diff --git a/.github/workflows/python_lint.yaml b/.github/workflows/python_lint.yaml new file mode 100644 index 000000000..a440ec7a5 --- /dev/null +++ b/.github/workflows/python_lint.yaml @@ -0,0 +1,34 @@ +# Ensure Python code is linted and formatted, matching the style guide +name: Python Linting + +on: [push] + +jobs: + black-lint: + runs-on: ubuntu-latest + name: Python black Lint + steps: + - uses: actions/checkout@v4 + - uses: psf/black@stable + with: + version: "22.3.0" + # 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" diff --git a/.github/workflows/python_lint.yml b/.github/workflows/python_lint.yml deleted file mode 100644 index b6cb96732..000000000 --- a/.github/workflows/python_lint.yml +++ /dev/null @@ -1,32 +0,0 @@ -# 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" \ No newline at end of file diff --git a/CustomRobots/CMakeLists.txt b/CustomRobots/CMakeLists.txt index d89db75f0..fbcd3c691 100755 --- a/CustomRobots/CMakeLists.txt +++ b/CustomRobots/CMakeLists.txt @@ -18,23 +18,21 @@ endif() # =========================================================================== # find dependencies set(PROJECT_DEPENDENCIES - ament_cmake - sensor_msgs - rclcpp - rclpy - urdf - xacro - ament_cmake_ros - gazebo - pluginlib - Threads -) - -foreach(DEPENDENCY ${PROJECT_DEPENDENCIES}) - find_package(${DEPENDENCY} REQUIRED) + ament_cmake + sensor_msgs + rclcpp + rclpy + urdf + xacro + ament_cmake_ros + gazebo + pluginlib + Threads) + +foreach(dependency ${PROJECT_DEPENDENCIES}) + find_package(${dependency} REQUIRED) endforeach() - # ============================================================================ # Person plugin if(CMAKE_USE_PTHREADS_INIT) @@ -44,19 +42,15 @@ endif() include_directories(${GAZEBO_INCLUDE_DIRS}) add_library(personplugin amazon_hospital/src/person.cpp) -target_include_directories(personplugin PUBLIC - $ - $) - -ament_target_dependencies( +target_include_directories( personplugin - "rclcpp" - "gazebo" - "pluginlib" -) + PUBLIC $ + $) + +ament_target_dependencies(personplugin "rclcpp" "gazebo" "pluginlib") -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. +# Causes the visibility macros to use dllexport rather than dllimport, which is +# appropriate when building the dll but not consuming it. target_compile_definitions(personplugin PRIVATE "PERSONPLUGIN_BUILDING_LIBRARY") install( @@ -64,8 +58,7 @@ install( EXPORT export_${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) + RUNTIME DESTINATION bin) # ============================================================================ # Hooks @@ -75,103 +68,81 @@ ament_environment_hooks("hooks/resource_paths.sh") # ============================================================================ # Resources -install(DIRECTORY - # TURTLEBOT - Turtlebot2/turtlebot2_simulated/kobuki_description/launch - Turtlebot2/turtlebot2_simulated/kobuki_description/meshes - Turtlebot2/turtlebot2_simulated/kobuki_description/rviz - Turtlebot2/turtlebot2_simulated/kobuki_description/urdf - Turtlebot2/turtlebot2_simulated/turtlebot2/launch - Turtlebot2/turtlebot2_simulated/turtlebot2/rviz - Turtlebot2/turtlebot2_simulated/turtlebot2/urdf - - # F1 - f1/models - f1/launch - f1/worlds - - # ROOMBA - roomba_robot/models - roomba_robot/worlds - roomba_robot/launch - - # ACKERMAN CAR - ackermann_cars/models - ackermann_cars/worlds - ackermann_cars/launch - - # CARS - car_junction/models - car_junction/worlds - car_junction/launch - - # AMAZON WAREHOUSE ROBOT - amazon_robot/launch - amazon_robot/models - amazon_robot/worlds - amazon_robot/urdf - amazon_robot/meshes - - # AMAZON HOSPITAL - amazon_hospital/models - amazon_hospital/hospital_world/launch - amazon_hospital/hospital_world/worlds - amazon_hospital/worlds - amazon_hospital/launch - - # ACKERMANN LOGISTIC ROBOT - ackermann_logistic_robot/launch - ackermann_logistic_robot/models - ackermann_logistic_robot/worlds - - # AUTOPARKING CARS - autoparking/launch - autoparking/models - autoparking/worlds - - # DRONE_ASSETS - drone_assets/models - drone_assets/worlds - drone_assets/bridges - - # GLOBAL_NAVIGATION - taxi_navigator/models - - # 3D RECONSTRUCTION - 3d_reconstruction/launch - 3d_reconstruction/models - 3d_reconstruction/worlds - - # MARKER VISUAL LOC - marker_visual_loc/models - turtlebot3/models - turtlebot3/urdf - turtlebot3/params - - # LASER MAPPING LOC - laser_mapping/models - - restaurant/models - - pick_place/models - pick_place/urdf - - - DESTINATION share/${PROJECT_NAME} -) +install( + DIRECTORY + # TURTLEBOT + Turtlebot2/turtlebot2_simulated/kobuki_description/launch + Turtlebot2/turtlebot2_simulated/kobuki_description/meshes + Turtlebot2/turtlebot2_simulated/kobuki_description/rviz + Turtlebot2/turtlebot2_simulated/kobuki_description/urdf + Turtlebot2/turtlebot2_simulated/turtlebot2/launch + Turtlebot2/turtlebot2_simulated/turtlebot2/rviz + Turtlebot2/turtlebot2_simulated/turtlebot2/urdf + # F1 + f1/models + f1/launch + f1/worlds + # ROOMBA + roomba_robot/models + roomba_robot/worlds + roomba_robot/launch + # ACKERMAN CAR + ackermann_cars/models + ackermann_cars/worlds + ackermann_cars/launch + # CARS + car_junction/models + car_junction/worlds + car_junction/launch + # AMAZON WAREHOUSE ROBOT + amazon_robot/launch + amazon_robot/models + amazon_robot/worlds + amazon_robot/urdf + amazon_robot/meshes + # AMAZON HOSPITAL + amazon_hospital/models + amazon_hospital/hospital_world/launch + amazon_hospital/hospital_world/worlds + amazon_hospital/worlds + amazon_hospital/launch + # ACKERMANN LOGISTIC ROBOT + ackermann_logistic_robot/launch + ackermann_logistic_robot/models + ackermann_logistic_robot/worlds + # AUTOPARKING CARS + autoparking/launch + autoparking/models + autoparking/worlds + # DRONE_ASSETS + drone_assets/models + drone_assets/worlds + drone_assets/bridges + # GLOBAL_NAVIGATION + taxi_navigator/models + # 3D RECONSTRUCTION + 3d_reconstruction/launch + 3d_reconstruction/models + 3d_reconstruction/worlds + # MARKER VISUAL LOC + marker_visual_loc/models + turtlebot3/models + turtlebot3/urdf + turtlebot3/params + # LASER MAPPING LOC + laser_mapping/models + restaurant/models + pick_place/models + pick_place/urdf + DESTINATION share/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() endif() +ament_export_libraries(personplugin) -ament_export_libraries( - personplugin -) - -ament_export_targets( - export_${PROJECT_NAME} -) +ament_export_targets(export_${PROJECT_NAME}) ament_package() diff --git a/CustomRobots/ackermann_cars/launch/autocar_autoparking.launch.py b/CustomRobots/ackermann_cars/launch/autocar_autoparking.launch.py index da1adaf45..96c682b56 100755 --- a/CustomRobots/ackermann_cars/launch/autocar_autoparking.launch.py +++ b/CustomRobots/ackermann_cars/launch/autocar_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/f1_autoparking.launch.py b/CustomRobots/ackermann_cars/launch/f1_autoparking.launch.py index 1ab256dfa..006dc5a7a 100755 --- a/CustomRobots/ackermann_cars/launch/f1_autoparking.launch.py +++ b/CustomRobots/ackermann_cars/launch/f1_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/lincoln.launch.py b/CustomRobots/ackermann_cars/launch/lincoln.launch.py index 730262f62..90f61d55f 100644 --- a/CustomRobots/ackermann_cars/launch/lincoln.launch.py +++ b/CustomRobots/ackermann_cars/launch/lincoln.