отформатированы документы согласно нотации pep

src/iiwa_bringup/launch/digital_twin.launch.py

@@ -1,15 +1,15 @@
-from iiwa_bringup.utils import converter
-
-
-from launch_ros.actions import Node
 from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
+from launch.actions import (
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+    OpaqueFunction,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.actions import (IncludeLaunchDescription, 
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-                            DeclareLaunchArgument, 
+from launch_ros.actions import Node
-                            OpaqueFunction)
+from launch_ros.substitutions import FindPackageShare
 
+from iiwa_bringup.utils import converter
 
 PACKAGE = "iiwa_bringup"
 DESCRIPTION_PKG = "iiwa_description"
@@ -18,139 +18,137 @@ DESCRIPTION_PKG = "iiwa_description"
 def _runtime_setup(context, *args, **kwatgs):
     setup = []
 
-    model_path = LaunchConfiguration('model').perform(context)
+    model_path = LaunchConfiguration("model").perform(context)
-    robot_name = LaunchConfiguration('robot_name').perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
-    world_path = LaunchConfiguration('world').perform(context)
+    world_path = LaunchConfiguration("world").perform(context)
-    rviz_status = LaunchConfiguration('rviz').perform(context).lower() in ['true', '1', 'yes']
+    rviz_status = LaunchConfiguration("rviz").perform(context).lower() in [
-    
+        "true",
-    transform = LaunchConfiguration('transform').perform(context)
+        "1",
-    rotation = LaunchConfiguration('rotation').perform(context)
+        "yes",
-    timer = LaunchConfiguration('controller_timer').perform(context)
+    ]
 
-    robot_description = converter.load_robot_description(model_path=model_path,
+    transform = LaunchConfiguration("transform").perform(context)
-                                                         robot_name=robot_name)
+    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
+    )
 
     rsp_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="screen",
-        parameters=[{
+        parameters=[{"robot_description": robot_description, "use_sim_time": False}],
-            "robot_description": robot_description,
-            "use_sim_time": False
-        }]
     )
-    
+
     webots_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution([
+            PathJoinSubstitution(
-                FindPackageShare(PACKAGE),
+                [
-                'launch',
+                    FindPackageShare(PACKAGE),
-                'supported', 'webots_spawn.launch.py'
+                    "launch",
-            ])
+                    "supported",
+                    "webots_spawn.launch.py",
+                ]
+            )
         ),
         launch_arguments={
-            'robot_name': robot_name,
+            "robot_name": robot_name,
-            'model': model_path,
+            "model": model_path,
-            'world': world_path,
+            "world": world_path,
-            'transform': transform,
+            "transform": transform,
-            'rotation': rotation,
+            "rotation": rotation,
-            'controller_timer': timer
+            "controller_timer": timer,
-        }.items()
+        }.items(),
     )
 
-
     setup += [rsp_node, webots_launch]
 
-
     if rviz_status:
         rviz_launch = IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                PathJoinSubstitution([FindPackageShare(PACKAGE),
+                PathJoinSubstitution(
-                "launch", "supported", 'rviz.launch.py'
+                    [FindPackageShare(PACKAGE), "launch", "supported", "rviz.launch.py"]
-            ])),
+                )
-            launch_arguments={'package_name': PACKAGE}.items()
+            ),
+            launch_arguments={"package_name": PACKAGE}.items(),
         )
 
         setup.append(rviz_launch)
 
     return setup
 
+
 def generate_launch_description():
-    
     # Объявление аргументов командной строки
     declare_model_arg = DeclareLaunchArgument(
         name="model",
-        default_value=PathJoinSubstitution([
+        default_value=PathJoinSubstitution(
-            FindPackageShare(DESCRIPTION_PKG),
+            [FindPackageShare(DESCRIPTION_PKG), "urdf", "iiwa7.urdf.xacro"]
-            "urdf",
+        ),
-            "iiwa7.urdf.xacro"
+        description="Path to robot xacro or urdf file (used to build robot_description).",
-        ]),
-        description="Path to robot xacro or urdf file (used to build robot_description)."
     )
 
     declare_robot_name_arg = DeclareLaunchArgument(
         name="robot_name",
         default_value="iiwa7",
-        description="Robot name (used for TF and naming spawned robot)."
+        description="Robot name (used for TF and naming spawned robot).",
     )
 
