ruff check --fix

app/imshow/imshow/imshow.py

@@ -1,16 +1,16 @@
+import cv2
 import rclpy
+from cv_bridge import CvBridge
 from rclpy.node import Node
 from sensor_msgs.msg import Image
-from cv_bridge import CvBridge
-import cv2
 
 
 class Imshow(Node):
  def __init__(self):
  super().__init__('imshow')
  self.subscription=self.create_subscription(Image, 'camera_image', self.listener_callback, 10)
  self.bridge=CvBridge()
- 
+
  def listener_callback(self, msg):
  frame=self.bridge.imgmsg_to_cv2(msg, "bgr8")
  cv2.imshow('Camera', frame)
@@ -24,4 +24,4 @@ def main(args=None):
  rclpy.shutdown()
 
 if __name__=='__main__':
- main()
+ main()

app/imshow/launch/imshow_launch.py

@@ -8,6 +8,6 @@ def generate_launch_description():
  package="imshow",
  executable="imshow",
  namespace="app",
- remappings=[("/app/camera/image", "/packet/camera/image")]
- )
+ remappings=[("/app/camera/image", "/packet/camera/image")],
+ ),
  ])

app/imshow/setup.py

@@ -1,7 +1,7 @@
 import os
 from glob import glob
 
-from setuptools import find_packages, setup
+from setuptools import setup
 
 package_name = 'imshow'
 
@@ -12,7 +12,7 @@
  data_files=[
  ('share/ament_index/resource_index/packages',['resource/' + package_name]),
  ('share/' + package_name,['package.xml']),
- (os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*')))
+ (os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*'))),
  ],
  install_requires=['setuptools'],
  zip_safe=True,

app/power_map/launch/launch.py

@@ -9,14 +9,14 @@ def generate_launch_description():
  config = os.path.join(
  get_package_share_directory("power_map"),
  "config",
- "default_param.yml"
+ "default_param.yml",
  )
  return LaunchDescription([
  Node(
  package="power_map",
  executable="power-map",
  namespace="app",
  parameters=[config],
- remappings=[("/app/power", "/device/order/power")]
- )
+ remappings=[("/app/power", "/device/order/power")],
+ ),
  ])

app/simple_joy_app/launch/app_launch.py

@@ -8,6 +8,6 @@ def generate_launch_description():
  package="simple_joy_app",
  executable="app",
  namespace="app",
- remappings=[("/app/joystick", "/device/joystick")]
- )
+ remappings=[("/app/joystick", "/device/joystick")],
+ ),
  ])

device/camera_reader/camera_reader/camera.py

@@ -1,8 +1,8 @@
+import cv2
 import rclpy
+from cv_bridge import CvBridge
 from rclpy.node import Node
 from sensor_msgs.msg import Image
-import cv2
-from cv_bridge import CvBridge
 
 
 class Camera(Node):

device/camera_reader/launch/camera_reader_launch.py

@@ -5,8 +5,8 @@
 def generate_launch_description():
  return LaunchDescription([
  Node(
- package="camera_reader", 
- executable="camera_reader", 
+ package="camera_reader",
+ executable="camera_reader",
  namespace="device",
- remappings=[("/device/camera/image", "/packet/camera/image")])
+ remappings=[("/device/camera/image", "/packet/camera/image")]),
  ])

device/camera_reader/setup.py

@@ -1,7 +1,7 @@
 import os
 from glob import glob
 
-from setuptools import find_packages, setup
+from setuptools import setup
 
 package_name = 'camera_reader'
 
@@ -12,7 +12,7 @@
  data_files=[
  ('share/ament_index/resource_index/packages',['resource/' + package_name]),
  ('share/' + package_name,['package.xml']),
- (os.path.join('share','package_name','launch'),glob(os.path.join('launch','*')))
+ (os.path.join('share','package_name','launch'),glob(os.path.join('launch','*'))),
  ],
  install_requires=['setuptools'],
  zip_safe=True,
@@ -26,4 +26,4 @@
  'camera=camera_reader.camera:main',
  ],
  },
-)
+)

device/joystick/launch/joystick_launch.py

@@ -4,5 +4,5 @@
 
 def generate_launch_description():
  return LaunchDescription([
- Node(package="joystick", executable="joystick", namespace="device")
+ Node(package="joystick", executable="joystick", namespace="device"),
  ])

device/joystick/setup.py

@@ -13,7 +13,7 @@
  ('share/ament_index/resource_index/packages',
  ['resource/' + package_name]),
  ('share/' + package_name, ['package.xml']),
- (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*'))),
  ],
  install_requires=['setuptools'],
  zip_safe=True,
@@ -24,7 +24,7 @@
  tests_require=[],
  entry_points={
  'console_scripts': [
- "joystick = joystick.joystick:main"
+ "joystick = joystick.joystick:main",
  ],
  },
 )

