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Format with black with max-line-length 99
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-82
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2 files changed

+105
-82
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‎opennav_coverage_demo/launch/coverage_demo_launch.py‎

Lines changed: 50 additions & 39 deletions
Original file line numberDiff line numberDiff line change
@@ -17,20 +17,25 @@
1717

1818
from ament_index_python.packages import get_package_share_directory
1919
from launch import LaunchDescription
20-
from launch.actions import ExecuteProcess, IncludeLaunchDescription, OpaqueFunction, RegisterEventHandler
20+
from launch.actions import (
21+
ExecuteProcess,
22+
IncludeLaunchDescription,
23+
OpaqueFunction,
24+
RegisterEventHandler,
25+
)
2126
from launch.event_handlers import OnShutdown
2227
from launch.launch_description_sources import PythonLaunchDescriptionSource
2328
from launch_ros.actions import Node
2429

2530

2631
def generate_launch_description():
27-
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
28-
coverage_demo_dir = get_package_share_directory('opennav_coverage_demo')
29-
rviz_config_file = os.path.join(coverage_demo_dir, 'rviz_config.rviz')
32+
nav2_bringup_dir = get_package_share_directory("nav2_bringup")
33+
coverage_demo_dir = get_package_share_directory("opennav_coverage_demo")
34+
rviz_config_file = os.path.join(coverage_demo_dir, "rviz_config.rviz")
3035
sim_dir = get_package_share_directory("nav2_minimal_tb3_sim")
3136

32-
world = os.path.join(coverage_demo_dir, 'blank.world')
33-
param_file_path = os.path.join(coverage_demo_dir, 'demo_params.yaml')
37+
world = os.path.join(coverage_demo_dir, "blank.world")
38+
param_file_path = os.path.join(coverage_demo_dir, "demo_params.yaml")
3439
robot_sdf = os.path.join(sim_dir, "urdf", "gz_waffle.sdf.xacro")
3540

3641
# start the simulation
@@ -41,20 +46,22 @@ def generate_launch_description():
4146
output="screen",
4247
)
4348

44-
urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
45-
with open(urdf, 'r') as infp:
49+
urdf = os.path.join(sim_dir, "urdf", "turtlebot3_waffle.urdf")
50+
with open(urdf, "r") as infp:
4651
robot_description = infp.read()
4752

4853
start_robot_state_publisher_cmd = Node(
49-
package='robot_state_publisher',
50-
executable='robot_state_publisher',
51-
name='robot_state_publisher',
52-
output='screen',
53-
parameters=[{'use_sim_time': True,
54-
'robot_description': robot_description}])
54+
package="robot_state_publisher",
55+
executable="robot_state_publisher",
56+
name="robot_state_publisher",
57+
output="screen",
58+
parameters=[{"use_sim_time": True, "robot_description": robot_description}],
59+
)
5560

5661
remove_temp_sdf_file = RegisterEventHandler(
57-
event_handler=OnShutdown(on_shutdown=[OpaqueFunction(function=lambda _: os.remove(world_sdf))])
62+
event_handler=OnShutdown(
63+
on_shutdown=[OpaqueFunction(function=lambda _: os.remove(world_sdf))]
64+
)
5865
)
5966

6067
gazebo_client = IncludeLaunchDescription(
@@ -65,43 +72,47 @@ def generate_launch_description():
6572
)
6673

6774
start_gazebo_spawner_cmd = IncludeLaunchDescription(
68-
PythonLaunchDescriptionSource(
69-
os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')),
70-
launch_arguments={'namespace': '',
71-
'robot_name': 'turtlebot3_waffle',
72-
'robot_sdf': robot_sdf,
73-
'x_pose': str(5.0),
74-
'y_pose': str(5.0),
75-
'z_pose': str(0.1),
76-
'roll': str(0.0),
77-
'pitch': str(0.0),
78-
'yaw': str(0.0)}.items())
75+
PythonLaunchDescriptionSource(os.path.join(sim_dir, "launch", "spawn_tb3.launch.py")),
76+
launch_arguments={
77+
"namespace": "",
78+
"robot_name": "turtlebot3_waffle",
79+
"robot_sdf": robot_sdf,
80+
"x_pose": str(5.0),
81+
"y_pose": str(5.0),
82+
"z_pose": str(0.1),
83+
"roll": str(0.0),
84+
"pitch": str(0.0),
85+
"yaw": str(0.0),
86+
}.items(),
87+
)
7988

