From 2dea8109c620d90b16c9a06267a6678e661e83fa Mon Sep 17 00:00:00 2001 From: stevedan Date: Wed, 18 Sep 2024 08:42:12 +0200 Subject: [PATCH] lintering Signed-off-by: stevedan --- .../src/gps_navigation/test_case_py.launch.py | 83 +++++++++---------- 1 file changed, 41 insertions(+), 42 deletions(-) diff --git a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py index b198d90361..85ed03d4d8 100755 --- a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py +++ b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py @@ -27,7 +27,6 @@ IncludeLaunchDescription, SetEnvironmentVariable, ) -from launch.launch_context import LaunchContext from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_testing.legacy import LaunchTestService @@ -36,83 +35,83 @@ def generate_launch_description(): - sim_dir = get_package_share_directory("nav2_minimal_tb3_sim") - nav2_bringup_dir = get_package_share_directory("nav2_bringup") + sim_dir = get_package_share_directory('nav2_minimal_tb3_sim') + nav2_bringup_dir = get_package_share_directory('nav2_bringup') - world_sdf_xacro = os.path.join(sim_dir, "worlds", "tb3_gps.sdf.xacro") - robot_sdf = os.path.join(sim_dir, "urdf", "gz_waffle_gps.sdf.xacro") + world_sdf_xacro = os.path.join(sim_dir, 'worlds', 'tb3_gps.sdf.xacro') + robot_sdf = os.path.join(sim_dir, 'urdf', 'gz_waffle_gps.sdf.xacro') - urdf = os.path.join(sim_dir, "urdf", "turtlebot3_waffle_gps.urdf") + urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle_gps.urdf') - with open(urdf, "r") as infp: + with open(urdf, 'r') as infp: robot_description = infp.read() # use local param file launch_dir = os.path.dirname(os.path.realpath(__file__)) - params_file = os.path.join(launch_dir, "nav2_no_map_params.yaml") + params_file = os.path.join(launch_dir, 'nav2_no_map_params.yaml') configured_params = RewrittenYaml( source_file=params_file, - root_key="", - param_rewrites="", + root_key='', + param_rewrites='', convert_types=True, ) return LaunchDescription( [ - SetEnvironmentVariable("RCUTILS_LOGGING_BUFFERED_STREAM", "1"), - SetEnvironmentVariable("RCUTILS_LOGGING_USE_STDOUT", "1"), + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'), AppendEnvironmentVariable( - "GZ_SIM_RESOURCE_PATH", os.path.join(sim_dir, "models") + 'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models') ), AppendEnvironmentVariable( - "GZ_SIM_RESOURCE_PATH", + 'GZ_SIM_RESOURCE_PATH', str(Path(os.path.join(sim_dir)).parent.resolve()), ), ExecuteProcess( - cmd=["gz", "sim", "-r", "-s", world_sdf_xacro], - output="screen", + cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro], + output='screen', ), IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(sim_dir, "launch", "spawn_tb3_gps.launch.py") + os.path.join(sim_dir, 'launch', 'spawn_tb3_gps.launch.py') ), launch_arguments={ - "use_sim_time": "True", - "robot_sdf": robot_sdf, - "x_pose": "0.0", - "y_pose": "0.0", - "z_pose": "0.0", - "roll": "0.0", - "pitch": "0.0", - "yaw": "0.0", + 'use_sim_time': 'True', + 'robot_sdf': robot_sdf, + 'x_pose': '0.0', + 'y_pose': '0.0', + 'z_pose': '0.0', + 'roll': '0.0', + 'pitch': '0.0', + 'yaw': '0.0', }.items(), ), Node( - package="robot_state_publisher", - executable="robot_state_publisher", - name="robot_state_publisher", - output="screen", + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', parameters=[ - {"use_sim_time": True, "robot_description": robot_description} + {'use_sim_time': True, 'robot_description': robot_description} ], ), IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(nav2_bringup_dir, "launch", "navigation_launch.py") + os.path.join(nav2_bringup_dir, 'launch', 'navigation_launch.py') ), launch_arguments={ - "namespace": "", - "use_namespace": "False", - "use_sim_time": "True", - "params_file": configured_params, - "use_composition": "False", - "autostart": "True", + 'namespace': '', + 'use_namespace': 'False', + 'use_sim_time': 'True', + 'params_file': configured_params, + 'use_composition': 'False', + 'autostart': 'True', }.items(), ), IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(launch_dir, "dual_ekf_navsat.launch.py") + os.path.join(launch_dir, 'dual_ekf_navsat.launch.py') ), ), ] @@ -123,9 +122,9 @@ def main(argv=sys.argv[1:]): ld = generate_launch_description() test1_action = ExecuteProcess( - cmd=[os.path.join(os.getenv("TEST_DIR"), "tester.py")], - name="tester_node", - output="screen", + cmd=[os.path.join(os.getenv('TEST_DIR'), 'tester.py')], + name='tester_node', + output='screen', ) lts = LaunchTestService() @@ -136,5 +135,5 @@ def main(argv=sys.argv[1:]): return return_code -if __name__ == "__main__": +if __name__ == '__main__': sys.exit(main())