     declare_world_arg = DeclareLaunchArgument(
         name="world",
-        default_value=PathJoinSubstitution([
+        default_value=PathJoinSubstitution(
-            FindPackageShare(DESCRIPTION_PKG),
+            [FindPackageShare(DESCRIPTION_PKG), "worlds", "iiwa.wbt"]
-            "worlds",
+        ),
-            "iiwa.wbt"
+        description="Path to the Webots world (.wbt) to launch.",
-        ]),
-        description="Path to the Webots world (.wbt) to launch."
     )
 
     declare_controller_arg = DeclareLaunchArgument(
         name="controller",
-        default_value=PathJoinSubstitution([
+        default_value=PathJoinSubstitution(
-            FindPackageShare(PACKAGE),
+            [FindPackageShare(PACKAGE), "config", "iiwa_controller.yaml"]
-            "config",
+        ),
-            "iiwa_controller.yaml"
+        description="Path to controllers YAML file (used by spawner and controller_manager).",
-        ]),
-        description="Path to controllers YAML file (used by spawner and controller_manager)."
     )
 
     declare_transform_arg = DeclareLaunchArgument(
         name="transform",
         default_value="-0.25 0 0.79",
-        description="Translation applied when spawning the robot in the Webots world (x y z)."
+        description="Translation applied when spawning the robot in the Webots world (x y z).",
     )
 
     declare_rotation_arg = DeclareLaunchArgument(
         name="rotation",
         default_value="0 0 1 0",
-        description="Rotation (axis-angle) applied when spawning the robot in the Webots world."
+        description="Rotation (axis-angle) applied when spawning the robot in the Webots world.",
     )
 
     declare_rviz_arg = DeclareLaunchArgument(
         name="rviz",
         default_value="0",
-        description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers."
+        description="If true|1|yes then launch RViz and joint_state_publisher_gui instead of controllers.",
     )
 
     declare_controller_manager_arg = DeclareLaunchArgument(
         name="controller_timer",
         default_value="50",
-        description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout)."
+        description="Timeout (seconds) for controller_manager spawners (--controller-manager-timeout).",
     )
 
-    runtime_setup = OpaqueFunction(
+    runtime_setup = OpaqueFunction(function=_runtime_setup)
-        function=_runtime_setup
-    )
 
-    return LaunchDescription([
+    return LaunchDescription(
-        declare_model_arg,
+        [
-        declare_robot_name_arg,
+            declare_model_arg,
-        declare_world_arg,
+            declare_robot_name_arg,
-        declare_controller_arg,
+            declare_world_arg,
-        declare_transform_arg,
+            declare_controller_arg,
-        declare_rotation_arg,
+            declare_transform_arg,
-        declare_rviz_arg,
+            declare_rotation_arg,
-        declare_controller_manager_arg,
+            declare_rviz_arg,
-        runtime_setup
+            declare_controller_manager_arg,
-    ])
+            runtime_setup,
+        ]
+    )

src/iiwa_bringup/launch/rviz_iiwa.launch.py

@@ -1,81 +1,82 @@
-from launch_ros.actions import Node
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, EmitEvent, RegisterEventHandler
-from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
-from launch.events import Shutdown
 from launch.event_handlers import OnProcessExit
+from launch.events import Shutdown
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
-    package_name="iiwa_bringup"
+    package_name = "iiwa_bringup"
     description_package_name = "iiwa_description"
 
     declare_model_arg = DeclareLaunchArgument(
         name="model",
-        default_value=PathJoinSubstitution([
+        default_value=PathJoinSubstitution(
-            FindPackageShare(description_package_name),
+            [FindPackageShare(description_package_name), "urdf", "iiwa7.urdf.xacro"]
-            "urdf",
+        ),
-            "iiwa7.urdf.xacro"
+        description="Path to the robot URDF/Xacro file",
-        ]),
-        description="Path to the robot URDF/Xacro file"
     )
 
     declare_robot_name_arg = DeclareLaunchArgument(
         name="robot_name",
         default_value="iiwa7",
-        description="Robot name fro the TF tree"
+        description="Robot name fro the TF tree",
     )
 