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann.launch.py b/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann.launch.py index 6c92afd89..af1ae4a3e 100755 --- a/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann.launch.py +++ b/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann_followingcam.launch.py b/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann_followingcam.launch.py index 2c77e965e..9c6e48508 100755 --- a/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann_followingcam.launch.py +++ b/CustomRobots/ackermann_cars/launch/montmelo_circuit_ackermann_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann.launch.py b/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann.launch.py index 241a4a106..cc6ad8fe4 100755 --- a/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann.launch.py +++ b/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann_followingcam.launch.py b/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann_followingcam.launch.py index 2ac501ca3..1fa0f3716 100755 --- a/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann_followingcam.launch.py +++ b/CustomRobots/ackermann_cars/launch/montreal_circuit_ackermann_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann.launch.py b/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann.launch.py index 3374b6879..4dcd9fd2c 100755 --- a/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann.launch.py +++ b/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann_followingcam.launch.py b/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann_followingcam.launch.py index db557b258..0ff757d09 100755 --- a/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann_followingcam.launch.py +++ b/CustomRobots/ackermann_cars/launch/nurburgring_circuit_ackermann_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann.launch.py b/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann.launch.py index 08f09efed..116776e4e 100755 --- a/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann.launch.py +++ b/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann_followingcam.launch.py b/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann_followingcam.launch.py index a474aa159..bcf2bc1c6 100755 --- a/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann_followingcam.launch.py +++ b/CustomRobots/ackermann_cars/launch/simple_circuit_ackermann_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/taxi_holo_1laser_autoparking.launch.py b/CustomRobots/ackermann_cars/launch/taxi_holo_1laser_autoparking.launch.py index c22eec478..0f51e44bb 100755 --- a/CustomRobots/ackermann_cars/launch/taxi_holo_1laser_autoparking.launch.py +++ b/CustomRobots/ackermann_cars/launch/taxi_holo_1laser_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_cars/launch/taxi_holo_3laser_autoparking.launch.py b/CustomRobots/ackermann_cars/launch/taxi_holo_3laser_autoparking.launch.py index c5d84e39f..2a65d1ad7 100755 --- a/CustomRobots/ackermann_cars/launch/taxi_holo_3laser_autoparking.launch.py +++ b/CustomRobots/ackermann_cars/launch/taxi_holo_3laser_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_logistic_robot/launch/pallet_warehouse_with_ackermann_logistic_robot.launch.py b/CustomRobots/ackermann_logistic_robot/launch/pallet_warehouse_with_ackermann_logistic_robot.launch.py index 2498edb63..981cadd1c 100644 --- a/CustomRobots/ackermann_logistic_robot/launch/pallet_warehouse_with_ackermann_logistic_robot.launch.py +++ b/CustomRobots/ackermann_logistic_robot/launch/pallet_warehouse_with_ackermann_logistic_robot.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/ackermann_logistic_robot/launch/small_warehouse_with_ackermann_logistic_robot.launch.py b/CustomRobots/ackermann_logistic_robot/launch/small_warehouse_with_ackermann_logistic_robot.launch.py index 9e02a12ed..7be7237e5 100644 --- a/CustomRobots/ackermann_logistic_robot/launch/small_warehouse_with_ackermann_logistic_robot.launch.py +++ b/CustomRobots/ackermann_logistic_robot/launch/small_warehouse_with_ackermann_logistic_robot.launch.py @@ -25,9 +25,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/amazon_hospital/hospital_world/CMakeLists.txt b/CustomRobots/amazon_hospital/hospital_world/CMakeLists.txt index f32729c50..4f56ff88a 100755 --- a/CustomRobots/amazon_hospital/hospital_world/CMakeLists.txt +++ b/CustomRobots/amazon_hospital/hospital_world/CMakeLists.txt @@ -19,18 +19,14 @@ endif() include_directories(${GAZEBO_INCLUDE_DIRS}) add_library(personplugin src/person.cpp) -target_include_directories(personplugin PUBLIC - $ - $) -ament_target_dependencies( +target_include_directories( personplugin - "rclcpp" - "gazebo" - "pluginlib" -) + PUBLIC $ + $) +ament_target_dependencies(personplugin "rclcpp" "gazebo" "pluginlib") -# Causes the visibility macros to use dllexport rather than dllimport, -# which is appropriate when building the dll but not consuming it. +# Causes the visibility macros to use dllexport rather than dllimport, which is +# appropriate when building the dll but not consuming it. target_compile_definitions(personplugin PRIVATE "PERSONPLUGIN_BUILDING_LIBRARY") install( @@ -38,24 +34,17 @@ install( EXPORT export_${PROJECT_NAME} ARCHIVE DESTINATION lib LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) + RUNTIME DESTINATION bin) -install( - DIRECTORY launch models worlds - DESTINATION share/${PROJECT_NAME}) +install(DIRECTORY launch models worlds DESTINATION share/${PROJECT_NAME}) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() endif() -ament_export_libraries( - personplugin -) +ament_export_libraries(personplugin) -ament_export_targets( - export_${PROJECT_NAME} -) +ament_export_targets(export_${PROJECT_NAME}) ament_package() diff --git a/CustomRobots/amazon_hospital/hospital_world/launch/hospital_world.launch.py b/CustomRobots/amazon_hospital/hospital_world/launch/hospital_world.launch.py index b56c97d9e..a8870748d 100755 --- a/CustomRobots/amazon_hospital/hospital_world/launch/hospital_world.launch.py +++ b/CustomRobots/amazon_hospital/hospital_world/launch/hospital_world.launch.py @@ -18,12 +18,12 @@ def generate_launch_description(): gazebo_models_path = os.path.join(pkg_share_dir, "models") gazebo_fuel_models_path = os.path.join(pkg_share_dir, "fuel_models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_fuel_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_fuel_models_path)}" gazebo_ros = get_package_share_directory("gazebo_ros") gazebo_client = launch.actions.IncludeLaunchDescription( diff --git a/CustomRobots/amazon_hospital/launch/follow_person.launch.py b/CustomRobots/amazon_hospital/launch/follow_person.launch.py index a41b2fb3b..e54997df2 100644 --- a/CustomRobots/amazon_hospital/launch/follow_person.launch.py +++ b/CustomRobots/amazon_hospital/launch/follow_person.launch.py @@ -43,9 +43,9 @@ def generate_launch_description(): # Set the path to the SDF model files gazebo_models_path = os.path.join(pkg_share_dir, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/amazon_robot/launch/amazon_robot.launch.py b/CustomRobots/amazon_robot/launch/amazon_robot.launch.py index 68bd6fea6..5691246c5 100755 --- a/CustomRobots/amazon_robot/launch/amazon_robot.launch.py +++ b/CustomRobots/amazon_robot/launch/amazon_robot.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" # Set robot Arguments x_robot_position = "0" diff --git a/CustomRobots/amazon_robot/launch/amazon_warehouse.launch.py b/CustomRobots/amazon_robot/launch/amazon_warehouse.launch.py index cf905acf9..dad0792c5 100644 --- a/CustomRobots/amazon_robot/launch/amazon_warehouse.launch.py +++ b/CustomRobots/amazon_robot/launch/amazon_warehouse.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/amazon_robot/launch/pallet_warehouse.launch.py b/CustomRobots/amazon_robot/launch/pallet_warehouse.launch.py index b90b00072..31f8b832a 100644 --- a/CustomRobots/amazon_robot/launch/pallet_warehouse.launch.py +++ b/CustomRobots/amazon_robot/launch/pallet_warehouse.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/amazon_robot/platform_controller/platform_controller/move_platform.py b/CustomRobots/amazon_robot/platform_controller/platform_controller/move_platform.py index e79028aa0..99a1f655f 100644 --- a/CustomRobots/amazon_robot/platform_controller/platform_controller/move_platform.py +++ b/CustomRobots/amazon_robot/platform_controller/platform_controller/move_platform.py @@ -49,7 +49,6 @@ def send_effort(self, input_effort): class PlatformCommandListener(Node): - def __init__(self): super().__init__("platform_command_listener") self.sub = None diff --git a/CustomRobots/autoparking/launch/gas_station_battery.launch.py b/CustomRobots/autoparking/launch/gas_station_battery.launch.py index d46222c9b..4f65f56f9 100755 --- a/CustomRobots/autoparking/launch/gas_station_battery.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_battery.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/gas_station_battery_ackermann.launch.py b/CustomRobots/autoparking/launch/gas_station_battery_ackermann.launch.py index 121863210..06848cf17 100755 --- a/CustomRobots/autoparking/launch/gas_station_battery_ackermann.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_battery_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/gas_station_line.launch.py b/CustomRobots/autoparking/launch/gas_station_line.launch.py index d8b7a92b4..95d3a133e 100755 --- a/CustomRobots/autoparking/launch/gas_station_line.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_line.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/gas_station_line_ackermann.launch.py b/CustomRobots/autoparking/launch/gas_station_line_ackermann.launch.py index a2ae40bb0..74f932ded 100755 --- a/CustomRobots/autoparking/launch/gas_station_line_ackermann.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_line_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/gas_station_parking.launch.py b/CustomRobots/autoparking/launch/gas_station_parking.launch.py index e50d15089..98f9a91ed 100755 --- a/CustomRobots/autoparking/launch/gas_station_parking.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_parking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/gas_station_parking_ackermann.launch.py b/CustomRobots/autoparking/launch/gas_station_parking_ackermann.launch.py index 2092b3383..ae737c26f 100755 --- a/CustomRobots/autoparking/launch/gas_station_parking_ackermann.launch.py +++ b/CustomRobots/autoparking/launch/gas_station_parking_ackermann.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/lincoln_autoparking.launch.py b/CustomRobots/autoparking/launch/lincoln_autoparking.launch.py index 4be40d7cf..6f2d7965a 100755 --- a/CustomRobots/autoparking/launch/lincoln_autoparking.launch.py +++ b/CustomRobots/autoparking/launch/lincoln_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/lincoln_bateria.launch.py b/CustomRobots/autoparking/launch/lincoln_bateria.launch.py index 7cddcfcc7..ecb524c37 100755 --- a/CustomRobots/autoparking/launch/lincoln_bateria.launch.py +++ b/CustomRobots/autoparking/launch/lincoln_bateria.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/prius_autoparking.launch.py b/CustomRobots/autoparking/launch/prius_autoparking.launch.py index 2c20bc232..b044fd5ed 100755 --- a/CustomRobots/autoparking/launch/prius_autoparking.launch.py +++ b/CustomRobots/autoparking/launch/prius_autoparking.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/autoparking/launch/prius_bateria.launch.py b/CustomRobots/autoparking/launch/prius_bateria.launch.py index 38f953fbe..ee30534f9 100755 --- a/CustomRobots/autoparking/launch/prius_bateria.launch.py +++ b/CustomRobots/autoparking/launch/prius_bateria.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/montmelo_circuit.launch.py b/CustomRobots/f1/launch/montmelo_circuit.launch.py index fa0cb11c6..be039ba86 100755 --- a/CustomRobots/f1/launch/montmelo_circuit.launch.py +++ b/CustomRobots/f1/launch/montmelo_circuit.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/montmelo_circuit_followingcam.launch.py b/CustomRobots/f1/launch/montmelo_circuit_followingcam.launch.py index ca749b91b..1eb7cc9d6 100755 --- a/CustomRobots/f1/launch/montmelo_circuit_followingcam.launch.py +++ b/CustomRobots/f1/launch/montmelo_circuit_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/montreal_circuit.launch.py b/CustomRobots/f1/launch/montreal_circuit.launch.py index 43c347aa7..4d36436f9 100755 --- a/CustomRobots/f1/launch/montreal_circuit.launch.py +++ b/CustomRobots/f1/launch/montreal_circuit.