отформатированы документы согласно нотации pep

2025-11-29 15:51:45 +10:00
parent b36bd0e98b
commit 37da67abe5
8 changed files with 276 additions and 292 deletions
@@ -1,46 +1,36 @@
-from launch_ros.actions import Node
-from launch.events import Shutdown
 from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
 from launch.event_handlers import OnProcessExit
-from launch_ros.substitutions import FindPackageShare
+from launch.events import Shutdown
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from launch.actions import RegisterEventHandler, EmitEvent, DeclareLaunchArgument
- 
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+

 def generate_launch_description():
-
    declare_package_arg = DeclareLaunchArgument(
-        'package_name',
-        default_value='iiwa_bringup',
-        description='Package name where RViz config is stored'
+        "package_name",
+        default_value="iiwa_bringup",
+        description="Package name where RViz config is stored",
    )

-    package_name = LaunchConfiguration('package_name')
+    package_name = LaunchConfiguration("package_name")

-    rviz_config = PathJoinSubstitution([
-        FindPackageShare(package_name),
-        'config',
-        'rviz_iiwa.rviz'
-    ])
+    rviz_config = PathJoinSubstitution(
+        [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
+    )

    rviz = Node(
-        package='rviz2',
-        executable='rviz2',
-        name='rviz2',
-        arguments=['-d', rviz_config],
-        output='log'
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        arguments=["-d", rviz_config],
+        output="log",
    )

    # При закрытии rviz закрываем все
    shutdown_on_rviz_exit = RegisterEventHandler(
-        OnProcessExit(
-            target_action=rviz,
-            on_exit=[EmitEvent(event=Shutdown())]
-        )
+        OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
    )

-    return LaunchDescription([
-        declare_package_arg,
-        rviz,
-        shutdown_on_rviz_exit
-    ])
+    return LaunchDescription([declare_package_arg, rviz, shutdown_on_rviz_exit])
@@ -1,51 +1,50 @@
-from launch_ros.actions import Node
-from webots_ros2_driver.urdf_spawner import URDFSpawner
-
 from launch import LaunchDescription
 from launch.actions import OpaqueFunction
 from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from webots_ros2_driver.urdf_spawner import URDFSpawner
+
 from iiwa_bringup.utils import converter


 def _setup_controllers(context, *args, **kwargs):
-    model_path = LaunchConfiguration('model').perform(context)
-    robot_name = LaunchConfiguration('robot_name').perform(context)
-    transform = LaunchConfiguration('transform').perform(context)
-    rotation = LaunchConfiguration('rotation').perform(context)
-    timer = LaunchConfiguration('controller_timer').perform(context)
+    model_path = LaunchConfiguration("model").perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
+    transform = LaunchConfiguration("transform").perform(context)
+    rotation = LaunchConfiguration("rotation").perform(context)
+    timer = LaunchConfiguration("controller_timer").perform(context)

-    robot_description = converter.load_robot_description(model_path=model_path,
-                                                         robot_name=robot_name)
-    
-    tmo = ['--controller-manager-timeout', str(timer)]
+    robot_description = converter.load_robot_description(
+        model_path=model_path, robot_name=robot_name
+    )
+
+    tmo = ["--controller-manager-timeout", str(timer)]

    jsb = Node(
-        package='controller_manager',
-        executable='spawner',
-        output='screen',
-        arguments=['joint_state_broadcaster'] + tmo,
-        parameters=[{'use_sim_time': False}],
+        package="controller_manager",
+        executable="spawner",
+        output="screen",
+        arguments=["joint_state_broadcaster"] + tmo,
+        parameters=[{"use_sim_time": False}],
    )

    jtc = Node(
-        package='controller_manager',
-        executable='spawner',
-        output='screen',
-        arguments=['iiwa_arm_controller'] + tmo,
-        parameters=[{'use_sim_time': False}],
+        package="controller_manager",
+        executable="spawner",
+        output="screen",
+        arguments=["iiwa_arm_controller"] + tmo,
+        parameters=[{"use_sim_time": False}],
    )

    spawner_urdf = URDFSpawner(
        name=robot_name,
        robot_description=robot_description,
        translation=transform,
-        rotation=rotation
+        rotation=rotation,
    )