8089
# start the visualization
8190
rviz_cmd = IncludeLaunchDescription(
82-
PythonLaunchDescriptionSource(
83-
os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
84-
launch_arguments={'namespace': '', 'rviz_config': rviz_config_file}.items())
91+
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_dir, "launch", "rviz_launch.py")),
92+
launch_arguments={"namespace": "", "rviz_config": rviz_config_file}.items(),
93+
)
8594

8695
# start navigation
8796
bringup_cmd = IncludeLaunchDescription(
88-
PythonLaunchDescriptionSource(
89-
os.path.join(coverage_demo_dir, 'bringup_launch.py')),
90-
launch_arguments={'params_file': param_file_path}.items())
97+
PythonLaunchDescriptionSource(os.path.join(coverage_demo_dir, "bringup_launch.py")),
98+
launch_arguments={"params_file": param_file_path}.items(),
99+
)
91100

92101
# world->odom transform, no localization. For visualization & controller transform
93102
fake_localization_cmd = Node(
94-
package='tf2_ros',
95-
executable='static_transform_publisher',
96-
output='screen',
97-
arguments=['5.0', '5.0', '0', '0', '0', '0', 'map', 'odom'])
103+
package="tf2_ros",
104+
executable="static_transform_publisher",
105+
output="screen",
106+
arguments=["5.0", "5.0", "0", "0", "0", "0", "map", "odom"],
107+
)
98108

99109
# start the demo task
100110
demo_cmd = Node(
101-
package='opennav_coverage_demo',
102-
executable='demo_coverage',
111+
package="opennav_coverage_demo",
112+
executable="demo_coverage",
103113
emulate_tty=True,
104-
output='screen')
114+
output="screen",
115+
)
105116

106117
ld = LaunchDescription()
107118
ld.add_action(world_sdf_xacro)

‎opennav_coverage_demo/launch/row_coverage_demo_launch.py‎

Lines changed: 55 additions & 43 deletions
Original file line numberDiff line numberDiff line change
@@ -17,20 +17,25 @@
1717

1818
from ament_index_python.packages import get_package_share_directory
1919
from launch import LaunchDescription
20-
from launch.actions import ExecuteProcess, IncludeLaunchDescription, OpaqueFunction, RegisterEventHandler
20+
from launch.actions import (
21+
ExecuteProcess,
22+
IncludeLaunchDescription,
23+
OpaqueFunction,
24+
RegisterEventHandler,
25+
)
2126
from launch.event_handlers import OnShutdown
2227
from launch.launch_description_sources import PythonLaunchDescriptionSource
2328
from launch_ros.actions import Node
2429

2530

2631
def generate_launch_description():
27-
nav2_bringup_dir = get_package_share_directory('nav2_bringup')
28-
coverage_demo_dir = get_package_share_directory('opennav_coverage_demo')
29-
rviz_config_file = os.path.join(coverage_demo_dir, 'rviz_config.rviz')
32+
nav2_bringup_dir = get_package_share_directory("nav2_bringup")
33+
coverage_demo_dir = get_package_share_directory("opennav_coverage_demo")
34+
rviz_config_file = os.path.join(coverage_demo_dir, "rviz_config.rviz")
3035
sim_dir = get_package_share_directory("nav2_minimal_tb3_sim")
3136

32-
world = os.path.join(coverage_demo_dir, 'blank.world')
33-
param_file_path = os.path.join(coverage_demo_dir, 'demo_params.yaml')
37+
world = os.path.join(coverage_demo_dir, "blank.world")
38+
param_file_path = os.path.join(coverage_demo_dir, "demo_params.yaml")
3439
robot_sdf = os.path.join(sim_dir, "urdf", "gz_waffle.sdf.xacro")
3540

3641
# start the simulation
@@ -41,20 +46,22 @@ def generate_launch_description():
4146
output="screen",
4247
)
4348

44-
urdf = os.path.join(sim_dir, 'urdf', 'turtlebot3_waffle.urdf')
45-
with open(urdf, 'r') as infp:
49+
urdf = os.path.join(sim_dir, "urdf", "turtlebot3_waffle.urdf")
50+
with open(urdf, "r") as infp:
4651
robot_description = infp.read()
4752

