Merge pull request #319 from IMRCLab/feature_examples_flake8

crazyflie_examples: fix flake8 and pep256 issues

crazyflie_examples/CMakeLists.txt

@@ -16,4 +16,20 @@ install(DIRECTORY
  DESTINATION share/${PROJECT_NAME}/
 )
 
+if(BUILD_TESTING)
+ find_package(ament_cmake_pytest REQUIRED)
+ set(_pytest_tests
+ test/test_flake8.py
+ test/test_pep257.py
+ )
+ foreach(_test_path ${_pytest_tests})
+ get_filename_component(_test_name ${_test_path} NAME_WE)
+ ament_add_pytest_test(${_test_name} ${_test_path}
+ APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+ TIMEOUT 60
+ WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+ )
+ endforeach()
+endif()
+
 ament_package()

crazyflie_examples/crazyflie_examples/cmd_full_state.py

@@ -1,10 +1,10 @@
 #!/usr/bin/env python
 
-import numpy as np
 from pathlib import Path
 
-from crazyflie_py import *
+from crazyflie_py import Crazyswarm
 from crazyflie_py.uav_trajectory import Trajectory
+import numpy as np
 
 
 def executeTrajectory(timeHelper, cf, trajpath, rate=100, offset=np.zeros(3)):
@@ -39,12 +39,15 @@ def main():
  cf.takeoff(targetHeight=Z, duration=Z+1.0)
  timeHelper.sleep(Z+2.0)
 
- executeTrajectory(timeHelper, cf, Path(__file__).parent / "data/figure8.csv", rate, offset=np.array([0, 0, 0.5]))
+ executeTrajectory(timeHelper, cf,
+ Path(__file__).parent / 'data/figure8.csv',
+ rate,
+ offset=np.array([0, 0, 0.5]))
 
  cf.notifySetpointsStop()
  cf.land(targetHeight=0.03, duration=Z+1.0)
  timeHelper.sleep(Z+2.0)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
  main()

crazyflie_examples/crazyflie_examples/figure8.py

@@ -1,18 +1,19 @@
 #!/usr/bin/env python
 
-import numpy as np
 from pathlib import Path
 
-from crazyflie_py import *
+from crazyflie_py import Crazyswarm
 from crazyflie_py.uav_trajectory import Trajectory
+import numpy as np
+
 
 def main():
  swarm = Crazyswarm()
  timeHelper = swarm.timeHelper
  allcfs = swarm.allcfs
 
  traj1 = Trajectory()
- traj1.loadcsv(Path(__file__).parent / "data/figure8.csv")
+ traj1.loadcsv(Path(__file__).parent / 'data/figure8.csv')
 
  TRIALS = 1
  TIMESCALE = 1.0
@@ -36,5 +37,5 @@ def main():
  timeHelper.sleep(3.0)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
  main()

crazyflie_examples/crazyflie_examples/hello_world.py

@@ -1,6 +1,5 @@
 """Takeoff-hover-land for one CF. Useful to validate hardware config."""
 
-# from pycrazyswarm import Crazyswarm
 from crazyflie_py import Crazyswarm
 
 
@@ -19,5 +18,5 @@ def main():
  timeHelper.sleep(TAKEOFF_DURATION)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
  main()

crazyflie_examples/crazyflie_examples/multi_trajectory.py

@@ -1,21 +1,22 @@
 #!/usr/bin/env python
 
-import numpy as np
 from pathlib import Path
 
-from crazyflie_py import *
+from crazyflie_py import Crazyswarm
 from crazyflie_py.uav_trajectory import Trajectory
+import numpy as np
+
 
 def main():
  swarm = Crazyswarm()
  timeHelper = swarm.timeHelper
  allcfs = swarm.allcfs
  trajs = []
- n = 2 # number of distinct trajectories
+ n = 2  # number of distinct trajectories
 
  for i in range(n):
  traj = Trajectory()
- traj.loadcsv(Path(__file__).parent / f"data/multi_trajectory/traj{i}.csv")
+ traj.loadcsv(Path(__file__).parent / f'data/multi_trajectory/traj{i}.csv')
  trajs.append(traj)
 