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/montreal_circuit_followingcam.launch.py b/CustomRobots/f1/launch/montreal_circuit_followingcam.launch.py index 4613a06df..93370d4de 100755 --- a/CustomRobots/f1/launch/montreal_circuit_followingcam.launch.py +++ b/CustomRobots/f1/launch/montreal_circuit_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/nurburgring_circuit.launch.py b/CustomRobots/f1/launch/nurburgring_circuit.launch.py index 5c299b3ea..8d84b6073 100755 --- a/CustomRobots/f1/launch/nurburgring_circuit.launch.py +++ b/CustomRobots/f1/launch/nurburgring_circuit.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/nurburgring_circuit_followingcam.launch.py b/CustomRobots/f1/launch/nurburgring_circuit_followingcam.launch.py index 34d38d304..dbf866f48 100755 --- a/CustomRobots/f1/launch/nurburgring_circuit_followingcam.launch.py +++ b/CustomRobots/f1/launch/nurburgring_circuit_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/simple_circuit.launch.py b/CustomRobots/f1/launch/simple_circuit.launch.py index 7aa874fc1..ed71b7688 100755 --- a/CustomRobots/f1/launch/simple_circuit.launch.py +++ b/CustomRobots/f1/launch/simple_circuit.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/f1/launch/simple_circuit_followingcam.launch.py b/CustomRobots/f1/launch/simple_circuit_followingcam.launch.py index 4c5b1baa0..c050b29e9 100755 --- a/CustomRobots/f1/launch/simple_circuit_followingcam.launch.py +++ b/CustomRobots/f1/launch/simple_circuit_followingcam.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/roomba_robot/launch/vaccum_cleaner.launch.py b/CustomRobots/roomba_robot/launch/vaccum_cleaner.launch.py index 1f306804b..c40433ee0 100755 --- a/CustomRobots/roomba_robot/launch/vaccum_cleaner.launch.py +++ b/CustomRobots/roomba_robot/launch/vaccum_cleaner.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/roomba_robot/launch/vaccum_cleaner_headless.launch.py b/CustomRobots/roomba_robot/launch/vaccum_cleaner_headless.launch.py index d46c3361d..aec4e4e8f 100755 --- a/CustomRobots/roomba_robot/launch/vaccum_cleaner_headless.launch.py +++ b/CustomRobots/roomba_robot/launch/vaccum_cleaner_headless.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/CustomRobots/taxi_navigator/models/prius/car_demo/CMakeLists.txt b/CustomRobots/taxi_navigator/models/prius/car_demo/CMakeLists.txt index 7234f23b3..ca76f424d 100644 --- a/CustomRobots/taxi_navigator/models/prius/car_demo/CMakeLists.txt +++ b/CustomRobots/taxi_navigator/models/prius/car_demo/CMakeLists.txt @@ -1,41 +1,49 @@ cmake_minimum_required(VERSION 2.8.3) project(car_demo) -set (PRIUSCUP_MAJOR_VERSION 0) -set (PRIUSCUP_MINOR_VERSION 1) -set (PRIUSCUP_PATCH_VERSION 0) -set (PRIUSCUP_VERSION_FULL ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION}) - -find_package(catkin REQUIRED COMPONENTS - gazebo_ros - prius_msgs +set(PRIUSCUP_MAJOR_VERSION 0) +set(PRIUSCUP_MINOR_VERSION 1) +set(PRIUSCUP_PATCH_VERSION 0) +# cmake-lint: disable=C0301 +set(PRIUSCUP_VERSION_FULL + ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION} ) +find_package(catkin REQUIRED COMPONENTS gazebo_ros prius_msgs) + find_package(gazebo 9 REQUIRED) find_package(ignition-msgs1 REQUIRED) catkin_package( - # INCLUDE_DIRS include - # LIBRARIES gazebo_radar_plugin - CATKIN_DEPENDS gazebo_ros prius_msgs -# DEPENDS system_lib + # INCLUDE_DIRS include LIBRARIES gazebo_radar_plugin + CATKIN_DEPENDS + gazebo_ros + prius_msgs + # DEPENDS system_lib ) -include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS}) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} + ${SDFormat_INCLUDE_DIRS}) add_library(PriusHybridPlugin SHARED plugins/PriusHybridPlugin.cc) -target_link_libraries(PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) +target_link_libraries( + PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) add_dependencies(PriusHybridPlugin ${catkin_EXPORTED_TARGETS}) +catkin_install_python( + PROGRAMS + nodes/joystick_translator + DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION}) -catkin_install_python(PROGRAMS nodes/joystick_translator - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(TARGETS PriusHybridPlugin +install( + TARGETS PriusHybridPlugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/CustomRobots/taxi_navigator/models/prius/car_demo/plugins/CMakeLists.txt b/CustomRobots/taxi_navigator/models/prius/car_demo/plugins/CMakeLists.txt index 7234f23b3..ca76f424d 100644 --- a/CustomRobots/taxi_navigator/models/prius/car_demo/plugins/CMakeLists.txt +++ b/CustomRobots/taxi_navigator/models/prius/car_demo/plugins/CMakeLists.txt @@ -1,41 +1,49 @@ cmake_minimum_required(VERSION 2.8.3) project(car_demo) -set (PRIUSCUP_MAJOR_VERSION 0) -set (PRIUSCUP_MINOR_VERSION 1) -set (PRIUSCUP_PATCH_VERSION 0) -set (PRIUSCUP_VERSION_FULL ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION}) - -find_package(catkin REQUIRED COMPONENTS - gazebo_ros - prius_msgs +set(PRIUSCUP_MAJOR_VERSION 0) +set(PRIUSCUP_MINOR_VERSION 1) +set(PRIUSCUP_PATCH_VERSION 0) +# cmake-lint: disable=C0301 +set(PRIUSCUP_VERSION_FULL + ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION} ) +find_package(catkin REQUIRED COMPONENTS gazebo_ros prius_msgs) + find_package(gazebo 9 REQUIRED) find_package(ignition-msgs1 REQUIRED) catkin_package( - # INCLUDE_DIRS include - # LIBRARIES gazebo_radar_plugin - CATKIN_DEPENDS gazebo_ros prius_msgs -# DEPENDS system_lib + # INCLUDE_DIRS include LIBRARIES gazebo_radar_plugin + CATKIN_DEPENDS + gazebo_ros + prius_msgs + # DEPENDS system_lib ) -include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS}) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} + ${SDFormat_INCLUDE_DIRS}) add_library(PriusHybridPlugin SHARED plugins/PriusHybridPlugin.cc) -target_link_libraries(PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) +target_link_libraries( + PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) add_dependencies(PriusHybridPlugin ${catkin_EXPORTED_TARGETS}) +catkin_install_python( + PROGRAMS + nodes/joystick_translator + DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION}) -catkin_install_python(PROGRAMS nodes/joystick_translator - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(TARGETS PriusHybridPlugin +install( + TARGETS PriusHybridPlugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/CustomRobots/taxi_navigator/models/prius/prius_msgs/CMakeLists.txt b/CustomRobots/taxi_navigator/models/prius/prius_msgs/CMakeLists.txt index 56ebe4be9..4400d6a33 100644 --- a/CustomRobots/taxi_navigator/models/prius/prius_msgs/CMakeLists.txt +++ b/CustomRobots/taxi_navigator/models/prius/prius_msgs/CMakeLists.txt @@ -1,21 +1,10 @@ cmake_minimum_required(VERSION 2.8.12) project(prius_msgs) -find_package(catkin REQUIRED COMPONENTS - message_generation - std_msgs -) +find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) -add_message_files( - FILES - Control.msg -) +add_message_files(FILES Control.msg) -generate_messages( - DEPENDENCIES - std_msgs -) +generate_messages(DEPENDENCIES std_msgs) -catkin_package( - CATKIN_DEPENDS message_runtime std_msgs -) +catkin_package(CATKIN_DEPENDS message_runtime std_msgs) diff --git a/CustomRobots/taxi_navigator/models/prius/src/CMakeLists.txt b/CustomRobots/taxi_navigator/models/prius/src/CMakeLists.txt index 7234f23b3..ca76f424d 100644 --- a/CustomRobots/taxi_navigator/models/prius/src/CMakeLists.txt +++ b/CustomRobots/taxi_navigator/models/prius/src/CMakeLists.txt @@ -1,41 +1,49 @@ cmake_minimum_required(VERSION 2.8.3) project(car_demo) -set (PRIUSCUP_MAJOR_VERSION 0) -set (PRIUSCUP_MINOR_VERSION 1) -set (PRIUSCUP_PATCH_VERSION 0) -set (PRIUSCUP_VERSION_FULL ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION}) - -find_package(catkin REQUIRED COMPONENTS - gazebo_ros - prius_msgs +set(PRIUSCUP_MAJOR_VERSION 0) +set(PRIUSCUP_MINOR_VERSION 1) +set(PRIUSCUP_PATCH_VERSION 0) +# cmake-lint: disable=C0301 +set(PRIUSCUP_VERSION_FULL + ${PRIUSCUP_MAJOR_VERSION}.${PRIUSCUP_MINOR_VERSION}.${PRIUSCUP_PATCH_VERSION} ) +find_package(catkin REQUIRED COMPONENTS gazebo_ros prius_msgs) + find_package(gazebo 9 REQUIRED) find_package(ignition-msgs1 REQUIRED) catkin_package( - # INCLUDE_DIRS include - # LIBRARIES gazebo_radar_plugin - CATKIN_DEPENDS gazebo_ros prius_msgs -# DEPENDS system_lib + # INCLUDE_DIRS include LIBRARIES gazebo_radar_plugin + CATKIN_DEPENDS + gazebo_ros + prius_msgs + # DEPENDS system_lib ) -include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS}) +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} + ${SDFormat_INCLUDE_DIRS}) add_library(PriusHybridPlugin SHARED plugins/PriusHybridPlugin.cc) -target_link_libraries(PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) +target_link_libraries( + PriusHybridPlugin ${GAZEBO_LIBRARIES} ${IGNITION-MSGS_LIBRARIES}) add_dependencies(PriusHybridPlugin ${catkin_EXPORTED_TARGETS}) +catkin_install_python( + PROGRAMS + nodes/joystick_translator + DESTINATION + ${CATKIN_PACKAGE_BIN_DESTINATION}) -catkin_install_python(PROGRAMS nodes/joystick_translator - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(TARGETS PriusHybridPlugin +install( + TARGETS PriusHybridPlugin ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY models DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(DIRECTORY worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/CustomRobots/tello_phy/ros2_shared/CMakeLists.txt b/CustomRobots/tello_phy/ros2_shared/CMakeLists.txt index 9556748de..a2a9d6f39 100755 --- a/CustomRobots/tello_phy/ros2_shared/CMakeLists.txt +++ b/CustomRobots/tello_phy/ros2_shared/CMakeLists.txt @@ -20,8 +20,6 @@ find_package(ament_cmake REQUIRED) ament_export_include_directories(include) -install(DIRECTORY include/ - DESTINATION include) +install(DIRECTORY include/ DESTINATION include) ament_package() - diff --git a/CustomRobots/tello_phy/tello_camera/tello_camera/tello_camera.py b/CustomRobots/tello_phy/tello_camera/tello_camera/tello_camera.py index f74856bd9..a91253ee2 100755 --- a/CustomRobots/tello_phy/tello_camera/tello_camera/tello_camera.py +++ b/CustomRobots/tello_phy/tello_camera/tello_camera/tello_camera.py @@ -7,7 +7,6 @@ class telloCam(Node): - def __init__(self): super().__init__("tello_camera_node") self.subscription = self.create_subscription( diff --git a/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt b/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt index 9fdbe0ebd..683d88dbf 100755 --- a/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt +++ b/CustomRobots/tello_phy/tello_ros/tello_description/CMakeLists.txt @@ -3,48 +3,49 @@ project(tello_description) find_package(ament_cmake REQUIRED) -#============= -# Generate N urdf files, each with unique robot and frame names -# Source file is in ${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml -# Generated files are in ${CMAKE_CURRENT_BINARY_DIR}/urdf/telloX.urdf -#============= +# ============= +# Generate N urdf files, each with unique robot and frame names Source file is +# in ${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml Generated files are in +# ${CMAKE_CURRENT_BINARY_DIR}/urdf/telloX.urdf +# ============= file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/urdf") -foreach (INDEX RANGE 0 8) - if (${INDEX} EQUAL 0) +foreach(index RANGE 0 8) + if(${index} EQUAL 0) set(SUFFIX "") set(TOPIC_NS "solo") - else () - set(SUFFIX "_${INDEX}") - set(TOPIC_NS "drone${INDEX}") - endif () + else() + set(SUFFIX "_${index}") + set(TOPIC_NS "drone${index}") + endif() set(URDF_FILE "${CMAKE_CURRENT_BINARY_DIR}/urdf/tello${SUFFIX}.urdf") message(STATUS "creating rules for ${URDF_FILE}") add_custom_command( OUTPUT ${URDF_FILE} - COMMAND ${PYTHON_EXECUTABLE} "/home/guillermo/tello_ws/src/tello_ros/tello_description/src/replace.py" - "${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml" "suffix=${SUFFIX}" "topic_ns=${TOPIC_NS}" ">" "${URDF_FILE}" + COMMAND + ${PYTHON_EXECUTABLE} + "/home/guillermo/tello_ws/src/tello_ros/tello_description/src/replace.py" + "${CMAKE_CURRENT_SOURCE_DIR}/urdf/tello.xml" "suffix=${SUFFIX}" + "topic_ns=${TOPIC_NS}" ">" "${URDF_FILE}" DEPENDS urdf/tello.xml COMMENT "Generate ${URDF_FILE}" - VERBATIM - ) + VERBATIM) # TODO investigate why configure_file isn't working # configure_file("urdf/tello.xml" ${URDF_FILE}) add_custom_target(generate_urdf${SUFFIX} ALL DEPENDS ${URDF_FILE}) -endforeach () +endforeach() -#============= +# ============= # Install -#============= +# ============= install( DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/urdf" - DESTINATION share/${PROJECT_NAME} -) + DESTINATION share/${PROJECT_NAME}) -#============= +# ============= # Run ament macros -#============= +# ============= ament_package() diff --git a/CustomRobots/tello_phy/tello_simple_teleop/tello_simple_teleop/tello_simple_teleop.py b/CustomRobots/tello_phy/tello_simple_teleop/tello_simple_teleop/tello_simple_teleop.py index e8bc9527c..17e5519d4 100755 --- a/CustomRobots/tello_phy/tello_simple_teleop/tello_simple_teleop/tello_simple_teleop.py +++ b/CustomRobots/tello_phy/tello_simple_teleop/tello_simple_teleop/tello_simple_teleop.py @@ -7,7 +7,6 @@ class MinimalClientAsync(Node): - def __init__(self): super().__init__("minimal_client_async") self.cli = self.create_client(TelloAction, "tello_action") diff --git a/Launchers/3d_reconstruction.launch.py b/Launchers/3d_reconstruction.launch.py index 39d6be355..34a3a42e3 100755 --- a/Launchers/3d_reconstruction.launch.py +++ b/Launchers/3d_reconstruction.