отформатированы документы согласно нотации pep

src/iiwa_bringup/launch/supported/webots_spawn.launch.py

@@ -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)])