CI: update python lint workflow and reformat python code

.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"

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)
@@ -44,28 +42,23 @@ endif()
 include_directories(${GAZEBO_INCLUDE_DIRS})
 
 add_library(personplugin amazon_hospital/src/person.cpp)
-target_include_directories(personplugin PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
-ament_target_dependencies(
+target_include_directories(
   personplugin
-  "rclcpp"
-  "gazebo"
-  "pluginlib"
-)
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+         $<INSTALL_INTERFACE:include>)
+
+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(
   TARGETS personplugin
   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()

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

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

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

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

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

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