Merge remote-tracking branch 'origin/ros2-devel' into ros2-docking-ma…

…nager-plugins
husarion · Aug 28, 2024 · 92de590 · 92de590
2 parents 1b70e25 + c5eb7ca
commit 92de590
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diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,11 @@
+---
+name: Pre-Commit
+
+on:
+  push:
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -34,7 +34,7 @@ repos:
       - id: cmake-format
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.6
+    rev: v18.1.8
     hooks:
       - id: clang-format
 
@@ -63,13 +63,13 @@ repos:
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
   - repo: https://github.com/psf/black
-    rev: 24.4.2
+    rev: 24.8.0
     hooks:
       - id: black
         args: ["--line-length=99"]
 
   - repo: https://github.com/PyCQA/flake8
-    rev: 7.1.0
+    rev: 7.1.1
     hooks:
       - id: flake8
         args:
@@ -94,7 +94,7 @@ repos:
         exclude: ^.*\/CHANGELOG\.rst/.*$
 
   - repo: https://github.com/tier4/pre-commit-hooks-ros
-    rev: v0.8.0
+    rev: v0.10.0
     hooks:
       - id: prettier-package-xml
       - id: sort-package-xml
diff --git a/ROS_API.md b/ROS_API.md
@@ -1,12 +1,12 @@
 # ROS API
 
-> [!IMPORTANT]  
-> **Beta Release**  
->   
-> Please be advised that the software you are about to use is a Beta version of the ROS 2 Driver for Panther. It is functional, and the architecture will not change significantly. Although it has been tested by the Husarion team, some stability issues and bugs may still occur.  
->   
+> [!IMPORTANT]
+> **Beta Release**
+>
+> Please be advised that the software you are about to use is a Beta version of the ROS 2 Driver for Panther. It is functional, and the architecture will not change significantly. Although it has been tested by the Husarion team, some stability issues and bugs may still occur.
+>
 > We would greatly appreciate your feedback regarding the Panther ROS 2 driver. You can reach us in the following ways:
-> 
+>
 > - By email at: [[email protected]](mailto:[email protected])
 > - Via our community forum: [Husarion Community](https://community.husarion.com)
 > - By submitting an issue request on: [GitHub](https://github.com/husarion/panther_ros/issues)

diff --git a/panther_description/urdf/gazebo.urdf.xacro b/panther_description/urdf/gazebo.urdf.xacro
@@ -6,12 +6,7 @@
 
     <!-- Read property -->
     <xacro:property name="battery_config" value="${xacro.load_yaml(config_file)}" />
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <!-- Sim Battery -->
     <gazebo>
@@ -68,12 +63,7 @@
   <!-- IMU specification: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=1025#Tab_Specifications -->
   <xacro:macro name="imu" params="reference_frame namespace:=''">
 
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <gazebo reference="${reference_frame}">
       <sensor name="${ns}imu" type="imu">

diff --git a/panther_description/urdf/panther_macro.urdf.xacro b/panther_description/urdf/panther_macro.urdf.xacro
@@ -17,12 +17,7 @@
       <xacro:property name="imu_rpy" value="0.000 -0.000 3.142" />
     </xacro:if>
 
-    <xacro:if value="${namespace == ''}">
-      <xacro:property name="ns" value="" />
-    </xacro:if>
-    <xacro:unless value="${namespace == ''}">
-        <xacro:property name="ns" value="${namespace}/" />
-    </xacro:unless>
+    <xacro:property name="ns" value='${namespace + "/" if namespace else ""}' />
 
     <xacro:property name="wheel_config" value="${xacro.load_yaml(wheel_config_file)}" />
     <xacro:property name="wheel_separation_x" value="0.44" />

diff --git a/panther_localization/launch/nmea_navsat.launch.py b/panther_localization/launch/nmea_navsat.launch.py
@@ -23,7 +23,6 @@
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from nav2_common.launch import ReplaceString
 
 
 def generate_launch_description():