  TRIALS = 1
@@ -38,5 +39,5 @@ def main():
  timeHelper.sleep(3.0)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
  main()

crazyflie_examples/crazyflie_examples/nice_hover.py

@@ -1,12 +1,12 @@
 #!/usr/bin/env python
 
+from crazyflie_py import Crazyswarm
 import numpy as np
-from crazyflie_py import *
 
 
 def main():
  Z = 1.0
- 
+
  swarm = Crazyswarm()
  timeHelper = swarm.timeHelper
  allcfs = swarm.allcfs
@@ -17,11 +17,12 @@ def main():
  pos = np.array(cf.initialPosition) + np.array([0, 0, Z])
  cf.goTo(pos, 0, 1.0)
 
- print("press button to continue...")
+ print('press button to continue...')
  swarm.input.waitUntilButtonPressed()
 
  allcfs.land(targetHeight=0.02, duration=1.0+Z)
  timeHelper.sleep(1.0+Z)
 
-if __name__ == "__main__":
+
+if __name__ == '__main__':
  main()

crazyflie_examples/crazyflie_examples/set_param.py

@@ -1,26 +1,24 @@
 #!/usr/bin/env python
 
-from crazyflie_py import *
+from crazyflie_py import Crazyswarm
 
 
 def main():
- Z = 1.0
-
  swarm = Crazyswarm()
  timeHelper = swarm.timeHelper
  allcfs = swarm.allcfs
 
  # disable LED (one by one)
  for cf in allcfs.crazyflies:
- cf.setParam("led.bitmask", 128)
+ cf.setParam('led.bitmask', 128)
  timeHelper.sleep(1.0)
 
  timeHelper.sleep(2.0)
 
  # enable LED (broadcast)
- allcfs.setParam("led.bitmask", 0)
+ allcfs.setParam('led.bitmask', 0)
  timeHelper.sleep(5.0)
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
  main()

crazyflie_examples/launch/keyboard_velmux_launch.py

@@ -1,8 +1,10 @@
 import os
-import yaml
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch_ros.actions import Node
+import yaml
+
 
 def generate_launch_description():
  # load crazyflies
@@ -29,8 +31,8 @@ def generate_launch_description():
  executable='vel_mux.py',
  name='vel_mux',
  output='screen',
- parameters=[{"hover_height": 0.3},
- {"incoming_twist_topic": "/cmd_vel"},
- {"robot_prefix": "/cf1"}]
+ parameters=[{'hover_height': 0.3},
+ {'incoming_twist_topic': '/cmd_vel'},
+ {'robot_prefix': '/cf1'}]
  ),
  ])

crazyflie_examples/launch/multiranger_mapping_launch.py

@@ -1,11 +1,10 @@
 import os
-import yaml
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch_ros.actions import Node
-from launch.conditions import LaunchConfigurationEquals
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+import yaml
+
 
 def generate_launch_description():
  # load crazyflies
@@ -32,25 +31,25 @@ def generate_launch_description():
  executable='vel_mux.py',
  name='vel_mux',
  output='screen',
- parameters=[{"hover_height": 0.3},
- {"incoming_twist_topic": "/cmd_vel"},
- {"robot_prefix": "/cf1"}]
+ parameters=[{'hover_height': 0.3},
+ {'incoming_twist_topic': '/cmd_vel'},
+ {'robot_prefix': '/cf1'}]
  ),
  Node(
- parameters=[
- {'odom_frame': 'odom'},
- {'map_frame': 'world'},
- {'base_frame': 'cf1'},
- {'scan_topic': '/cf1/scan'},
- {'use_scan_matching': False},
- {'max_laser_range': 3.5},
- {'resolution': 0.1},
- {'minimum_travel_distance': 0.01},
- {'minimum_travel_heading': 0.001},
- {'map_update_interval': 0.1}
- ],
- package='slam_toolbox',
- executable='async_slam_toolbox_node',
- name='slam_toolbox',
- output='screen'),
- ])
+  parameters=[
+  {'odom_frame': 'odom'},
+  {'map_frame': 'world'},
+  {'base_frame': 'cf1'},
+  {'scan_topic': '/cf1/scan'},
+  {'use_scan_matching': False},
+  {'max_laser_range': 3.5},
+  {'resolution': 0.1},
+  {'minimum_travel_distance': 0.01},
+  {'minimum_travel_heading': 0.001},
+  {'map_update_interval': 0.1}
+  ],
+  package='slam_toolbox',
+  executable='async_slam_toolbox_node',
+  name='slam_toolbox',
+  output='screen'),
+ ])