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/amazon_robot.launch.py b/Launchers/amazon_robot.launch.py index c3bb93a43..43464864d 100644 --- a/Launchers/amazon_robot.launch.py +++ b/Launchers/amazon_robot.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/follow_person.launch.py b/Launchers/follow_person.launch.py index 9204ab699..3de3be685 100644 --- a/Launchers/follow_person.launch.py +++ b/Launchers/follow_person.launch.py @@ -43,9 +43,9 @@ def generate_launch_description(): # Set the path to the SDF model files gazebo_models_path = os.path.join(pkg_share_dir, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/follow_person_followingcam.launch.py b/Launchers/follow_person_followingcam.launch.py index a5925a467..cc5121dc3 100644 --- a/Launchers/follow_person_followingcam.launch.py +++ b/Launchers/follow_person_followingcam.launch.py @@ -43,9 +43,9 @@ def generate_launch_description(): # Set the path to the SDF model files gazebo_models_path = os.path.join(pkg_share_dir, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/follow_person_teleop.launch.py b/Launchers/follow_person_teleop.launch.py index 54aa18b41..a65afd489 100644 --- a/Launchers/follow_person_teleop.launch.py +++ b/Launchers/follow_person_teleop.launch.py @@ -43,9 +43,9 @@ def generate_launch_description(): # Set the path to the SDF model files gazebo_models_path = os.path.join(pkg_share_dir, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_battery.launch.py b/Launchers/gas_station_battery.launch.py index f650af38a..9ccb38a1f 100755 --- a/Launchers/gas_station_battery.launch.py +++ b/Launchers/gas_station_battery.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_battery_ackermann.launch.py b/Launchers/gas_station_battery_ackermann.launch.py index 3a9858e77..e0681499d 100755 --- a/Launchers/gas_station_battery_ackermann.launch.py +++ b/Launchers/gas_station_battery_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_line.launch.py b/Launchers/gas_station_line.launch.py index 0ed30eb68..1b36f495b 100755 --- a/Launchers/gas_station_line.launch.py +++ b/Launchers/gas_station_line.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_line_ackermann.launch.py b/Launchers/gas_station_line_ackermann.launch.py index d58191ee0..c15a01f1c 100755 --- a/Launchers/gas_station_line_ackermann.launch.py +++ b/Launchers/gas_station_line_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_parking.launch.py b/Launchers/gas_station_parking.launch.py index 2f3cc2d3a..b2636aa1d 100755 --- a/Launchers/gas_station_parking.launch.py +++ b/Launchers/gas_station_parking.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/gas_station_parking_ackermann.launch.py b/Launchers/gas_station_parking_ackermann.launch.py index 24e74e3d5..756fe2c16 100755 --- a/Launchers/gas_station_parking_ackermann.launch.py +++ b/Launchers/gas_station_parking_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/monaco_circuit.launch .py b/Launchers/monaco_circuit.launch .py index 0abae62dc..f57b4c293 100644 --- a/Launchers/monaco_circuit.launch .py +++ b/Launchers/monaco_circuit.launch .py @@ -6,57 +6,62 @@ from launch.substitutions import LaunchConfiguration from launch_ros.substitutions import FindPackageShare + def generate_launch_description(): # Aquí el paquete correcto para gazebo_ros - pkg_gazebo_ros = FindPackageShare(package='gazebo_launch').find('gazebo_launch') + pkg_gazebo_ros = FindPackageShare(package="gazebo_launch").find("gazebo_launch") # Ruta a tu carpeta de modelos en tu workspace (ajusta si es necesario) # Si tus modelos están en ~/gzROS/src/gazebo_launch/worlds/models o similar, pon esa ruta: - pkg_share = os.path.expanduser('~/gzROS/src/gazebo_launch/models') + pkg_share = os.path.expanduser("~/gzROS/src/gazebo_launch/models") # Nombre del archivo del mundo - world_file_name = 'monaco_circuit.world' + world_file_name = "monaco_circuit.world" world_path = os.path.join(pkg_share, world_file_name) # Añadir el path de modelos a la variable de entorno GAZEBO_MODEL_PATH - os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}" + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}" # Configuraciones de lanzamiento - headless = LaunchConfiguration('headless') - use_sim_time = LaunchConfiguration('use_sim_time') - use_simulator = LaunchConfiguration('use_simulator') - world = LaunchConfiguration('world') + headless = LaunchConfiguration("headless") + use_sim_time = LaunchConfiguration("use_sim_time") + use_simulator = LaunchConfiguration("use_simulator") + world = LaunchConfiguration("world") declare_simulator_cmd = DeclareLaunchArgument( - name='headless', - default_value='False', - description='Whether to execute gzclient' + name="headless", + default_value="False", + description="Whether to execute gzclient", ) declare_use_sim_time_cmd = DeclareLaunchArgument( - name='use_sim_time', - default_value='true', - description='Use simulation (Gazebo) clock if true' + name="use_sim_time", + default_value="true", + description="Use simulation (Gazebo) clock if true", ) declare_use_simulator_cmd = DeclareLaunchArgument( - name='use_simulator', - default_value='True', - description='Whether to start the simulator' + name="use_simulator", + default_value="True", + description="Whether to start the simulator", ) declare_world_cmd = DeclareLaunchArgument( - name='world', + name="world", default_value=world_path, - description='Full path to the world model file to load' + description="Full path to the world model file to load", ) # Lanzar el servidor de Gazebo start_gazebo_server_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')), + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, "launch", "gazebo.launch.py") + ), condition=IfCondition(use_simulator), - launch_arguments={'world': world}.items() + launch_arguments={"world": world}.items(), ) ld = LaunchDescription() diff --git a/Launchers/montecarlo_laser_loc.launch.py b/Launchers/montecarlo_laser_loc.launch.py index 370281195..d3984d308 100755 --- a/Launchers/montecarlo_laser_loc.launch.py +++ b/Launchers/montecarlo_laser_loc.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montecarlo_laser_loc_headless.launch.py b/Launchers/montecarlo_laser_loc_headless.launch.py index 1b04e4d12..4243a16f9 100755 --- a/Launchers/montecarlo_laser_loc_headless.launch.py +++ b/Launchers/montecarlo_laser_loc_headless.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montecarlo_visual_loc.launch.py b/Launchers/montecarlo_visual_loc.launch.py index 4ec03dbd9..5bad83bd0 100755 --- a/Launchers/montecarlo_visual_loc.launch.py +++ b/Launchers/montecarlo_visual_loc.