Fixing Lint in all packages (#2)

* new linter test

* fix github actions on push on autonav_2.0

* removed interface backup files

* fixed unrustify

* fixed uncrustify

* fix uncrustify

* fixed cpplint

* fixed cpplint

* fixed cpplint

* fixed flake8 percpt

* fix flake8 localization

* fix flake firmware

* fix flake navigation

* fix flake description

* Changed double quotes to single in all files

* fix flake controller and bringup

* fix flake remaining

* fix flake remaining

.github/workflows/linter.yml

@@ -2,6 +2,8 @@ name: Lint
 on:
   pull_request:
   push:
+    branches:
+      - autonav_2.0
   workflow_dispatch:
 
 jobs:
@@ -20,4 +22,4 @@ jobs:
       with:
         linter: ${{ matrix.linter }}
         distribution: rolling
-        package-name: "*"
+        package-name: "autonav_bringup autonav_controller autonav_description autonav_firmware autonav_localization autonav_navigation autonav_perception autonav_utils"

autonav_bringup/launch/autonav_bringup.launch.py

@@ -1,8 +1,16 @@
 import os
-from ament_index_python.packages import get_package_share_directory
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, TimerAction, IncludeLaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    RegisterEventHandler,
+    TimerAction,
+)
+from launch.conditions import IfCondition
+from launch.event_handlers import OnProcessStart
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import (
     Command,
     FindExecutable,
@@ -11,88 +19,83 @@
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from launch_ros.parameter_descriptions import ParameterValue
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessStart
-from launch.conditions import IfCondition
-from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
 def generate_launch_description():
-    autonav_description_dir = get_package_share_directory("autonav_description")
-    autonav_localization_dir = get_package_share_directory("autonav_localization")
+    autonav_description_dir = get_package_share_directory('autonav_description')
+    autonav_localization_dir = get_package_share_directory('autonav_localization')
     pkg_bno055 = get_package_share_directory('bno055')
     pkg_ydlidar = get_package_share_directory('ydlidar_ros2_driver')
 
     use_rviz_arg = DeclareLaunchArgument(
-        "rviz",
-        default_value="False",
+        'rviz',
+        default_value='False',
     )
 
-    rviz = LaunchConfiguration("rviz")
+    rviz = LaunchConfiguration('rviz')
 
     robot_description_content = Command(
         [
-            PathJoinSubstitution([FindExecutable(name="xacro")]),
-            " ",
+            PathJoinSubstitution([FindExecutable(name='xacro')]),
+            ' ',
             PathJoinSubstitution(
                 [
-                    FindPackageShare("autonav_description"),
-                    "urdf",
-                    "autonav.xacro",
+                    FindPackageShare('autonav_description'),
+                    'urdf',
+                    'autonav.xacro',
                 ]
             ),
         ]
     )
-    robot_description = {"robot_description": robot_description_content}
+    robot_description = {'robot_description': robot_description_content}
 
     robot_state_publisher_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
         parameters=[robot_description],
     )
 
     rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="screen",
-        arguments=["-d", os.path.join(autonav_description_dir, "rviz", "display.rviz")],
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', os.path.join(autonav_description_dir, 'rviz', 'display.rviz')],
         condition=IfCondition(rviz),
     )
 
     imu = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-        os.path.join(pkg_bno055, 'launch', 'bno055.launch.py'),
+            os.path.join(pkg_bno055, 'launch', 'bno055.launch.py'),
         )
-    ) 
-  
+    )
+
     lidar = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-        os.path.join(pkg_ydlidar, 'launch', 'ydlidar_launch.py'),
+            os.path.join(pkg_ydlidar, 'launch', 'ydlidar_launch.py'),
         )
     )
 
     controller_params_file = os.path.join(
-        get_package_share_directory("autonav_controller"),
-        "config",
-        "autonav_controllers.yaml",
+        get_package_share_directory('autonav_controller'),
+        'config',
+        'autonav_controllers.yaml',
     )
 
     controller_manager = Node(
-        package="controller_manager",
-        executable="ros2_control_node",
+        package='controller_manager',
+        executable='ros2_control_node',
         parameters=[robot_description, controller_params_file],
     )
 
     delayed_controller_manager = TimerAction(period=3.0, actions=[controller_manager])
 
     autonav_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["autonav_controller", "--controller-manager", "/controller_manager"],
+        package='controller_manager',
+        executable='spawner',
+        arguments=['autonav_controller', '--controller-manager', '/controller_manager'],
         remappings=[
-            ("/autonav_controller/cmd_vel_unstamped", "/autonav_controller/cmd_vel"),
+            ('/autonav_controller/cmd_vel_unstamped', '/autonav_controller/cmd_vel'),
         ],
     )
 
