CI対応

rt-net · Nov 1, 2024 · 1a5fd93 · 1a5fd93
1 parent 1e1c7e2
commit 1a5fd93
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Showing 4 changed files with 40 additions and 43 deletions.
diff --git a/crane_plus_examples_py/crane_plus_examples_py/gripper_control.py b/crane_plus_examples_py/crane_plus_examples_py/gripper_control.py
@@ -12,8 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from crane_plus_examples_py.utils import plan_and_execute
-
 import math
 
 # moveit python library
@@ -25,6 +23,8 @@
 import rclpy
 from rclpy.logging import get_logger
 
+from crane_plus_examples_py.utils import plan_and_execute
+
 
 def main(args=None):
     # ros2の初期化

diff --git a/crane_plus_examples_py/crane_plus_examples_py/pick_and_place_tf.py b/crane_plus_examples_py/crane_plus_examples_py/pick_and_place_tf.py
@@ -13,9 +13,6 @@
 # limitations under the License.
 
 import datetime
-
-from crane_plus_examples_py.utils import euler_to_quaternion, plan_and_execute
-
 import math
 
 from geometry_msgs.msg import Pose
@@ -38,6 +35,8 @@
 from tf2_ros import TransformListener, TransformStamped
 from tf2_ros.buffer import Buffer
 
+from crane_plus_examples_py.utils import euler_to_quaternion, plan_and_execute
+
 
 class PickAndPlaceTf(Node):
     def __init__(self, crane_plus):

diff --git a/crane_plus_examples_py/crane_plus_examples_py/utils.py b/crane_plus_examples_py/crane_plus_examples_py/utils.py
@@ -13,13 +13,11 @@
 # limitations under the License.
 
 import time
-
 import numpy as np
+import quaternion
 
 from rclpy.logging import get_logger
 
-import quaternion
-
 
 # plan and execute
 def plan_and_execute(

diff --git a/crane_plus_examples_py/launch/example.launch.py b/crane_plus_examples_py/launch/example.launch.py
@@ -26,87 +26,87 @@
 
 def generate_launch_description():
     # declare_loaded_description = DeclareLaunchArgument(
-    #     "loaded_description",
-    #     default_value="",
-    #     description="Set robot_description text.  \
-    #                  It is recommended to use RobotDescriptionLoader() in crane_plus_description.",
+    #     "loaded_description',
+    #     default_value='',
+    #     description='Set robot_description text.  \
+    #                  It is recommended to use RobotDescriptionLoader() in crane_plus_description.',
     # )
     ld = LaunchDescription()
     description_loader = RobotDescriptionLoader()
     ld.add_action(
         DeclareLaunchArgument(
-            "loaded_description",
+            'loaded_description',
             default_value=description_loader.load(),
-            description="Set robot_description text.  \
-                      It is recommended to use RobotDescriptionLoader() in crane_plus_description.",
+            description='Set robot_description text.  \
+                      It is recommended to use RobotDescriptionLoader() in crane_plus_description.',
         )
     )
 
     moveit_config = (
-        MoveItConfigsBuilder("crane_plus")
+        MoveItConfigsBuilder('crane_plus')
         .planning_scene_monitor(
             publish_robot_description=True,
             publish_robot_description_semantic=True,
         )
         .robot_description(
             file_path=os.path.join(
-                get_package_share_directory("crane_plus_description"),
-                "urdf",
-                "crane_plus.urdf.xacro",
+                get_package_share_directory('crane_plus_description'),
+                'urdf',
+                'crane_plus.urdf.xacro',
             ),
             mappings={},
         )
         .robot_description_kinematics(
-            file_path=get_package_share_directory("crane_plus_moveit_config")
-            + "/config/kinematics.yaml"
+            file_path=get_package_share_directory('crane_plus_moveit_config')
+            + '/config/kinematics.yaml'
         )
         # .robot_description_semantic(
-        #     file_path="config/crsane_plus.srdf",
-        #     mappings={"model": "crane_plus"},
+        #     file_path='config/crsane_plus.srdf',
+        #     mappings={'model': 'crane_plus'},
         # )
-        # .joint_limits(file_path="config/joint_limits.yaml")
+        # .joint_limits(file_path='config/joint_limits.yaml')
         .trajectory_execution(
-            file_path=get_package_share_directory("crane_plus_moveit_config")
-            + "/config/controllers.yaml"
+            file_path=get_package_share_directory('crane_plus_moveit_config')
+            + '/config/controllers.yaml'
         )
-        # .planning_pipelines(pipelines=["ompl"])
+        # .planning_pipelines(pipelines=['ompl'])
         .moveit_cpp(
-            file_path=get_package_share_directory("crane_plus_examples_py")
-            + "/config/crane_plus_moveit_py_examples.yaml"
+            file_path=get_package_share_directory('crane_plus_examples_py')
+            + '/config/crane_plus_moveit_py_examples.yaml'
         )
         .to_moveit_configs()
     )
 
     moveit_config.robot_description = {
-        "robot_description": LaunchConfiguration("loaded_description")
+        'robot_description': LaunchConfiguration('loaded_description')
     }
 
-    moveit_config.move_group_capabilities = {"capabilities": ""}
+    moveit_config.move_group_capabilities = {'capabilities': ''}
 
     declare_example_name = DeclareLaunchArgument(
-        "example",
-        default_value="gripper_control",
+        'example',
+        default_value='gripper_control',
         description=(
-            "Set an example executable name: "
-            "[gripper_control, pose_groupstate, joint_values, pick_and_place, pick_and_place_tf]"
+            'Set an example executable name: '
+            '[gripper_control, pose_groupstate, joint_values, pick_and_place, pick_and_place_tf]'
         ),
     )
 
     # declare_use_sim_time = DeclareLaunchArgument(
-    #     "use_sim_time",
-    #     default_value="false",
-    #     description=("Set true when using the gazebo simulator."),
+    #     'use_sim_time',
+    #     default_value='false',
+    #     description=('Set true when using the gazebo simulator.'),
     # )
 
     # use_sim_time_name = SetParameter(
-    #     name="use_sim_time", value=LaunchConfiguration("use_sim_time")
+    #     name='use_sim_time', value=LaunchConfiguration('use_sim_time')
     # )
 
     example_node = Node(
-        name=[LaunchConfiguration("example"), "_node"],
-        package="crane_plus_examples_py",
-        executable=LaunchConfiguration("example"),
-        output="screen",
+        name=[LaunchConfiguration('example'), '_node'],
+        package='crane_plus_examples_py',
+        executable=LaunchConfiguration('example'),
+        output='screen',
         parameters=[moveit_config.to_dict()],
     )