disable pep257 checks that are not applicable for us

crazyflie_py/crazyflie_py/crazyflie.py

@@ -45,8 +45,7 @@ class TimeHelper:
     When running on real hardware, this class uses ROS time functions.
     The simulation equivalent does not depend on ROS.
 
-    Attributes
-    ----------
+    Attributes:
         visualizer: No-op object conforming to the Visualizer API used in
             simulation scripts. Maintains the property that scripts should not
             know/care if they are running in simulation or not.
@@ -104,10 +103,9 @@ def __init__(self, node, cfname, paramTypeDict):
         Construct Crazyflie.
 
         Args:
-        ----
-            node: ROS node reference
-            cfname (string): Name of the robot names[ace]
-            paramTypeDict: dictionary of the parameter types
+            node: ROS node reference.
+            cfname (string): Name of the robot names[ace].
+            paramTypeDict: dictionary of the parameter types.
 
         """
         prefix = '/' + cfname
@@ -345,7 +343,6 @@ def goTo(self, goal, yaw, duration, relative=False, groupMask=0):
         controller to become unstable.
 
         Args:
-        ----
             goal (iterable of 3 floats): The goal position. Meters.
             yaw (float): The goal yaw angle (heading). Radians.
             duration (float): How long until the goal is reached. Seconds.
@@ -444,7 +441,6 @@ def notifySetpointsStop(self, remainValidMillisecs=100, groupMask=0):
         streaming setpoint modes.
 
         Args:
-        ----
             remainValidMillisecs (int): Number of milliseconds that the last
                 streaming setpoint should be followed before reverting to the
                 onboard-determined behavior. May be longer e.g. if one radio
@@ -503,7 +499,6 @@ def setParam(self, name, value):
         See :meth:`getParam()` docs for overview of the parameter system.
 
         Args:
-        ----
             name (str): The parameter's name.
             value (Any): The parameter's value.
 
@@ -547,7 +542,6 @@ def cmdFullState(self, pos, vel, acc, yaw, omega):
         :meth:`goTo()` after a streaming setpoint has been sent.
 
         Args:
-        ----
             pos (array-like of float[3]): Position. Meters.
             vel (array-like of float[3]): Velocity. Meters / second.
             acc (array-like of float[3]): Acceleration. Meters / second^2.
@@ -702,8 +696,7 @@ class CrazyflieServer(rclpy.node.Node):
 
     Also is the container for the individual :obj:`Crazyflie` objects.
 
-    Attributes
-    ----------
+    Attributes:
         crazyfiles (List[Crazyflie]): List of one Crazyflie object per robot,
             as determined by the crazyflies.yaml config file.
         crazyfliesById (Dict[int, Crazyflie]): Index to the same Crazyflie
@@ -873,7 +866,6 @@ def goTo(self, goal, yaw, duration, groupMask=0):
         See docstring of :meth:`Crazyflie.goTo()` for additional details.
 
         Args:
-        ----
             goal (iterable of 3 floats): The goal offset. Meters.
             yaw (float): The goal yaw angle (heading). Radians.
             duration (float): How long until the goal is reached. Seconds.
@@ -898,7 +890,6 @@ def startTrajectory(self, trajectoryId,
         Asynchronous command; returns immediately.
 
         Args:
-        ----
             trajectoryId (int): ID number as given to :meth:`Crazyflie.uploadTrajectory()`.
             timescale (float): Scales the trajectory duration by this factor.
                 For example if timescale == 2.0, the trajectory will take twice
@@ -946,7 +937,6 @@ def cmdFullState(self, pos, vel, acc, yaw, omega):
         :meth:`goTo()` after a streaming setpoint has been sent.
 
         Args:
-        ----
             pos (array-like of float[3]): Position. Meters.
             vel (array-like of float[3]): Velocity. Meters / second.
             acc (array-like of float[3]): Acceleration. Meters / second^2.

crazyflie_py/crazyflie_py/util.py

@@ -10,12 +10,10 @@ def check_ellipsoid_collisions(positions, radii):
     Check for collisions between a set of ellipsoids at given positions.
 
     Args:
-    ----
         positions (array float[n, 3]): The ellipsoid centers.
         radii (array float[3]): The radii of the axis-aligned ellipsoids.
 
-    Returns
-    -------
+    Returns:
         colliding (array bool[n]): True at index i if the i'th ellipsoid
             intersects any of the other ellipsoids.
 
@@ -38,13 +36,11 @@ def poisson_disk_sample(n, dim, mindist):
     TODO(jpreiss): find/implement a library with a fast algorithm.
 
     Args:
-    ----
         n (int): Number of points.
         dim (int): Dimensionality of points.
         mindist (float): Minimum Euclidean distance between any two points.
 
-    Returns
-    -------
+    Returns:
         pts (array float[n, dim]): The sampled points.
 
     """

crazyflie_py/test/test_pep257.py

@@ -19,5 +19,5 @@
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
+    rc = main(argv=['.', 'test', '--add-ignore', 'D406', 'D407', 'D417'])
     assert rc == 0, 'Found code style errors / warnings'

docs2/howto.rst

@@ -90,4 +90,15 @@ To close the logblocks again, run:
 .. code-block:: bash
 
     ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'topic_test'}"
-    ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'pose'}"
+    ros2 service call /cf2/remove_logging crazyflie_interfaces/srv/RemoveLogging "{topic_name: 'pose'}"
+
+Run Tests Locally
+-----------------
+
+This requires some updated pip packages for testing, see https://docs.ros.org/en/humble/Installation/Alternatives/Ubuntu-Development-Setup.html, otherwise the reported failures will be inconsistent with CI.
+
+Then execute:
+
+```
+colcon test --event-handlers=console_cohesion+ --return-code-on-test-failure --packages-select crazyflie_py
+```