@@ -104,12 +107,12 @@ def generate_launch_description():
     )
 
     joint_broad_spawner = Node(
-        package="controller_manager",
-        executable="spawner",
+        package='controller_manager',
+        executable='spawner',
         arguments=[
-            "joint_state_broadcaster",
-            "--controller-manager",
-            "/controller_manager",
+            'joint_state_broadcaster',
+            '--controller-manager',
+            '/controller_manager',
         ],
     )
 
@@ -120,27 +123,21 @@ def generate_launch_description():
         )
     )
 
-    pid_controller = Node(
-        package="autonav_controller",
-        executable="pid_controller.py",
-        output="screen",
-    )
-
     lidar_republisher = Node(
-        package="autonav_controller",
-        executable="lidar_republisher.py",
-        output="screen",
+        package='autonav_controller',
+        executable='lidar_republisher.py',
+        output='screen',
     )
 
     velocity_republisher = Node(
-        package="autonav_controller",
-        executable="cmd_vel_republisher.py",
-        output="screen",
+        package='autonav_controller',
+        executable='cmd_vel_republisher.py',
+        output='screen',
     )
 
     ekf = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-        os.path.join(autonav_localization_dir, 'launch', 'ekf.launch.py'),
+            os.path.join(autonav_localization_dir, 'launch', 'ekf.launch.py'),
         )
     )
 
@@ -152,7 +149,6 @@ def generate_launch_description():
             delayed_controller_manager,
             delayed_diff_drive_spawner,
             delayed_joint_broad_spawner,
-            # pid_controller,
             imu,
             lidar,
             ekf,

autonav_bringup/launch/view_rviz.launch.py

@@ -1,38 +1,29 @@
 import os
-from ament_index_python.packages import get_package_share_directory
 
+from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, TimerAction
-from launch.substitutions import (
-    Command,
-    FindExecutable,
-    LaunchConfiguration,
-    PathJoinSubstitution,
-)
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-from launch_ros.parameter_descriptions import ParameterValue
-from launch.actions import RegisterEventHandler
-from launch.event_handlers import OnProcessStart
+from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
 
 
 def generate_launch_description():
-    autonav_description_dir = get_package_share_directory("autonav_description")
+    autonav_description_dir = get_package_share_directory('autonav_description')
 
     use_rviz_arg = DeclareLaunchArgument(
-        "rviz",
-        default_value="True",
+        'rviz',
+        default_value='True',
     )
 
-    rviz = LaunchConfiguration("rviz")
+    rviz = LaunchConfiguration('rviz')
 
     rviz_node = Node(
-        package="rviz2",
-        executable="rviz2",
-        name="rviz2",
-        output="screen",
-        arguments=["-d", os.path.join(autonav_description_dir, "rviz", "display.rviz")],
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        output='screen',
+        arguments=['-d', os.path.join(autonav_description_dir, 'rviz', 'display.rviz')],
         condition=IfCondition(rviz),
     )
 

autonav_bringup/launch/view_rviz_cartographer.launch.py

@@ -1,13 +1,12 @@
 #!/usr/bin/python3
 
-import os
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
 
 def generate_launch_description():
 
@@ -17,7 +16,7 @@ def generate_launch_description():
 
     return LaunchDescription([
         DeclareLaunchArgument(
-            name='rviz', 
+            name='rviz',
             default_value='true',
             description='Run rviz'
         ),
@@ -28,6 +27,6 @@ def generate_launch_description():
             name='rviz2',
             output='screen',
             arguments=['-d', rviz_config_path],
-            condition=IfCondition(LaunchConfiguration("rviz")),
+            condition=IfCondition(LaunchConfiguration('rviz')),
         )
-    ])
+    ])

autonav_bringup/launch/view_rviz_navigation.launch.py

@@ -1,13 +1,12 @@
 #!/usr/bin/python3
 
-import os
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch_ros.substitutions import FindPackageShare
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
 
 def generate_launch_description():
 
@@ -17,7 +16,7 @@ def generate_launch_description():
 
     return LaunchDescription([
         DeclareLaunchArgument(
-            name='rviz', 
+            name='rviz',
             default_value='true',
             description='Run rviz'
         ),
@@ -28,6 +27,6 @@ def generate_launch_description():
             name='rviz2',
             output='screen',
             arguments=['-d', rviz_config_path],
-            condition=IfCondition(LaunchConfiguration("rviz")),
+            condition=IfCondition(LaunchConfiguration('rviz')),
         )
-    ])
+    ])