-    robot_description = Command([
+    robot_description = Command(
-        "xacro ", LaunchConfiguration('model'),
+        [
-        " robot_name:=", LaunchConfiguration("robot_name")
+            "xacro ",
-    ])
+            LaunchConfiguration("model"),
+            " robot_name:=",
+            LaunchConfiguration("robot_name"),
+        ]
+    )
 
     robot_state_publisher = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
         name="robot_state_publisher",
         output="both",
-        parameters=[{
+        parameters=[
-            "robot_description": robot_description,
+            {
-            "use_sim_time": False,
+                "robot_description": robot_description,
-        }]
+                "use_sim_time": False,
+            }
+        ],
     )
 
     joint_state_publisher_gui = Node(
-        package='joint_state_publisher_gui',
+        package="joint_state_publisher_gui",
-        executable='joint_state_publisher_gui',
+        executable="joint_state_publisher_gui",
-        name='joint_state_publisher_gui',
+        name="joint_state_publisher_gui",
-        parameters=[{"use_sim_time": False}]
+        parameters=[{"use_sim_time": False}],
     )
 
-    rviz_config = PathJoinSubstitution([
+    rviz_config = PathJoinSubstitution(
-        FindPackageShare(package_name),
+        [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
-        'config',
+    )
-        'rviz_iiwa.rviz'
-    ])
 
     rviz = Node(
-        package='rviz2',
+        package="rviz2",
-        executable='rviz2',
+        executable="rviz2",
-        name='rviz2',
+        name="rviz2",
-        arguments=['-d', rviz_config],
+        arguments=["-d", rviz_config],
-        output='log'
+        output="log",
     )
 
     shutdown_on_rviz_exit = RegisterEventHandler(
-        OnProcessExit(
+        OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
-            target_action=rviz,
-            on_exit=[EmitEvent(event=Shutdown())]
-        )
     )
 
-    return LaunchDescription([
+    return LaunchDescription(
-        declare_model_arg,
+        [
-        declare_robot_name_arg,
+            declare_model_arg,
-        robot_state_publisher,
+            declare_robot_name_arg,
-        joint_state_publisher_gui,
+            robot_state_publisher,
-        rviz,
+            joint_state_publisher_gui,
-        shutdown_on_rviz_exit
+            rviz,
-    ])
+            shutdown_on_rviz_exit,
+        ]
+    )

src/iiwa_bringup/launch/supported/rviz.launch.py

@@ -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',
+        "package_name",
-        default_value='iiwa_bringup',
+        default_value="iiwa_bringup",
-        description='Package name where RViz config is stored'
+        description="Package name where RViz config is stored",
     )
 
-    package_name = LaunchConfiguration('package_name')
+    package_name = LaunchConfiguration("package_name")
 
-    rviz_config = PathJoinSubstitution([
+    rviz_config = PathJoinSubstitution(
-        FindPackageShare(package_name),
+        [FindPackageShare(package_name), "config", "rviz_iiwa.rviz"]
-        'config',
+    )
-        'rviz_iiwa.rviz'
-    ])
 
     rviz = Node(
-        package='rviz2',
+        package="rviz2",
-        executable='rviz2',
+        executable="rviz2",
-        name='rviz2',
+        name="rviz2",
-        arguments=['-d', rviz_config],
+        arguments=["-d", rviz_config],
-        output='log'
+        output="log",
     )
 
     # При закрытии rviz закрываем все
     shutdown_on_rviz_exit = RegisterEventHandler(
-        OnProcessExit(
+        OnProcessExit(target_action=rviz, on_exit=[EmitEvent(event=Shutdown())])
-            target_action=rviz,
-            on_exit=[EmitEvent(event=Shutdown())]
-        )
     )
 
-    return LaunchDescription([
+    return LaunchDescription([declare_package_arg, rviz, shutdown_on_rviz_exit])
-        declare_package_arg,
-        rviz,
-        shutdown_on_rviz_exit
-    ])

src/iiwa_bringup/launch/supported/webots_controllers.launch.py

@@ -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)
+    model_path = LaunchConfiguration("model").perform(context)
-    robot_name = LaunchConfiguration('robot_name').perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
-    transform = LaunchConfiguration('transform').perform(context)
+    transform = LaunchConfiguration("transform").perform(context)
-    rotation = LaunchConfiguration('rotation').perform(context)
+    rotation = LaunchConfiguration("rotation").perform(context)
-    timer = LaunchConfiguration('controller_timer').perform(context)
+    timer = LaunchConfiguration("controller_timer").perform(context)
 