4853
start_robot_state_publisher_cmd = Node(
49-
package='robot_state_publisher',
50-
executable='robot_state_publisher',
51-
name='robot_state_publisher',
52-
output='screen',
53-
parameters=[{'use_sim_time': True,
54-
'robot_description': robot_description}])
54+
package="robot_state_publisher",
55+
executable="robot_state_publisher",
56+
name="robot_state_publisher",
57+
output="screen",
58+
parameters=[{"use_sim_time": True, "robot_description": robot_description}],
59+
)
5560

5661
remove_temp_sdf_file = RegisterEventHandler(
57-
event_handler=OnShutdown(on_shutdown=[OpaqueFunction(function=lambda _: os.remove(world_sdf))])
62+
event_handler=OnShutdown(
63+
on_shutdown=[OpaqueFunction(function=lambda _: os.remove(world_sdf))]
64+
)
5865
)
5966

6067
gazebo_client = IncludeLaunchDescription(
@@ -65,48 +72,53 @@ def generate_launch_description():
6572
)
6673

6774
start_gazebo_spawner_cmd = IncludeLaunchDescription(
68-
PythonLaunchDescriptionSource(
69-
os.path.join(sim_dir, 'launch', 'spawn_tb3.launch.py')),
70-
launch_arguments={'namespace': '',
71-
'robot_name': 'turtlebot3_waffle',
72-
'robot_sdf': robot_sdf,
73-
'x_pose': str(6.23),
74-
'y_pose': str(15.0),
75-
'z_pose': str(0.1),
76-
'roll': str(0.0),
77-
'pitch': str(0.0),
78-
'yaw': str(-1.5708)}.items())
75+
PythonLaunchDescriptionSource(os.path.join(sim_dir, "launch", "spawn_tb3.launch.py")),
76+
launch_arguments={
77+
"namespace": "",
78+
"robot_name": "turtlebot3_waffle",
79+
"robot_sdf": robot_sdf,
80+
"x_pose": str(6.23),
81+
"y_pose": str(15.0),
82+
"z_pose": str(0.1),
83+
"roll": str(0.0),
84+
"pitch": str(0.0),
85+
"yaw": str(-1.5708),
86+
}.items(),
87+
)
7988

8089
# start the visualization
8190
rviz_cmd = IncludeLaunchDescription(
82-
PythonLaunchDescriptionSource(
83-
os.path.join(nav2_bringup_dir, 'launch', 'rviz_launch.py')),
84-
launch_arguments={'namespace': '', 'rviz_config': rviz_config_file}.items())
91+
PythonLaunchDescriptionSource(os.path.join(nav2_bringup_dir, "launch", "rviz_launch.py")),
92+
launch_arguments={"namespace": "", "rviz_config": rviz_config_file}.items(),
93+
)
8594

8695
# start navigation
8796
bringup_cmd = IncludeLaunchDescription(
88-
PythonLaunchDescriptionSource(
89-
os.path.join(coverage_demo_dir, 'row_bringup_launch.py')),
90-
launch_arguments={'params_file': param_file_path}.items())
97+
PythonLaunchDescriptionSource(os.path.join(coverage_demo_dir, "row_bringup_launch.py")),
98+
launch_arguments={"params_file": param_file_path}.items(),
99+
)
91100

92101
# Demo GPS->map->odom transform, no localization. For visualization & controller transform
93102
fake_localization_cmd = Node(
94-
package='tf2_ros',
95-
executable='static_transform_publisher',
96-
output='screen',
97-
arguments=['6.23', '15', '0', '0', '0', '0', 'map', 'odom'])
103+
package="tf2_ros",
104+
executable="static_transform_publisher",
105+
output="screen",
106+
arguments=["6.23", "15", "0", "0", "0", "0", "map", "odom"],
107+
)
98108
fake_gps_cmd = Node(
99-
package='tf2_ros',
100-
executable='static_transform_publisher',
101-
output='screen',
102-
arguments=['0', '0', '0', '0', '0', '0', 'EPSG:4258', 'map'])
109+
package="tf2_ros",
110+
executable="static_transform_publisher",
111+
output="screen",
112+
arguments=["0", "0", "0", "0", "0", "0", "EPSG:4258", "map"],
113+
)
103114

104115
# start the demo task
105116
demo_cmd = Node(
106-
package='opennav_coverage_demo',
107-
executable='demo_row_coverage',
117+
package="opennav_coverage_demo",
118+
executable="demo_row_coverage",
108119
emulate_tty=True,
109-
output='screen')
120+
output="screen",
121+
)
110122

111123
ld = LaunchDescription()
112124
ld.add_action(world_sdf_xacro)

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