linting

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf/launch/armlaunchbase.py

@@ -1,26 +1,24 @@
-"""
-MIT License
-
-Copyright (c) 2019-2021 University of Waterloo Robotics Team
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-"""
+# MIT License
+#
+# Copyright (c) 2019-2021 University of Waterloo Robotics Team;
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
 
 import os
 

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf/launch/launch.py

@@ -1,26 +1,24 @@
-"""
-MIT License
+# MIT License
+#
+# Copyright (c) 2019-2021 University of Waterloo Robotics Team;
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
 
-Copyright (c) 2019-2021 University of Waterloo Robotics Team
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.
-"""
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_client.hpp

@@ -5,15 +5,17 @@
 #include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
 #include "uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp"
 
-namespace uwrt_motion_planning {
-class MotionPlanClient : public rclcpp::Node {
- public:
-  explicit MotionPlanClient(const rclcpp::NodeOptions& options);
+namespace uwrt_motion_planning
+{
+class MotionPlanClient : public rclcpp::Node
+{
+public:
+  explicit MotionPlanClient(const rclcpp::NodeOptions & options);
 
- protected:
+protected:
   void execute();
 
- private:
+private:
   rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr client_;
 };
 

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/include/uwrt_mars_rover_arm_urdf_moveit/motion_plan_server.hpp

@@ -10,17 +10,19 @@
 #include "uwrt_mars_rover_arm_urdf_moveit/srv/motion_plan.hpp"
 #include "uwrt_mars_rover_arm_urdf_moveit/visibility_control.hpp"
 
-namespace uwrt_motion_planning {
-
-class MotionPlanServer : public rclcpp::Node {
- public:
+namespace uwrt_motion_planning
+{
+class MotionPlanServer : public rclcpp::Node
+{
+public:
   UWRT_MOTION_PLANNING_PUBLIC
-  explicit MotionPlanServer(const rclcpp::NodeOptions& options);
+  explicit MotionPlanServer(const rclcpp::NodeOptions & options);
 
- private:
+private:
   rclcpp::Service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedPtr srv_;
-  void solve_ik(const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
-                std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response);
+  void solve_ik(
+    const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
+    std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response);
 };
 
 }  // namespace uwrt_motion_planning

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_client.cpp

@@ -9,15 +9,17 @@
 
 using namespace std::chrono_literals;
 
-namespace uwrt_motion_planning {
-
-MotionPlanClient::MotionPlanClient(const rclcpp::NodeOptions& options) : Node("Client", options) {
+namespace uwrt_motion_planning
+{
+MotionPlanClient::MotionPlanClient(const rclcpp::NodeOptions & options) : Node("Client", options)
+{
   client_ = create_client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>("motion_plan");
 
   execute();
 }
 
-void MotionPlanClient::execute() {
+void MotionPlanClient::execute()
+{
   if (!client_->wait_for_service(1s)) {
     if (!rclcpp::ok()) {
       RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
@@ -36,7 +38,8 @@ void MotionPlanClient::execute() {
   auto request = std::make_shared<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request>();
   request->pose = target;
 
-  using ServiceResponseFuture = rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedFuture;
+  using ServiceResponseFuture =
+    rclcpp::Client<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>::SharedFuture;
   auto response_received_callback = [this](ServiceResponseFuture future) {
     RCLCPP_INFO(this->get_logger(), "Got result: [%d]", future.get()->success);
   };

uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_urdf_moveit/src/motion_plan_server.cpp

@@ -6,21 +6,24 @@
 
 #include "rclcpp/rclcpp.hpp"
 
-namespace uwrt_motion_planning {
-
-MotionPlanServer::MotionPlanServer(const rclcpp::NodeOptions& options) : Node("Server", options) {
+namespace uwrt_motion_planning
+{
+MotionPlanServer::MotionPlanServer(const rclcpp::NodeOptions & options) : Node("Server", options)
+{
   srv_ = create_service<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan>(
-      "motion_plan", std::bind(&MotionPlanServer::solve_ik, this, std::placeholders::_1, std::placeholders::_2));
+    "motion_plan",
+    std::bind(&MotionPlanServer::solve_ik, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 void MotionPlanServer::solve_ik(
-    const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
-    std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response) {
+  const std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Request> request,
+  std::shared_ptr<uwrt_mars_rover_arm_urdf_moveit::srv::MotionPlan::Response> response)
+{
   RCLCPP_INFO(this->get_logger(), "Incoming request");
-
   // set move_group that we are planning for
   static const std::string PLANNING_GROUP = "uwrt_arm";
-  moveit::planning_interface::MoveGroupInterface move_group(this->shared_from_this(), PLANNING_GROUP);
+  moveit::planning_interface::MoveGroupInterface move_group(
+    this->shared_from_this(), PLANNING_GROUP);
 
   move_group.setPoseTarget(request->pose);