CI対応

crane_plus_examples_py/crane_plus_examples_py/aruco_detection.py

@@ -104,5 +104,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

crane_plus_examples_py/crane_plus_examples_py/color_detection.py

@@ -18,8 +18,8 @@
 from image_geometry import PinholeCameraModel
 import rclpy
 from rclpy.node import Node
-import tf2_ros
 from sensor_msgs.msg import CameraInfo, Image
+import tf2_ros
 
 
 class ImageSubscriber(Node):

crane_plus_examples_py/crane_plus_examples_py/gripper_control.py

@@ -92,5 +92,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

crane_plus_examples_py/crane_plus_examples_py/joint_values.py

@@ -17,12 +17,12 @@
 from crane_plus_examples_py.utils import plan_and_execute
 
 # moveit python library
+from moveit.core.kinematic_constraints import construct_joint_constraint
 from moveit.core.robot_state import RobotState
 from moveit.planning import (
     MoveItPy,
     PlanRequestParameters,
 )
-from moveit.core.kinematic_constraints import construct_joint_constraint
 import rclpy
 from rclpy.logging import get_logger
 
@@ -91,5 +91,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

crane_plus_examples_py/crane_plus_examples_py/pick_and_place.py

@@ -12,8 +12,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from crane_plus_examples_py.utils import plan_and_execute, euler_to_quaternion
+from crane_plus_examples_py.utils import euler_to_quaternion, plan_and_execute
 from geometry_msgs.msg import PoseStamped
+
 import math
 
 # moveit python library
@@ -66,7 +67,7 @@ def main(args=None):
     gripper_plan_request_params.max_acceleration_scaling_factor = 1.0
 
     # Set 0.0 ~ 1.0
-    gripper_plan_request_params.max_velocity_scaling_factor = 1.0  
+    gripper_plan_request_params.max_velocity_scaling_factor = 1.0
 
     # gripperの開閉角度
     GRIPPER_DEFAULT = 0.0
@@ -275,5 +276,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

crane_plus_examples_py/crane_plus_examples_py/pick_and_place_tf.py

@@ -14,13 +14,11 @@
 
 import datetime
 
-from crane_plus_examples_py.utils import plan_and_execute, euler_to_quaternion
-
-from geometry_msgs.msg import Pose
+from crane_plus_examples_py.utils import euler_to_quaternion, plan_and_execute
 
 import math
 
-import numpy as np
+from geometry_msgs.msg import Pose
 
 # moveit python library
 from moveit.core.robot_state import RobotState
@@ -29,12 +27,15 @@
     MoveItPy,
     PlanRequestParameters,
 )
+
+import numpy as np
+
 import rclpy
 from rclpy.logging import get_logger
 from rclpy.node import Node
 from rclpy.time import Time
 import tf2_ros
-from tf2_ros import TransformStamped, TransformListener
+from tf2_ros import TransformListener, TransformStamped
 from tf2_ros.buffer import Buffer
 
 

crane_plus_examples_py/crane_plus_examples_py/pose_groupstate.py

@@ -40,7 +40,7 @@ def main(args=None):
         crane_plus,
         'ompl_rrtc',
     )
-    
+
     # 速度＆加速度のスケーリングファクタを設定
     plan_request_params.max_acceleration_scaling_factor = 1.0  # Set 0.0 ~ 1.0
     plan_request_params.max_velocity_scaling_factor = 1.0  # Set 0.0 ~ 1.0
@@ -82,5 +82,5 @@ def main(args=None):
     rclpy.shutdown()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

crane_plus_examples_py/crane_plus_examples_py/utils.py

@@ -13,8 +13,11 @@
 # limitations under the License.
 
 import numpy as np
+
 from rclpy.logging import get_logger
+
 import time
+
 import quaternion
 
 
@@ -35,15 +38,12 @@ def plan_and_execute(
         plan_result = planning_component.plan(
             multi_plan_parameters=multi_plan_parameters
         )
-        logger.info('plan_result >>>>> multi', once=True)
     elif single_plan_parameters is not None:
         plan_result = planning_component.plan(
             single_plan_parameters=single_plan_parameters
         )
-        logger.info('plan_result >>>>> single', once=True)
     else:
         plan_result = planning_component.plan()
-        logger.info('plan_result >>>>> none', once=True)
 
     # execute the plan
     result = None

crane_plus_examples_py/launch/camera_example.launch.py

@@ -15,7 +15,6 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from crane_plus_description.robot_description_loader import RobotDescriptionLoader
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
@@ -25,41 +24,41 @@
 
 def generate_launch_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_semantic(
-            file_path="config/crane_plus.srdf",
-            mappings={"model": "crane_plus"},
+            file_path='config/crane_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="config/controllers.yaml", moveit_manage_controllers=True
+            file_path='config/controllers.yaml', moveit_manage_controllers=True
         )
-        .planning_pipelines(pipelines=["ompl"])
-        .robot_description_kinematics(file_path="config/kinematics.yaml")
+        .planning_pipelines(pipelines=['ompl'])
+        .robot_description_kinematics(file_path='config/kinematics.yaml')
         .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='color_detection',
@@ -69,21 +68,21 @@ def generate_launch_description():
 
     picking_node = Node(
         name='pick_and_place_tf',
-        package="crane_plus_examples_py",
+        package='crane_plus_examples_py',
         executable='pick_and_place_tf',
-        output="screen",
+        output='screen',
         parameters=[
             moveit_config.robot_description,
             moveit_config.robot_description_semantic,
             moveit_config.robot_description_kinematics,
         ],
     )
-    
+
     detection_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'
     )
 
     ld = LaunchDescription()