate_parameter_library_py.setup_helper import generate_parameter_module
+
 from setuptools import find_packages, setup
-from glob import glob
-import os
 
 package_name = "ros2_grasp_service"
 

ros2_grasp_service_demo/manipulator_simulation/launch/manipulator_simulation_bringup.launch.py

@@ -1,11 +1,14 @@
 import os
+
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
 from launch.substitutions import LaunchConfiguration
 
+from launch_ros.actions import Node
+
 
 def generate_launch_description():
     open_manipulator_bringup = IncludeLaunchDescription(

ros2_grasp_service_demo/manipulator_simulation/setup.py

@@ -1,6 +1,7 @@
-from setuptools import find_packages, setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import find_packages, setup
 
 package_name = "manipulator_simulation"
 

ros2_grasp_service_demo/open_manipulator/open_manipulator_bringup/launch/open_manipulator_bringup.launch.py

@@ -1,9 +1,11 @@
 from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.actions import IncludeLaunchDescription
-from launch_ros.actions import Node
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import PathJoinSubstitution
+
+from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
 
 

ros2_grasp_service_demo/open_manipulator/open_manipulator_bringup/setup.py

@@ -1,7 +1,8 @@
-from setuptools import find_packages, setup
 import os
 from glob import glob
 
+from setuptools import find_packages, setup
+
 package_name = "open_manipulator_bringup"
 
 setup(

ros2_grasp_service_demo/open_manipulator/open_manipulator_control/launch/control.launch.py

@@ -1,10 +1,14 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+
 from launch import LaunchDescription
-from launch_ros.actions import Node
 from launch.actions import ExecuteProcess, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
-from ament_index_python.packages import get_package_share_directory
+
+from launch_ros.actions import Node
+
 import xacro
-import os
 
 
 def generate_launch_description():

ros2_grasp_service_demo/open_manipulator/open_manipulator_control/setup.py

@@ -1,6 +1,7 @@
-from setuptools import find_packages, setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import find_packages, setup
 
 package_name = "open_manipulator_control"
 

ros2_grasp_service_demo/open_manipulator/open_manipulator_description/setup.py

@@ -1,6 +1,7 @@
-from setuptools import find_packages, setup
-from glob import glob
 import os
+from glob import glob
+
+from setuptools import find_packages, setup
 
 package_name = "open_manipulator_description"