-    robot_description = converter.load_robot_description(model_path=model_path,
+    robot_description = converter.load_robot_description(
-                                                         robot_name=robot_name)
+        model_path=model_path, robot_name=robot_name
-    
+    )
-    tmo = ['--controller-manager-timeout', str(timer)]
+
+    tmo = ["--controller-manager-timeout", str(timer)]
 
     jsb = Node(
-        package='controller_manager',
+        package="controller_manager",
-        executable='spawner',
+        executable="spawner",
-        output='screen',
+        output="screen",
-        arguments=['joint_state_broadcaster'] + tmo,
+        arguments=["joint_state_broadcaster"] + tmo,
-        parameters=[{'use_sim_time': False}],
+        parameters=[{"use_sim_time": False}],
     )
 
     jtc = Node(
-        package='controller_manager',
+        package="controller_manager",
-        executable='spawner',
+        executable="spawner",
-        output='screen',
+        output="screen",
-        arguments=['iiwa_arm_controller'] + tmo,
+        arguments=["iiwa_arm_controller"] + tmo,
-        parameters=[{'use_sim_time': False}],
+        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([
+    return LaunchDescription([OpaqueFunction(function=_setup_controllers)])
-        OpaqueFunction(function=_setup_controllers)
-    ])

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.actions import (
-from launch.substitutions import LaunchConfiguration
+    EmitEvent,
-from launch_ros.substitutions import FindPackageShare
+    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, 
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-                            OpaqueFunction,
+from launch_ros.substitutions import FindPackageShare
-                            TimerAction,
-                            RegisterEventHandler,
-                            EmitEvent)
-
-
-from webots_ros2_driver.webots_launcher import WebotsLauncher
 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)
+    model_path = LaunchConfiguration("model").perform(context)
-    robot_name = LaunchConfiguration('robot_name').perform(context)
+    robot_name = LaunchConfiguration("robot_name").perform(context)
-    world_path = LaunchConfiguration('world').perform(context)
+    world_path = LaunchConfiguration("world").perform(context)
-    transform = LaunchConfiguration('transform').perform(context)
+    transform = LaunchConfiguration("transform").perform(context)
-    rotation = LaunchConfiguration('rotation').perform(context)
+    rotation = LaunchConfiguration("rotation").perform(context)
-    timer = LaunchConfiguration('controller_timer').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([
+            PathJoinSubstitution(
-                FindPackageShare('iiwa_bringup'),
+                [
-                'launch',
+                    FindPackageShare("iiwa_bringup"),
-                'supported',
+                    "launch",
-                'webots_controllers.launch.py'
+                    "supported",
-            ])
+                    "webots_controllers.launch.py",
+                ]
+            )
         ),
         launch_arguments={
-            'robot_name': robot_name,
+            "robot_name": robot_name,
-            'model': model_path,
+            "model": model_path,
-            'transform': transform,
+            "transform": transform,
-            'rotation': rotation,
+            "rotation": rotation,
-            'controller_timer': timer
+            "controller_timer": timer,
-        }.items()
+        }.items(),
     )
 
     spawn_on_driver_start = RegisterEventHandler(
         event_handler=OnProcessStart(
             target_action=driver,
             on_start=lambda evt, ctx: [
-                TimerAction(period=5.0,
+                TimerAction(period=5.0, actions=[controllers_launch])
-                            actions=[controllers_launch]
+            ],
-                            )
-            ]
         )
     )
 
     shutdown_on_webots_exit = RegisterEventHandler(
-        OnProcessExit(
+        OnProcessExit(target_action=webots, on_exit=[EmitEvent(event=Shutdown())])
-            target_action=webots,
-            on_exit=[EmitEvent(event=Shutdown())]
-        )
     )
 
-    return [webots,
+    return [
-            webots._supervisor, 
+        webots,
-            driver,
+        webots._supervisor,
-            spawn_on_driver_start,
+        driver,
-            shutdown_on_webots_exit]
+        spawn_on_driver_start,
+        shutdown_on_webots_exit,
+    ]
 
 
 def generate_launch_description():
-    return LaunchDescription([
+    return LaunchDescription([OpaqueFunction(function=_spawn_setup)])
-        OpaqueFunction(function=_spawn_setup)
-    ])

src/iiwa_bringup/setup.py

@@ -1,55 +1,58 @@
 import os
+
 from setuptools import setup
 
-package_name = 'iiwa_bringup'
+package_name = "iiwa_bringup"
 
