Ruff

.github/workflows/build.yml

@@ -19,9 +19,14 @@ jobs:
  - uses: actions/checkout@v4
  with:
  path: src/2024_cavolinia
- - run: sudo apt update
+ - run: |
+ sudo apt update
+ sudo apt install python3 python3-pip
  - run: |
  . /opt/ros/iron/setup.bash
  rosdep update
  rosdep install -i --from-paths src --rosdistro iron -y
  colcon build
+ - run: python3 -m pip install ruff
+ - run: python3 -m ruff check
+

.ruff.toml

@@ -0,0 +1,23 @@
+line-length = 90
+indent-width = 4
+target-version = "py310"
+
+[lint]
+# https://docs.astral.sh/ruff/rules/
+# F: Pyflakes
+# E, W: pycodestyle
+# I: isort
+# A: flake8-builtins
+# COM: flake8-commas
+# SLF, flake8-self
+# SIM: flake8-simplify
+# RUF: Ruff-specific rules
+select = ["F", "E", "W", "I", "A", "COM", "SLF", "SIM", "RUF"]
+ignore = []
+
+fixable = ["ALL"]
+
+[format]
+quote-style = "double"
+indent-style = "space"
+

app/imshow/imshow/imshow.py

@@ -1,27 +1,31 @@
+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()
-
+ 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)
+ frame = self.bridge.imgmsg_to_cv2(msg, "bgr8")
+ cv2.imshow("Camera", frame)
  cv2.waitKey(1)
 
+
 def main(args=None):
  rclpy.init(args=args)
- imshow=Imshow()
+ imshow = Imshow()
  rclpy.spin(imshow)
  imshow.destroy_node()
  rclpy.shutdown()
 
-if __name__=='__main__':
- main()
+
+if __name__ == "__main__":
+ main()

app/imshow/launch/imshow_launch.py

@@ -3,11 +3,13 @@
 
 
 def generate_launch_description():
- return LaunchDescription([
- Node(
- package="imshow",
- executable="imshow",
- namespace="app",
- remappings=[("/app/camera/image", "/packet/camera/image")]
- )
- ])
+ return LaunchDescription(
+ [
+ Node(
+ package="imshow",
+ executable="imshow",
+ namespace="app",
+ remappings=[("/app/camera/image", "/packet/camera/image")],
+ ),
+ ],
+ )

app/imshow/setup.py

@@ -1,29 +1,32 @@
 import os
 from glob import glob
 
-from setuptools import find_packages, setup
+from setuptools import setup
 
-package_name = 'imshow'
+package_name = "imshow"
 
 setup(
  name=package_name,
- version='0.0.0',
+ version="0.0.0",
  packages=[package_name],
  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','*')))
+ ("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", "*")),
+ ),
  ],
- install_requires=['setuptools'],
+ install_requires=["setuptools"],
  zip_safe=True,
- maintainer='hiro',
- maintainer_email='[email protected]',
- description='Image display for ROS2',
- license='MIT License',
+ maintainer="hiro",
+ maintainer_email="[email protected]",
+ description="Image display for ROS2",
+ license="MIT License",
  tests_require=[],
  entry_points={
- 'console_scripts': [
- 'imshow = imshow.imshow:main',
+ "console_scripts": [
+ "imshow = imshow.imshow:main",
  ],
  },
 )

app/power_map/launch/launch.py

@@ -9,14 +9,16 @@ 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")],
+ ),
+ ],
  )
- return LaunchDescription([
- Node(
- package="power_map",
- executable="power-map",
- namespace="app",
- parameters=[config],
- remappings=[("/app/power", "/device/order/power")]
- )
- ])

app/simple_joy_app/launch/app_launch.py

@@ -3,11 +3,13 @@
 
 
 def generate_launch_description():
- return LaunchDescription([
- Node(
- package="simple_joy_app",
- executable="app",
- namespace="app",
- remappings=[("/app/joystick", "/device/joystick")]
- )
- ])
+ return LaunchDescription(
+ [
+ Node(
+ package="simple_joy_app",
+ executable="app",
+ namespace="app",
+ remappings=[("/app/joystick", "/device/joystick")],
+ ),
+ ],
+ )

