CI setup

.github/workflows/python_lint.yml

@@ -0,0 +1,32 @@
+# Ensure Python code is linted and formatted, matching the style guide
+name: Python Linting
+
+on: [push, pull_request]
+
+jobs:
+    black-lint:
+        runs-on: ubuntu-latest
+        name: Python black Lint
+        steps:
+            - uses: actions/checkout@v4
+            - uses: psf/black@stable
+    flake8-lint:
+        runs-on: ubuntu-latest
+        name: Python flake8 Lint
+        steps:
+            - name: Check out source repository
+              uses: actions/checkout@v3
+
+            - name: Set up Python environment
+              uses: actions/setup-python@v4
+              with:
+                python-version: "3.11"
+
+            - name: flake8 Lint
+              uses: py-actions/flake8@v2
+              with:
+                ignore: "E701,W503,E203"
+                exclude: "docs,.idea"
+                max-line-length: "88"
+                path: "."
+                plugins: "flake8-docstrings flake8-black"

CustomRobots/Turtlebot2/Turtlebot2_physical/kobuki_launch/launch/kobuki_base.launch.py

@@ -4,21 +4,23 @@
 from launch_ros.actions import Node
 import yaml
 
+
 def generate_launch_description():
-    shared_dir = get_package_share_directory('kobuki_launch')
+    shared_dir = get_package_share_directory("kobuki_launch")
 
-    params_file = os.path.join(shared_dir, 'config', 'kobuki_node_params.yaml')
-    with open(params_file, 'r') as f:
-        kobuki_params = yaml.safe_load(f)['kobuki_ros_node']['ros__parameters']
+    params_file = os.path.join(shared_dir, "config", "kobuki_node_params.yaml")
+    with open(params_file, "r") as f:
+        kobuki_params = yaml.safe_load(f)["kobuki_ros_node"]["ros__parameters"]
 
-    kobuki_cmd = Node(package='kobuki_node',
-        executable='kobuki_ros_node',
-        output='screen',
+    kobuki_cmd = Node(
+        package="kobuki_node",
+        executable="kobuki_ros_node",
+        output="screen",
         parameters=[kobuki_params],
-        )
+    )
 
     ld = LaunchDescription()
 
     ld.add_action(kobuki_cmd)
-  
+
     return ld

CustomRobots/Turtlebot2/turtlebot2_simulated/kobuki_description/launch/robot_description.launch.py

@@ -42,62 +42,54 @@
 def generate_launch_description():
 
     urdf_path = PathJoinSubstitution(
-        [FindPackageShare('custom_robots'), 'urdf', 'kobuki_standalone.urdf.xacro']
+        [FindPackageShare("custom_robots"), "urdf", "kobuki_standalone.urdf.xacro"]
     )
 
     rviz_config_path = PathJoinSubstitution(
-        [FindPackageShare('custom_robots'), 'rviz', 'model.rviz']
+        [FindPackageShare("custom_robots"), "rviz", "model.rviz"]
     )
 
-    return LaunchDescription([
-
-        DeclareLaunchArgument(
-            name='urdf',
-            default_value=urdf_path,
-            description='URDF path'
-        ),
-
-        DeclareLaunchArgument(
-            name='use_sim_time',
-            default_value='false',
-            description='Use simulation time'
-        ),
-
-        DeclareLaunchArgument(
-            name='rviz',
-            default_value='false',
-            description='Run rviz'
-        ),
-
-        Node(
-            package='robot_state_publisher',
-            executable='robot_state_publisher',
-            name='robot_state_publisher',
-            output='screen',
-            parameters=[{
-                'use_sim_time': LaunchConfiguration('use_sim_time'),
-                'robot_description': Command(['xacro ', LaunchConfiguration('urdf')])
-            }]
-        ),
-
-        Node(
-            package='joint_state_publisher',
-            executable='joint_state_publisher',
-            name='joint_state_publisher',
-            parameters=[{
-                'use_sim_time': LaunchConfiguration('use_sim_time')
-            }]
-        ),
-
-        Node(
-            package='rviz2',
-            executable='rviz2',
-            name='rviz2',
-            output='screen',
-            arguments=['-d', rviz_config_path],
-            condition=IfCondition(LaunchConfiguration('rviz')),
-            parameters=[{
-                'use_sim_time': LaunchConfiguration('use_sim_time')
-            }]
-        ),
-    ])
+    return LaunchDescription(
+        [
+            DeclareLaunchArgument(
+                name="urdf", default_value=urdf_path, description="URDF path"
+            ),
+            DeclareLaunchArgument(
+                name="use_sim_time",
+                default_value="false",
+                description="Use simulation time",
+            ),
+            DeclareLaunchArgument(
+                name="rviz", default_value="false", description="Run rviz"
+            ),
+            Node(
+                package="robot_state_publisher",
+                executable="robot_state_publisher",
+                name="robot_state_publisher",
+                output="screen",
+                parameters=[
+                    {
+                        "use_sim_time": LaunchConfiguration("use_sim_time"),
+                        "robot_description": Command(
+                            ["xacro ", LaunchConfiguration("urdf")]
+                        ),
+                    }
+                ],
+            ),
+            Node(
+                package="joint_state_publisher",
+                executable="joint_state_publisher",
+                name="joint_state_publisher",
+                parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
+            ),
+            Node(
+                package="rviz2",
+                executable="rviz2",
+                name="rviz2",
+                output="screen",
+                arguments=["-d", rviz_config_path],
+                condition=IfCondition(LaunchConfiguration("rviz")),
+                parameters=[{"use_sim_time": LaunchConfiguration("use_sim_time")}],
+            ),
+        ]
+    )

CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/empty_world.launch.py

@@ -2,33 +2,44 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import ExecuteProcess, DeclareLaunchArgument, IncludeLaunchDescription, SetEnvironmentVariable
+from launch.actions import (
+    ExecuteProcess,
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, Command
 from launch_ros.actions import Node
 
 
 def generate_launch_description():
 
-  ld = LaunchDescription()
+    ld = LaunchDescription()
 
-  use_sim_time = LaunchConfiguration('use_sim_time', default='True')
-
-  pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
+    use_sim_time = LaunchConfiguration("use_sim_time", default="True")
 
-  gazebo_server = IncludeLaunchDescription(
-    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py'))
-  )
+    pkg_gazebo_ros = get_package_share_directory("gazebo_ros")
 
-  gazebo_client = IncludeLaunchDescription(
-    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
-  )
+    gazebo_server = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, "launch", "gzserver.launch.py")
+        )
+    )
 
-  execute_process = ExecuteProcess(
-    cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time], output='screen')
-
-  ld.add_action(gazebo_server)
-  ld.add_action(gazebo_client)
-  ld.add_action(execute_process)
+    gazebo_client = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(pkg_gazebo_ros, "launch", "gzclient.launch.py")
+        )
+    )
 
-  return ld
+    execute_process = ExecuteProcess(
+        cmd=["ros2", "param", "set", "/gazebo", "use_sim_time", use_sim_time],
+        output="screen",
+    )
+
+    ld.add_action(gazebo_server)
+    ld.add_action(gazebo_client)
+    ld.add_action(execute_process)
+
+    return ld

CustomRobots/Turtlebot2/turtlebot2_simulated/turtlebot2/launch/spawn_model.launch.py

@@ -7,53 +7,67 @@
 from launch_ros.actions import Node
 import time
 
+
 def generate_launch_description():
 
-  # In order to ensure gazebo is properly intialized
-  time.sleep(4.0)
-
-  # Set (x, y, z) default position of turtlebot2
-  x_pos = LaunchConfiguration('-x', default='0')
-  y_pos = LaunchConfiguration('-y', default='0')
-  z_pos = LaunchConfiguration('-z', default='0')
-
-  # Find Turtlebot2 package
-  pkg_share = launch_ros.substitutions.FindPackageShare(package='custom_robots').find('custom_robots')
-
-  # Find Urdf File
-  urdf_file = os.path.join(pkg_share, 'urdf/turtlebot2.urdf')
-
-  # Open Urdf file
-  with open(urdf_file, 'r') as info:
-    robot_desc = info.read()
-
-  # Robot description Turtlebot2
-  turtlebot2_model = Node(
-    package='robot_state_publisher',
-    executable='robot_state_publisher',
-    parameters=[{'robot_description': robot_desc}],
-    arguments=[urdf_file]
-  )
-
-  # TF Tree
-  joint_state_publisher_node = Node(
-    package='joint_state_publisher',
-    executable='joint_state_publisher',
-    name='joint_state_publisher'
-  )
-
-  # Spawn Turtlebot2
-  spawn_entity_node = Node(
-    package='gazebo_ros',
-    executable='spawn_entity.py',
-    name='entity_spawner',
-    output='screen',
-    arguments=["-topic", "/robot_description", "-entity", "turtlebot2", "-x", x_pos, "-y", y_pos, "-z", z_pos]
-  )
-
-  ld = LaunchDescription()
-  ld.add_action(turtlebot2_model)
-  ld.add_action(joint_state_publisher_node)
-  ld.add_action(spawn_entity_node)
-
-  return ld
+    # In order to ensure gazebo is properly intialized
+    time.sleep(4.0)
+
+    # Set (x, y, z) default position of turtlebot2
+    x_pos = LaunchConfiguration("-x", default="0")
+    y_pos = LaunchConfiguration("-y", default="0")
+    z_pos = LaunchConfiguration("-z", default="0")
+
+    # Find Turtlebot2 package
+    pkg_share = launch_ros.substitutions.FindPackageShare(package="custom_robots").find(
+        "custom_robots"
+    )
+
+    # Find Urdf File
+    urdf_file = os.path.join(pkg_share, "urdf/turtlebot2.urdf")
+
+    # Open Urdf file
+    with open(urdf_file, "r") as info:
+        robot_desc = info.read()
+
+    # Robot description Turtlebot2
+    turtlebot2_model = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[{"robot_description": robot_desc}],
+        arguments=[urdf_file],
+    )
+
+    # TF Tree
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher",
+        executable="joint_state_publisher",
+        name="joint_state_publisher",
+    )
+
+    # Spawn Turtlebot2
+    spawn_entity_node = Node(
+        package="gazebo_ros",
+        executable="spawn_entity.py",
+        name="entity_spawner",
+        output="screen",
+        arguments=[
+            "-topic",
+            "/robot_description",
+            "-entity",
+            "turtlebot2",
+            "-x",
+            x_pos,
+            "-y",
+            y_pos,
+            "-z",
+            z_pos,
+        ],
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(turtlebot2_model)
+    ld.add_action(joint_state_publisher_node)
+    ld.add_action(spawn_entity_node)
+
+    return ld