    return [jsb, jtc, spawner_urdf]


 def generate_launch_description():
-    return LaunchDescription([
-        OpaqueFunction(function=_setup_controllers)
-    ])
+    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])
@@ -1,90 +1,84 @@
-from launch.events import Shutdown
 from launch import LaunchDescription
-from launch.event_handlers import OnProcessExit
-from launch.substitutions import LaunchConfiguration
-from launch_ros.substitutions import FindPackageShare
+from launch.actions import (
+    EmitEvent,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+    RegisterEventHandler,
+    TimerAction,
+)
 from launch.event_handlers import OnProcessExit, OnProcessStart
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch.events import Shutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import (IncludeLaunchDescription, 
-                            OpaqueFunction,
-                            TimerAction,
-                            RegisterEventHandler,
-                            EmitEvent)
-
-
-from webots_ros2_driver.webots_launcher import WebotsLauncher
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from webots_ros2_driver.webots_controller import WebotsController
+from webots_ros2_driver.webots_launcher import WebotsLauncher


 def _spawn_setup(context, *args, **kwargs):
-    model_path = LaunchConfiguration('model').perform(context)
-    robot_name = LaunchConfiguration('robot_name').perform(context)
-    world_path = LaunchConfiguration('world').perform(context)
-    transform = LaunchConfiguration('transform').perform(context)
-    rotation = LaunchConfiguration('rotation').perform(context)
-    timer = LaunchConfiguration('controller_timer').perform(context)
+    model_path = LaunchConfiguration("model").perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
+    world_path = LaunchConfiguration("world").perform(context)
+    transform = LaunchConfiguration("transform").perform(context)
+    rotation = LaunchConfiguration("rotation").perform(context)
+    timer = LaunchConfiguration("controller_timer").perform(context)
+
+    webots = WebotsLauncher(world=world_path, ros2_supervisor=True)

-    webots = WebotsLauncher(world=world_path, 
-                            ros2_supervisor=True)
-    
    driver = WebotsController(
        robot_name=robot_name,
        parameters=[
            {
                "robot_description": model_path,
                "use_sim_time": True,
-                "set_robot_state_publisher": False
+                "set_robot_state_publisher": False,
            },
-            LaunchConfiguration('controller').perform(context)
+            LaunchConfiguration("controller").perform(context),
        ],
-        respawn=True
+        respawn=True,
    )

    controllers_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
-                FindPackageShare('iiwa_bringup'),
-                'launch',
-                'supported',
-                'webots_controllers.launch.py'
-            ])
+            PathJoinSubstitution(
+                [
+                    FindPackageShare("iiwa_bringup"),
+                    "launch",
+                    "supported",
+                    "webots_controllers.launch.py",
+                ]
+            )
        ),
        launch_arguments={
-            'robot_name': robot_name,
-            'model': model_path,
-            'transform': transform,
-            'rotation': rotation,
-            'controller_timer': timer
-        }.items()
+            "robot_name": robot_name,
+            "model": model_path,
+            "transform": transform,
+            "rotation": rotation,
+            "controller_timer": timer,
+        }.items(),
    )

    spawn_on_driver_start = RegisterEventHandler(
        event_handler=OnProcessStart(
            target_action=driver,
            on_start=lambda evt, ctx: [
-                TimerAction(period=5.0,
-                            actions=[controllers_launch]
-                            )
-            ]
+                TimerAction(period=5.0, actions=[controllers_launch])
+            ],
        )
    )

    shutdown_on_webots_exit = RegisterEventHandler(
-        OnProcessExit(
-            target_action=webots,
-            on_exit=[EmitEvent(event=Shutdown())]
-        )
+        OnProcessExit(target_action=webots, on_exit=[EmitEvent(event=Shutdown())])
    )

-    return [webots,
-            webots._supervisor, 
-            driver,
-            spawn_on_driver_start,
-            shutdown_on_webots_exit]
+    return [
+        webots,
+        webots._supervisor,
+        driver,
+        spawn_on_driver_start,
+        shutdown_on_webots_exit,
+    ]


 def generate_launch_description():
-    return LaunchDescription([
-        OpaqueFunction(function=_spawn_setup)
-    ])
+    return LaunchDescription([OpaqueFunction(function=_spawn_setup)])