device/camera_reader/camera_reader/camera.py

@@ -1,35 +1,37 @@
+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):
  def __init__(self):
- super().__init__('camera')
- self.publisher_=self.create_publisher(Image, 'camera_image', 10)
- self.timer=self.create_timer(0.1, self.timer_callback)
- self.cap=cv2.VideoCapture(0)
- self.bridge=CvBridge()
+ super().__init__("camera")
+ self.publisher_ = self.create_publisher(Image, "camera_image", 10)
+ self.timer = self.create_timer(0.1, self.timer_callback)
+ self.cap = cv2.VideoCapture(0)
+ self.bridge = CvBridge()
  if not self.cap.isOpened():
- self.get_logger().error('Failed to open camera')
+ self.get_logger().error("Failed to open camera")
  rclpy.shutdown()
 
  def timer_callback(self):
- ret,frame=self.cap.read()
+ ret, frame = self.cap.read()
  if ret:
- msg=self.bridge.cv2_to_imgmsg(frame, "bgr8")
+ msg = self.bridge.cv2_to_imgmsg(frame, "bgr8")
  self.publisher_.publish(msg)
  else:
- self.get_logger().error('Failed to capture image')
+ self.get_logger().error("Failed to capture image")
+
 
 def main(args=None):
  rclpy.init(args=args)
- camera=Camera()
+ camera = Camera()
  rclpy.spin(camera)
  camera.destroy_node()
  rclpy.shutdown()
 
-if __name__=="__main__":
+
+if __name__ == "__main__":
  main()

device/camera_reader/launch/camera_reader_launch.py

@@ -3,10 +3,13 @@
 
 
 def generate_launch_description():
- return LaunchDescription([
- Node(
- package="camera_reader", 
- executable="camera_reader", 
- namespace="device",
- remappings=[("/device/camera/image", "/packet/camera/image")])
- ])
+ return LaunchDescription(
+ [
+ Node(
+ package="camera_reader",
+ executable="camera_reader",
+ namespace="device",
+ remappings=[("/device/camera/image", "/packet/camera/image")],
+ ),
+ ],
+ )

device/camera_reader/setup.py

@@ -1,29 +1,32 @@
 import os
 from glob import glob
 
-from setuptools import find_packages, setup
+from setuptools import setup
 
-package_name = 'camera_reader'
+package_name = "camera_reader"
 
 setup(
  name=package_name,
- version='0.0.0',
+ version="0.0.0",
  packages=[package_name],
  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','*')))
+ ("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", "*")),
+ ),
  ],
- install_requires=['setuptools'],
+ install_requires=["setuptools"],
  zip_safe=True,
- maintainer='hiro',
- maintainer_email='[email protected]',
- description='Camera for ROS2',
- license='MIT license',
+ maintainer="hiro",
+ maintainer_email="[email protected]",
+ description="Camera for ROS2",
+ license="MIT license",
  tests_require=[],
  entry_points={
- 'console_scripts': [
- 'camera=camera_reader.camera:main',
+ "console_scripts": [
+ "camera=camera_reader.camera:main",
  ],
  },
-)
+)

device/joystick/launch/joystick_launch.py

@@ -3,6 +3,8 @@
 
 
 def generate_launch_description():
- return LaunchDescription([
- Node(package="joystick", executable="joystick", namespace="device")
- ])
+ return LaunchDescription(
+ [
+ Node(package="joystick", executable="joystick", namespace="device"),
+ ],
+ )

device/joystick/setup.py

@@ -3,28 +3,30 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'joystick'
+package_name = "joystick"
 
 setup(
  name=package_name,
- version='0.1.0',
- packages=find_packages(exclude=['test']),
+ version="0.1.0",
+ packages=find_packages(exclude=["test"]),
  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', '*')))
+ ("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", "*")),
+ ),
  ],
- install_requires=['setuptools'],
+ install_requires=["setuptools"],
  zip_safe=True,
- maintainer='h1rono',
- maintainer_email='[email protected]',
- description='ゲームコントローラー',
- license='MIT',
+ maintainer="h1rono",
+ maintainer_email="[email protected]",
+ description="ゲームコントローラー",
+ license="MIT",
  tests_require=[],
  entry_points={
- 'console_scripts': [
- "joystick = joystick.joystick:main"
+ "console_scripts": [
+ "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])