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montmelo_circuit.launch.py b/Launchers/montmelo_circuit.launch.py index 9b66fb26c..c34478bf9 100755 --- a/Launchers/montmelo_circuit.launch.py +++ b/Launchers/montmelo_circuit.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montmelo_circuit_ackermann.launch.py b/Launchers/montmelo_circuit_ackermann.launch.py index 834bf8595..eea10d368 100755 --- a/Launchers/montmelo_circuit_ackermann.launch.py +++ b/Launchers/montmelo_circuit_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montmelo_circuit_ackermann_followingcam.launch.py b/Launchers/montmelo_circuit_ackermann_followingcam.launch.py index b493fd18a..dd42fa933 100755 --- a/Launchers/montmelo_circuit_ackermann_followingcam.launch.py +++ b/Launchers/montmelo_circuit_ackermann_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montmelo_circuit_followingcam.launch.py b/Launchers/montmelo_circuit_followingcam.launch.py index 45dcd3565..2ac6d342d 100755 --- a/Launchers/montmelo_circuit_followingcam.launch.py +++ b/Launchers/montmelo_circuit_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montreal_circuit.launch.py b/Launchers/montreal_circuit.launch.py index db272b819..a4634025f 100755 --- a/Launchers/montreal_circuit.launch.py +++ b/Launchers/montreal_circuit.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montreal_circuit_ackermann.launch.py b/Launchers/montreal_circuit_ackermann.launch.py index ad73b6cbe..307f81b52 100755 --- a/Launchers/montreal_circuit_ackermann.launch.py +++ b/Launchers/montreal_circuit_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montreal_circuit_ackermann_followingcam.launch.py b/Launchers/montreal_circuit_ackermann_followingcam.launch.py index f241fb4a4..7faad615a 100755 --- a/Launchers/montreal_circuit_ackermann_followingcam.launch.py +++ b/Launchers/montreal_circuit_ackermann_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/montreal_circuit_followingcam.launch.py b/Launchers/montreal_circuit_followingcam.launch.py index a3a1afbe8..0e0b49146 100755 --- a/Launchers/montreal_circuit_followingcam.launch.py +++ b/Launchers/montreal_circuit_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/nurburgring_circuit.launch.py b/Launchers/nurburgring_circuit.launch.py index 6ddbc6941..71372cdd6 100755 --- a/Launchers/nurburgring_circuit.launch.py +++ b/Launchers/nurburgring_circuit.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/nurburgring_circuit_ackermann.launch.py b/Launchers/nurburgring_circuit_ackermann.launch.py index 66e8b8cb2..d330f2a1d 100755 --- a/Launchers/nurburgring_circuit_ackermann.launch.py +++ b/Launchers/nurburgring_circuit_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/nurburgring_circuit_ackermann_followingcam.launch.py b/Launchers/nurburgring_circuit_ackermann_followingcam.launch.py index b8d35b149..73db24a5e 100755 --- a/Launchers/nurburgring_circuit_ackermann_followingcam.launch.py +++ b/Launchers/nurburgring_circuit_ackermann_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/nurburgring_circuit_followingcam.launch.py b/Launchers/nurburgring_circuit_followingcam.launch.py index 9a616b2c7..3aa90cd8c 100755 --- a/Launchers/nurburgring_circuit_followingcam.launch.py +++ b/Launchers/nurburgring_circuit_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/pallet_warehouse.launch.py b/Launchers/pallet_warehouse.launch.py index 2cc2257fc..2d84cf758 100644 --- a/Launchers/pallet_warehouse.launch.py +++ b/Launchers/pallet_warehouse.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/pallet_warehouse_with_ackermann_logistic_robot.launch.py b/Launchers/pallet_warehouse_with_ackermann_logistic_robot.launch.py index 2498edb63..981cadd1c 100644 --- a/Launchers/pallet_warehouse_with_ackermann_logistic_robot.launch.py +++ b/Launchers/pallet_warehouse_with_ackermann_logistic_robot.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/pick_place_javier.launch.py b/Launchers/pick_place_javier.launch.py index cb436b2d0..b214a1956 100755 --- a/Launchers/pick_place_javier.launch.py +++ b/Launchers/pick_place_javier.launch.py @@ -32,9 +32,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/prius_360_autoparking.launch.py b/Launchers/prius_360_autoparking.launch.py index f59e779a5..d7e4224ff 100755 --- a/Launchers/prius_360_autoparking.launch.py +++ b/Launchers/prius_360_autoparking.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/prius_autoparking.launch.py b/Launchers/prius_autoparking.launch.py index 54c3294ae..a6a9886a0 100755 --- a/Launchers/prius_autoparking.launch.py +++ b/Launchers/prius_autoparking.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/prius_bateria.launch.py b/Launchers/prius_bateria.launch.py index fe5a9afc1..ae8ca7c08 100755 --- a/Launchers/prius_bateria.launch.py +++ b/Launchers/prius_bateria.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/restaurant.launch.py b/Launchers/restaurant.launch.py index d4d083da9..446055ec2 100755 --- a/Launchers/restaurant.launch.py +++ b/Launchers/restaurant.launch.py @@ -29,9 +29,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit.launch.py b/Launchers/simple_circuit.launch.py index 17156acfa..0006f8ea2 100755 --- a/Launchers/simple_circuit.launch.py +++ b/Launchers/simple_circuit.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit_ackermann.launch.py b/Launchers/simple_circuit_ackermann.launch.py index 4780aa553..1db5bf647 100755 --- a/Launchers/simple_circuit_ackermann.launch.py +++ b/Launchers/simple_circuit_ackermann.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit_ackermann_followingcam.launch.py b/Launchers/simple_circuit_ackermann_followingcam.launch.py index 53d04e619..6d4d03b7a 100755 --- a/Launchers/simple_circuit_ackermann_followingcam.launch.py +++ b/Launchers/simple_circuit_ackermann_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit_followingcam.launch.py b/Launchers/simple_circuit_followingcam.launch.py index ce00d68e0..5917a05d9 100755 --- a/Launchers/simple_circuit_followingcam.launch.py +++ b/Launchers/simple_circuit_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit_obstacles.launch.py b/Launchers/simple_circuit_obstacles.launch.py index caea96d3a..1ce2dfc02 100755 --- a/Launchers/simple_circuit_obstacles.launch.py +++ b/Launchers/simple_circuit_obstacles.