 # Собираем список пакетов: основной + вложенные (если они есть).
 packages = [package_name]
 # Если есть подпапка utils с __init__.py — зарегистрируем её как iiwa_bringup.utils
-if os.path.isdir('utils') and os.path.isfile(os.path.join('utils', '__init__.py')):
+if os.path.isdir("utils") and os.path.isfile(os.path.join("utils", "__init__.py")):
-    packages.append(f'{package_name}.utils')
+    packages.append(f"{package_name}.utils")
 
 # Соответствие имени пакета -> директория на диске.
 # iiwa_bringup -> текущая папка '.'
 # iiwa_bringup.utils -> ./utils
 package_dir = {
-    package_name: '.',
+    package_name: ".",
 }
-if f'{package_name}.utils' in packages:
+if f"{package_name}.utils" in packages:
-    package_dir[f'{package_name}.utils'] = os.path.join('.', 'utils')
+    package_dir[f"{package_name}.utils"] = os.path.join(".", "utils")
+
 
 def data_files_from_tree(src_dir: str, dst_root: str) -> list:
     entries = []
     if not os.path.isdir(src_dir):
         return entries
-    EXCLUDE_DIRS = {'.git', '__pycache__', '.pytest_cache', '.idea'}
+    EXCLUDE_DIRS = {".git", "__pycache__", ".pytest_cache", ".idea"}
-    EXCLUDES = {'.DS_Store', 'Thumbs.db'}
+    EXCLUDES = {".DS_Store", "Thumbs.db"}
     for root, dirs, files in os.walk(src_dir):
         dirs[:] = [d for d in dirs if d not in EXCLUDE_DIRS]
         file_list = [os.path.join(root, f) for f in files if f not in EXCLUDES]
         if not file_list:
             continue
         rel = os.path.relpath(root, src_dir)
-        dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root
+        dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
         entries.append((dst_dir, file_list))
     return entries
 
-data_files = [(f'share/{package_name}', ['package.xml'])]
+
-data_files += data_files_from_tree('launch', f'share/{package_name}/launch')
+data_files = [(f"share/{package_name}", ["package.xml"])]
-data_files += data_files_from_tree('config', f'share/{package_name}/config')
+data_files += data_files_from_tree("launch", f"share/{package_name}/launch")
-data_files += data_files_from_tree('resource', f'share/{package_name}/resource')
+data_files += data_files_from_tree("config", f"share/{package_name}/config")
+data_files += data_files_from_tree("resource", f"share/{package_name}/resource")
 
 setup(
     name=package_name,
-    version='0.0.1',
+    version="0.0.1",
     packages=packages,
     package_dir=package_dir,
     include_package_data=True,
     data_files=data_files,
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=False,
-    maintainer='Grabar Daniil',
+    maintainer="Grabar Daniil",
-    maintainer_email='grabardm@ml-dev.ru',
+    maintainer_email="grabardm@ml-dev.ru",
-    description='iiwa bringup package',
+    description="iiwa bringup package",
-    license='Apache-2.0',
+    license="Apache-2.0",
 )

src/iiwa_description/setup.py

@@ -1,8 +1,10 @@
 import os
+
 from setuptools import find_packages, setup
 
-EXCLUDES = {'.DS_Store', 'Thumbs.db'}
+EXCLUDES = {".DS_Store", "Thumbs.db"}
-EXCLUDE_DIRS = {'__pycache__', '.pytest_cache', '.git', '.idea'}
+EXCLUDE_DIRS = {"__pycache__", ".pytest_cache", ".git", ".idea"}
+
 
 def data_files_from_tree(src_dir: str, dst_root: str) -> list:
     """
@@ -20,12 +22,13 @@ def data_files_from_tree(src_dir: str, dst_root: str) -> list:
             continue
 
         rel = os.path.relpath(root, src_dir)
-        dst_dir = os.path.join(dst_root, rel) if rel != '.' else dst_root
+        dst_dir = os.path.join(dst_root, rel) if rel != "." else dst_root
         entries.append((dst_dir, file_list))
 
     return entries
 
-package_name = 'iiwa_description'
+
+package_name = "iiwa_description"
 
 resource_intsall_root = f"share/{package_name}/resource"
 meshes_intsall_root = f"share/{package_name}/meshes"
@@ -34,36 +37,34 @@ worlds_intsall_root = f"share/{package_name}/worlds"
 protos_intsall_root = f"share/{package_name}/protos"
 
