Merge ROS2dev

Author: LaurieCheers-unity

ros_tcp_endpoint/exceptions.py

@@ -15,11 +15,9 @@
 
 class RosTcpEndpointError(Exception):
     """Base class for this package's custom exceptions"""
-
     pass
 
 
 class TopicOrServiceNameDoesNotExistError(RosTcpEndpointError):
     """The topic or service name passed does not exist in the source destination dictionary."""
-
     pass

ros_tcp_endpoint/server.py

@@ -50,7 +50,7 @@ def __init__(self, node_name, buffer_size=1024, connections=10, tcp_ip=None, tcp
 
         self.declare_parameter("ROS_IP", "0.0.0.0")
         self.declare_parameter("ROS_TCP_PORT", 10000)
-        
+
         if tcp_ip:
             self.loginfo("Using ROS_IP override from constructor: {}".format(tcp_ip))
             self.tcp_ip = tcp_ip
@@ -134,7 +134,7 @@ def logwarn(self, text):
 
     def logerr(self, text):
         self.get_logger().error(text)
-        
+
     def setup_executor(self):
         """
             Since rclpy.spin() is a blocking call the server needed a way
@@ -143,7 +143,13 @@ def setup_executor(self):
             MultiThreadedExecutor allows us to set the number of threads
             needed as well as the nodes that need to be spun.
         """
-        num_threads = len(self.publishers_table.keys()) + len(self.subscribers_table.keys()) + len(self.ros_services_table.keys()) + len(self.unity_services_table.keys()) + 1
+        num_threads = (
+            len(self.publishers_table.keys())
+            + len(self.subscribers_table.keys())
+            + len(self.ros_services_table.keys())
+            + len(self.unity_services_table.keys())
+            + 1
+        )
         executor = MultiThreadedExecutor(num_threads)
 
         executor.add_node(self)

ros_tcp_endpoint/tcp_sender.py

@@ -138,12 +138,11 @@ def send_topic_list(self):
             topic_list.topics = [item[0] for item in topics_and_types]
             for i in topics_and_types:
                 node = self.get_registered_topic(i[0])
-                if (len(i[1]) > 1):
-                    if (node is not None):
+                if len(i[1]) > 1:
+                    if node is not None:
                         self.tcp_server.get_logger().warning(
                             "Only one message type per topic is supported, but found multiple types for topic {}; maintaining {} as the subscribed type.".format(
-                                i[0],
-                                self.parse_message_name(node.msg),
+                                i[0], self.parse_message_name(node.msg)
                             )
                         )
                 topic_list.types = [

ros_tcp_endpoint/thread_pauser.py

@@ -1,11 +1,10 @@
 import threading
 
-
 class ThreadPauser:
     def __init__(self):
         self.condition = threading.Condition()
         self.result = None
-
+	
     def sleep_until_resumed(self):
         with self.condition:
             self.condition.wait()

ros_tcp_endpoint/unity_service.py

@@ -33,8 +33,8 @@ def __init__(self, topic, service_class, tcp_server, queue_size=10):
             service_class: The message class in catkin workspace
             queue_size:    Max number of entries to maintain in an outgoing queue
         """
-        strippedTopic = re.sub('[^A-Za-z0-9_]+', '', topic)
-        node_name = f'{strippedTopic}_service'
+        strippedTopic = re.sub("[^A-Za-z0-9_]+", "", topic)
+        node_name = f"{strippedTopic}_service"
         RosReceiver.__init__(self, node_name)
 
         self.topic = topic