device/nucleo_communicate_py/launch/channel_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  main = Node(
  package="nucleo_communicate_py",
  executable="channel",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([main])

device/nucleo_communicate_py/launch/receiver_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  receiver = Node(
  package="nucleo_communicate_py",
  executable="receiver",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([receiver])

device/nucleo_communicate_py/launch/sender_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  sender = Node(
  package="nucleo_communicate_py",
  executable="sender",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([sender])

device/nucleo_communicate_py/nucleo_communicate_py/channel.py

@@ -4,7 +4,7 @@
 import sys
 
 import rclpy
-from packet_interfaces.msg import Current, Flex, Voltage, Power
+from packet_interfaces.msg import Current, Flex, Power, Voltage
 from rclpy.node import Node
 from std_msgs.msg import Empty
 
@@ -21,13 +21,13 @@ def __init__(self, mutex_serial: MutexSerial):
  Empty,
  "quit",
  self._quit_callback,
- 10
+ 10,
  )
  self._order_subscription = self.create_subscription(
  Power,
  "order/power",
  self._order_callback,
- 10
+ 10,
  )
  self._sender = Sndr(mutex_serial)
  # Receiver.__init__

device/nucleo_communicate_py/nucleo_communicate_py/main.py

@@ -4,7 +4,7 @@
 import sys
 
 import rclpy
-from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
+from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
 
 from .mutex_serial import MutexSerial
 from .receiver import Receiver

device/nucleo_communicate_py/nucleo_communicate_py/receiver.py

@@ -29,7 +29,7 @@ def receive_raw(self) -> tuple[int, int, int, int]:
  return (flex1, flex2, current, voltage)
 
  def map_values(
- self, flex1: int, flex2: int, current: int, voltage: int
+ self, flex1: int, flex2: int, current: int, voltage: int,
  ) -> tuple[int, int, float, float]:
  # TODO: current, voltageの計算はnucleo側と要相談
  return (flex1, flex2, current / 0xFFFF, voltage / 0xFFFF)

device/nucleo_communicate_py/nucleo_communicate_py/sender.py

@@ -1,10 +1,10 @@
 import sys
 
 import rclpy
+from packet_interfaces.msg import Power
 from rclpy.node import Node
 from serial import Serial
 from std_msgs.msg import Empty
-from packet_interfaces.msg import Power
 
 from .mutex_serial import MutexSerial
 
@@ -60,13 +60,13 @@ def __init__(self, mutex_serial: MutexSerial) -> None:
  Empty,
  "quit",
  self._quit_callback,
- 10
+ 10,
  )
  self._order_subscription = self.create_subscription(
  Power,
  "order/power",
  self._order_callback,
- 10
+ 10,
  )
  self._sender = Sndr(mutex_serial)
 

device/nucleo_communicate_py/setup.py

@@ -13,7 +13,7 @@
  ('share/ament_index/resource_index/packages',
  ['resource/' + package_name]),
  ('share/' + package_name, ['package.xml']),
- (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*'))),
  ],
  install_requires=['setuptools'],
  zip_safe=True,
@@ -26,7 +26,7 @@
  'console_scripts': [
  "sender = nucleo_communicate_py.sender:main",
  "receiver = nucleo_communicate_py.receiver:main",
- "channel = nucleo_communicate_py.channel:main"
+ "channel = nucleo_communicate_py.channel:main",
  ],
  },
 )

device/pi_i2c/launch/all_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  all_exec = Node(
  package="pi_i2c",
  executable="all",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([all_exec])

device/pi_i2c/launch/depth_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  depth = Node(
  package="pi_i2c",
  executable="depth",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([depth])

device/pi_i2c/launch/imu_launch.py

@@ -6,6 +6,6 @@ def generate_launch_description() -> LaunchDescription:
  imu = Node(
  package="pi_i2c",
  executable="imu",
- namespace="device"
+ namespace="device",
  )
  return LaunchDescription([imu])

device/pi_i2c/pi_i2c/all.py

@@ -1,7 +1,7 @@
 import sys
 
 import rclpy
-from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
+from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
 
 from .depth import Depth
 from .imu import Imu

device/pi_i2c/setup.py

@@ -3,7 +3,6 @@
 
 from setuptools import find_packages, setup
 
-
 package_name = 'pi_i2c'
 
 setup(
@@ -14,7 +13,7 @@
  ('share/ament_index/resource_index/packages',
  ['resource/' + package_name]),
  ('share/' + package_name, ['package.xml']),
- (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*')))
+ (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*'))),
  ],
  install_requires=['setuptools'],
  zip_safe=True,
@@ -27,7 +26,7 @@
  'console_scripts': [
  "depth = pi_i2c.depth:main",
  "imu = pi_i2c.imu:main",
- "all = pi_i2c.all:main"
+ "all = pi_i2c.all:main",
  ],
  },
 )