 
-
 data_files = [
-    ('share/' + package_name, ['package.xml']),
+    ("share/" + package_name, ["package.xml"]),
 ]
 
-data_files += data_files_from_tree('resource', resource_intsall_root)
+data_files += data_files_from_tree("resource", resource_intsall_root)
-data_files += data_files_from_tree('meshes', meshes_intsall_root)
+data_files += data_files_from_tree("meshes", meshes_intsall_root)
-data_files += data_files_from_tree('urdf', urdf_intsall_root)
+data_files += data_files_from_tree("urdf", urdf_intsall_root)
-data_files += data_files_from_tree('worlds', worlds_intsall_root)
+data_files += data_files_from_tree("worlds", worlds_intsall_root)
-data_files += data_files_from_tree('protos', protos_intsall_root)
+data_files += data_files_from_tree("protos", protos_intsall_root)
 
 
 setup(
     name=package_name,
-    version='0.0.1',
+    version="0.0.1",
-    packages=find_packages(exclude=['test']),
+    packages=find_packages(exclude=["test"]),
     data_files=data_files,
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='Grabar Daniil',
+    maintainer="Grabar Daniil",
-    maintainer_email='grabardm@ml-dev.ru',
+    maintainer_email="grabardm@ml-dev.ru",
-    description='TODO: Package description',
+    description="TODO: Package description",
-    license='Apache-2.0',
+    license="Apache-2.0",
     extras_require={
-        'test': [
+        "test": [
-            'pytest',
+            "pytest",
         ],
     },
     entry_points={
-        'console_scripts': [
+        "console_scripts": [],
-        ],
     },
 )

src/iiwa_object_spawner/iiwa_object_spawner/object_spawner.py

@@ -2,25 +2,25 @@
 # /Ros2Supervisor/spawn_urdf_robot
 
 
-import rclpy
 from random import randint
+
+import rclpy
+from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.task import Future
-from rclpy.executors import ExternalShutdownException
 from webots_ros2_msgs.srv import SpawnNodeFromString
 
 
 class ObjectSpawner(Node):
     def __init__(self):
         super().__init__("object_spawner")
-        # self._object_count: int = randint(1, 5)
+        self._object_count: int = randint(1, 5)
-        self._object_count: int = 1
         self._spawned_count: int = 0
         self._call_in_progress: bool = False
-        
 
-        self.cli = self.create_client(SpawnNodeFromString, 
+        self.cli = self.create_client(
-                                      "/Ros2Supervisor/spawn_node_from_string")
+            SpawnNodeFromString, "/Ros2Supervisor/spawn_node_from_string"
+        )
 
         while not self.cli.wait_for_service(timeout_sec=10):
             self.get_logger().warning(
@@ -31,21 +31,18 @@ class ObjectSpawner(Node):
 
     def timer_callback(self):
         if self._spawned_count >= self._object_count:
-            self.get_logger().info(
+            self.get_logger().info(f"All {self._object_count} objects spawned")
-                f"All {self._object_count} objects spawned"
-            )
             self._timer.cancel()
             return
-        
+
         if self._call_in_progress:
             return
-        
-        data = "Solid { name \"test_box2\" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }"
 
-        req = SpawnNodeFromString.Request(data=data,
+        data = 'Solid { name "test_box2" translation 0 1 0.5 children [ Shape { appearance PBRAppearance { baseColor 0.901961 0.380392 0 } geometry Box { size 0.1 0.1 0.1 } } ] boundingObject Box { size 0.1 0.1 0.1 } physics Physics { } }'
-                                          check_fields=True)
+
+        req = SpawnNodeFromString.Request(data=data, check_fields=True)
         self.get_logger().info(
-            f"Calling spawn service #{self._spawned_count+1}/{self._object_count}"
+            f"Calling spawn service #{self._spawned_count + 1}/{self._object_count}"
         )
         self._call_in_progress = True
         future = self.cli.call_async(req)
@@ -70,5 +67,6 @@ def main(args=None):
     except (KeyboardInterrupt, ExternalShutdownException):
         pass
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()