crazyflie_examples/launch/multiranger_nav2_launch.py

@@ -1,11 +1,11 @@
 import os
-import yaml
+
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch_ros.actions import Node
-from launch.conditions import LaunchConfigurationEquals
+from launch.actions import IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+import yaml
 
 
 def generate_launch_description():
@@ -20,64 +20,65 @@ def generate_launch_description():
 
  server_params = crazyflies
 
- cf_examples_dir = get_package_share_directory("crazyflie_examples")
+ cf_examples_dir = get_package_share_directory('crazyflie_examples')
  bringup_dir = get_package_share_directory('nav2_bringup')
  bringup_launch_dir = os.path.join(bringup_dir, 'launch')
- map_name = "map"
-
+ map_name = 'map'
 
  return LaunchDescription([
  Node(
  package='crazyflie',
  executable='crazyflie_server.py',
  name='crazyflie_server',
  output='screen',
- parameters=[{"world_tf_name": 'map'},
+ parameters=[{'world_tf_name': 'map'},
  server_params],
  ),
  Node(
  package='crazyflie',
  executable='vel_mux.py',
  name='vel_mux',
  output='screen',
- parameters=[{"hover_height": 0.3},
- {"incoming_twist_topic": "/cmd_vel"},
- {"robot_prefix": "/cf1"}]
+ parameters=[{'hover_height': 0.3},
+ {'incoming_twist_topic': '/cmd_vel'},
+ {'robot_prefix': '/cf1'}]
  ),
  Node(
- parameters=[
- {'odom_frame': 'odom'},
- {'map_frame': 'map'},
- {'base_frame': 'cf1'},
- {'scan_topic': '/cf1/scan'},
- {'use_scan_matching': False},
- {'max_laser_range': 3.5},
- {'resolution': 0.1},
- {'minimum_travel_distance': 0.01},
- {'minimum_travel_heading': 0.001},
- {'map_update_interval': 0.1},
- {'mode': 'localization'},
- {"map_file_name": cf_examples_dir + "/data/" + map_name},
- {"map_start_pose": [0.0, 0.0, 0.0]} ],
- package='slam_toolbox',
- executable='async_slam_toolbox_node',
- name='slam_toolbox',
- output='screen'),
+  parameters=[
+  {'odom_frame': 'odom'},
+  {'map_frame': 'map'},
+  {'base_frame': 'cf1'},
+  {'scan_topic': '/cf1/scan'},
+  {'use_scan_matching': False},
+  {'max_laser_range': 3.5},
+  {'resolution': 0.1},
+  {'minimum_travel_distance': 0.01},
+  {'minimum_travel_heading': 0.001},
+  {'map_update_interval': 0.1},
+  {'mode': 'localization'},
+  {'map_file_name': cf_examples_dir + '/data/' + map_name},
+  {'map_start_pose': [0.0, 0.0, 0.0]}],
+  package='slam_toolbox',
+  executable='async_slam_toolbox_node',
+  name='slam_toolbox',
+  output='screen'),
  IncludeLaunchDescription(
  PythonLaunchDescriptionSource(
  os.path.join(bringup_launch_dir, 'bringup_launch.py')),
- launch_arguments={'slam': 'False',
- 'use_sim_time': 'false',
- 'map': cf_examples_dir + "/data/" + map_name + ".yaml",
- 'params_file': os.path.join(cf_examples_dir, 'nav2_params.yaml'),
- 'autostart': 'true',
- 'use_composition': 'true',
- 'transform_publish_period': '0.02'
- }.items()
+ launch_arguments={
+ 'slam': 'False',
+ 'use_sim_time': 'false',
+ 'map': cf_examples_dir + '/data/' + map_name + '.yaml',
+ 'params_file': os.path.join(cf_examples_dir, 'nav2_params.yaml'),
+ 'autostart': 'true',
+ 'use_composition': 'true',
+ 'transform_publish_period': '0.02'
+ }.items()
  ),
  IncludeLaunchDescription(
  PythonLaunchDescriptionSource(
  os.path.join(bringup_launch_dir, 'rviz_launch.py')),
  launch_arguments={
- 'rviz_config': os.path.join(bringup_dir, 'rviz', 'nav2_default_view.rviz')}.items())
+ 'rviz_config': os.path.join(
+ bringup_dir, 'rviz', 'nav2_default_view.rviz')}.items())
  ])