Merge branch 'main' into amaln/ros2_dummy_nodes

Author: amalnanavati

feeding_web_app_ros2_test/feeding_web_app_ros2_test/publisher.py

@@ -6,17 +6,16 @@
 
 
 class MinimalPublisher(Node):
-
     def __init__(self):
-        super().__init__('minimal_publisher')
-        self.publisher_ = self.create_publisher(String, 'test_topic', 10)
+        super().__init__("minimal_publisher")
+        self.publisher_ = self.create_publisher(String, "test_topic", 10)
         timer_period = 0.5  # seconds
         self.timer = self.create_timer(timer_period, self.timer_callback)
         self.i = 0
 
     def timer_callback(self):
         msg = String()
-        msg.data = 'Hello World: %d' % self.i
+        msg.data = "Hello World: %d" % self.i
         self.publisher_.publish(msg)
         self.get_logger().info('Publishing: "%s"' % msg.data)
         self.i += 1
@@ -36,5 +35,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
-    main()
+if __name__ == "__main__":
+    main()

feeding_web_app_ros2_test/feeding_web_app_ros2_test/reverse_string_service.py

@@ -1,21 +1,23 @@
 #!/usr/bin/env python3
-from feeding_web_app_ros2_msgs.srv import ReverseString                                                           # CHANGE
+from feeding_web_app_ros2_msgs.srv import ReverseString  # CHANGE
 
 import rclpy
 from rclpy.node import Node
 
 
 class MinimalService(Node):
-
     def __init__(self):
-        super().__init__('reverse_string')
-        self.srv = self.create_service(ReverseString, 'reverse_string', self.reverse_string_callback)
+        super().__init__("reverse_string")
+        self.srv = self.create_service(
+            ReverseString, "reverse_string", self.reverse_string_callback
+        )
 
     def reverse_string_callback(self, request, response):
         response.reversed = request.input[::-1]
-        self.get_logger().info('Incoming request\ninput: %s' % (request.input))
+        self.get_logger().info("Incoming request\ninput: %s" % (request.input))
         return response
 
+
 def main(args=None):
     rclpy.init(args=args)
 
@@ -25,5 +27,6 @@ def main(args=None):
 
     rclpy.shutdown()
 
-if __name__ == '__main__':
-    main()
+
+if __name__ == "__main__":
+    main()

feeding_web_app_ros2_test/feeding_web_app_ros2_test/sort_by_character_frequency_action.py

@@ -9,32 +9,35 @@
 import inspect
 from feeding_web_app_ros2_msgs.action import SortByCharacterFrequency
 
-class MinimalAction(Node):
 
+class MinimalAction(Node):
     def __init__(self, sleep_time=0.1):
-        super().__init__('sort_by_character_frequency')
+        super().__init__("sort_by_character_frequency")
         self.sleep_time = sleep_time
         self._action_server = ActionServer(
             self,
             SortByCharacterFrequency,
-            'sort_by_character_frequency',
+            "sort_by_character_frequency",
             self.execute_callback,
             goal_callback=self.goal_callback,
-            cancel_callback=self.cancel_callback)
+            cancel_callback=self.cancel_callback,
+        )
 
     def goal_callback(self, goal_request):
         """Accept or reject a client request to begin an action."""
         # This server allows multiple goals in parallel
-        self.get_logger().info('Received goal request')
+        self.get_logger().info("Received goal request")
         return GoalResponse.ACCEPT
 
     def cancel_callback(self, goal_handle):
         """Accept or reject a client request to cancel an action."""
-        self.get_logger().info('Received cancel request')
+        self.get_logger().info("Received cancel request")
         return CancelResponse.ACCEPT
 
     async def execute_callback(self, goal_handle):
-        self.get_logger().info('Executing goal...%s | %s' % (goal_handle, repr(goal_handle.request.input)))
+        self.get_logger().info(
+            "Executing goal...%s | %s" % (goal_handle, repr(goal_handle.request.input))
+        )
         input = goal_handle.request.input
 
         feedback_msg = SortByCharacterFrequency.Feedback()
@@ -43,7 +46,7 @@ async def execute_callback(self, goal_handle):
         for i in range(len(input)):
             # Check if there is a cancel request
             if goal_handle.is_cancel_requested:
-                self.get_logger().info('Goal canceled')
+                self.get_logger().info("Goal canceled")
                 goal_handle.canceled()
                 return SortByCharacterFrequency.Result()
 
@@ -55,18 +58,20 @@ async def execute_callback(self, goal_handle):
 
             # Update our progress
             feedback_msg.progress = float(i) / float(len(input))
-            self.get_logger().info('Feedback: %f' % feedback_msg.progress)
+            self.get_logger().info("Feedback: %f" % feedback_msg.progress)
             goal_handle.publish_feedback(feedback_msg)
 
-            # Sleep (to simulate the delay that a robot might have during a 
+            # Sleep (to simulate the delay that a robot might have during a
             # ROS action)
             time.sleep(self.sleep_time)
 
         goal_handle.succeed()
 
         result = SortByCharacterFrequency.Result()
         uniqueLetters = "".join(character_frequency.keys())
-        result.result = "".join(sorted(uniqueLetters, key=lambda x: character_frequency[x], reverse=True))
+        result.result = "".join(
+            sorted(uniqueLetters, key=lambda x: character_frequency[x], reverse=True)
+        )
         return result
 
 
@@ -81,5 +86,5 @@ def main(args=None):
     rclpy.spin(minimal_action, executor=executor)
 
 
-if __name__ == '__main__':
-    main()
+if __name__ == "__main__":
+    main()

feeding_web_app_ros2_test/feeding_web_app_ros2_test/subscriber.py

@@ -6,14 +6,11 @@
 
 
 class MinimalSubscriber(Node):
-
     def __init__(self):
-        super().__init__('minimal_subscriber')
+        super().__init__("minimal_subscriber")
         self.subscription = self.create_subscription(
-            String,
-            'test_topic',
-            self.listener_callback,
-            10)
+            String, "test_topic", self.listener_callback, 10
+        )
         self.subscription  # prevent unused variable warning
 
     def listener_callback(self, msg):
@@ -34,5 +31,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
-    main()
+if __name__ == "__main__":
+    main()

feeding_web_app_ros2_test/test/test_copyright.py

@@ -17,9 +17,11 @@
 
 
 # Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.skip(
+    reason="No copyright header has been placed in the generated source file."
+)
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

feeding_web_app_ros2_test/test/test_flake8.py

@@ -20,6 +20,6 @@
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)

feeding_web_app_ros2_test/test/test_pep257.py

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