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/simple_circuit_obstacles_followingcam.launch.py b/Launchers/simple_circuit_obstacles_followingcam.launch.py index 8bc17fcab..924b3410d 100755 --- a/Launchers/simple_circuit_obstacles_followingcam.launch.py +++ b/Launchers/simple_circuit_obstacles_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/small_warehouse_with_ackermann_logistic_robot.launch.py b/Launchers/small_warehouse_with_ackermann_logistic_robot.launch.py index 9e02a12ed..7be7237e5 100644 --- a/Launchers/small_warehouse_with_ackermann_logistic_robot.launch.py +++ b/Launchers/small_warehouse_with_ackermann_logistic_robot.launch.py @@ -25,9 +25,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/spa_circuit.launch.py b/Launchers/spa_circuit.launch.py index 7fa192496..c8c6bdcf4 100644 --- a/Launchers/spa_circuit.launch.py +++ b/Launchers/spa_circuit.launch.py @@ -6,57 +6,62 @@ from launch.substitutions import LaunchConfiguration from launch_ros.substitutions import FindPackageShare + def generate_launch_description(): # Aquí el paquete correcto para gazebo_ros - pkg_gazebo_ros = FindPackageShare(package='gazebo_launch').find('gazebo_launch') + pkg_gazebo_ros = FindPackageShare(package="gazebo_launch").find("gazebo_launch") # Ruta a tu carpeta de modelos en tu workspace (ajusta si es necesario) # Si tus modelos están en ~/gzROS/src/gazebo_launch/worlds/models o similar, pon esa ruta: - pkg_share = os.path.expanduser('~/gzROS/src/gazebo_launch/models') + pkg_share = os.path.expanduser("~/gzROS/src/gazebo_launch/models") # Nombre del archivo del mundo - world_file_name = 'spa_circuit.world' + world_file_name = "spa_circuit.world" world_path = os.path.join(pkg_share, world_file_name) # Añadir el path de modelos a la variable de entorno GAZEBO_MODEL_PATH - os.environ["GAZEBO_MODEL_PATH"] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}" + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{pkg_share}" # Configuraciones de lanzamiento - headless = LaunchConfiguration('headless') - use_sim_time = LaunchConfiguration('use_sim_time') - use_simulator = LaunchConfiguration('use_simulator') - world = LaunchConfiguration('world') + headless = LaunchConfiguration("headless") + use_sim_time = LaunchConfiguration("use_sim_time") + use_simulator = LaunchConfiguration("use_simulator") + world = LaunchConfiguration("world") declare_simulator_cmd = DeclareLaunchArgument( - name='headless', - default_value='False', - description='Whether to execute gzclient' + name="headless", + default_value="False", + description="Whether to execute gzclient", ) declare_use_sim_time_cmd = DeclareLaunchArgument( - name='use_sim_time', - default_value='true', - description='Use simulation (Gazebo) clock if true' + name="use_sim_time", + default_value="true", + description="Use simulation (Gazebo) clock if true", ) declare_use_simulator_cmd = DeclareLaunchArgument( - name='use_simulator', - default_value='True', - description='Whether to start the simulator' + name="use_simulator", + default_value="True", + description="Whether to start the simulator", ) declare_world_cmd = DeclareLaunchArgument( - name='world', + name="world", default_value=world_path, - description='Full path to the world model file to load' + description="Full path to the world model file to load", ) # Lanzar el servidor de Gazebo start_gazebo_server_cmd = IncludeLaunchDescription( - PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')), + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, "launch", "gazebo.launch.py") + ), condition=IfCondition(use_simulator), - launch_arguments={'world': world}.items() + launch_arguments={"world": world}.items(), ) ld = LaunchDescription() diff --git a/Launchers/taxi_navigator.launch.py b/Launchers/taxi_navigator.launch.py index cc45d0e9b..a7aa13ee7 100755 --- a/Launchers/taxi_navigator.launch.py +++ b/Launchers/taxi_navigator.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/taxi_navigator_followingcam.launch.py b/Launchers/taxi_navigator_followingcam.launch.py index ec87ac1a3..38edbed27 100755 --- a/Launchers/taxi_navigator_followingcam.launch.py +++ b/Launchers/taxi_navigator_followingcam.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/vacuum_cleaner.launch.py b/Launchers/vacuum_cleaner.launch.py index bc622f40f..49f32cc4e 100755 --- a/Launchers/vacuum_cleaner.launch.py +++ b/Launchers/vacuum_cleaner.launch.py @@ -22,9 +22,9 @@ def generate_launch_description(): # Set the path to the SDF model files gazebo_models_path = os.path.join(pkg_share_dir, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/vacuum_cleaner_headless.launch.py b/Launchers/vacuum_cleaner_headless.launch.py index 1b04e4d12..4243a16f9 100755 --- a/Launchers/vacuum_cleaner_headless.launch.py +++ b/Launchers/vacuum_cleaner_headless.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/vacuum_cleaner_loc.launch.py b/Launchers/vacuum_cleaner_loc.launch.py index 370281195..d3984d308 100755 --- a/Launchers/vacuum_cleaner_loc.launch.py +++ b/Launchers/vacuum_cleaner_loc.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/Launchers/vacuum_cleaner_loc_headless.launch.py b/Launchers/vacuum_cleaner_loc_headless.launch.py index 1b04e4d12..4243a16f9 100755 --- a/Launchers/vacuum_cleaner_loc_headless.launch.py +++ b/Launchers/vacuum_cleaner_loc_headless.launch.py @@ -23,9 +23,9 @@ def generate_launch_description(): # Set the path to the SDF model files. gazebo_models_path = os.path.join(pkg_share, "models") - os.environ["GAZEBO_MODEL_PATH"] = ( - f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" - ) + os.environ[ + "GAZEBO_MODEL_PATH" + ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}" ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ############## # Launch configuration variables specific to simulation diff --git a/scripts/outdated/test/camera.py b/scripts/outdated/test/camera.py index c92faf64e..3a2863841 100755 --- a/scripts/outdated/test/camera.py +++ b/scripts/outdated/test/camera.py @@ -33,7 +33,6 @@ def imageMsg2Image(img, bridge): class Image: - def __init__(self): self.height = 3 # Image height [pixels] @@ -58,7 +57,6 @@ def __str__(self): class ListenerCamera(Node): - def __init__(self, topic): super().__init__("camera_subscriber_node") diff --git a/scripts/outdated/test/motors.py b/scripts/outdated/test/motors.py index 76a116fd6..adf4cc9d8 100755 --- a/scripts/outdated/test/motors.py +++ b/scripts/outdated/test/motors.py @@ -20,7 +20,6 @@ def cmdvel2Twist(vel): class CMDVel: - def __init__(self): self.vx = 0 # vel in x[m/s] (use this for V in wheeled robots) @@ -40,7 +39,6 @@ def __str__(self): class PublisherMotors(Node): - def __init__(self, topic, maxV, maxW): super().__init__("FollowLineF1") self.maxW = maxW diff --git a/utils/model_teleoperator.py b/utils/model_teleoperator.py index 053809213..8a479103c 100755 --- a/utils/model_teleoperator.py +++ b/utils/model_teleoperator.py @@ -6,7 +6,6 @@ class ModelTeleoperator: - def __init__(self, host): self.server = None self.client = None