more cleanup

rb_ws/src/buggy/scripts/2d_sim/engine.py

@@ -1,12 +1,12 @@
 #! /usr/bin/env python3
+import sys
+import threading
 from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
 from std_msgs.msg import Float64
 from sensor_msgs.msg import NavSatFix
 from nav_msgs.msg import Odometry
-import threading
 import numpy as np
 import utm
-import sys
 import rospy
 
 
@@ -35,10 +35,10 @@ def __init__(self, starting_pose, velocity, buggy_name):
         self.steering_subscriber = rospy.Subscriber(
             buggy_name + "/input/steering", Float64, self.update_steering_angle
         )
-        # To read from velocity 
+        # To read from velocity
         self.velocity_subscriber = rospy.Subscriber(
             buggy_name + "/velocity", Float64, self.update_velocity
-        ) 
+        )
         # to plot on Foxglove (no noise)
         self.navsatfix_publisher = rospy.Publisher(
             buggy_name + "/state/pose_navsat", NavSatFix, queue_size=1
@@ -66,7 +66,7 @@ def __init__(self, starting_pose, velocity, buggy_name):
         # utm_coords = utm.from_latlon(Simulator.START_LAT, Simulator.START_LONG)
         # self.e_utm = utm_coords[0]
         # self.n_utm = utm_coords[1]
-        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]        
+        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]
         self.velocity = velocity # m/s
 
         self.steering_angle = 0  # degrees
@@ -92,7 +92,7 @@ def update_velocity(self, data: Float64):
             source (string): whether incoming data is manual or simulated
         """
         with self.lock:
-            self.velocity = data.data  
+            self.velocity = data.data
     def get_steering_arc(self):
         # Adapted from simulator.py (Joseph Li)
         # calculate the radius of the steering arc
@@ -126,7 +126,7 @@ def dynamics(self, state, v):
 
     def step(self):
         """Complete the step at a certain Hz here. Do physics"""
-        with self.lock: 
+        with self.lock:
             heading = self.heading
             e_utm = self.e_utm
             n_utm = self.n_utm

rb_ws/src/buggy/scripts/2d_sim/velocity_ui.py

@@ -1,13 +1,11 @@
 #! /usr/bin/env python3
-import rospy
 import sys
-from controller_2d import Controller
 import threading
+from controller_2d import Controller
 import tkinter as tk
+import rospy
 
 class VelocityUI:
-
-
     def __init__(self, init_vel: float, buggy_name: str):
         self.buggy_vel = 0 # So the buggy doesn't start moving without user input
         self.controller = Controller(buggy_name)
@@ -34,7 +32,7 @@ def step(self):
         '''Update velocity of buggy'''
         self.buggy_vel = self.scale.get()/10 # so we can set velocity with 0.1 precision
         self.controller.set_velocity(self.buggy_vel)
-          
+
 if __name__ == "__main__":
     rospy.init_node("velocity_ui")
     init_vel = float(sys.argv[1])
@@ -43,4 +41,4 @@ def step(self):
     rate = rospy.Rate(100)
     while not rospy.is_shutdown():
         vel.step()
-        rate.sleep()
+        rate.sleep()

rb_ws/src/buggy/scripts/auton/autonsystem.py

@@ -1,15 +1,14 @@
 #!/usr/bin/env python3
 
 import sys
-
-# ROS Message Imports
-from std_msgs.msg import Float32, Float64, Bool
-from nav_msgs.msg import Odometry
+from threading import Lock
 
 import numpy as np
-from threading import Lock
 import rospy
 
+# ROS Message Imports
+from std_msgs.msg import Float32, Float64, Bool
+from nav_msgs.msg import Odometry
 
 from trajectory import Trajectory
 from world import World
@@ -50,7 +49,6 @@ def __init__(self, trajectory, controller, brake_controller, buggy_name, is_sim)
             rospy.Subscriber(buggy_name + "/nav/odom", Odometry, self.update_msg)
 
         rospy.Subscriber(buggy_name + "nav/odom", Odometry, self.update_msg)
-
         self.covariance_warning_publisher = rospy.Publisher(
             buggy_name + "/debug/is_high_covariance", Bool, queue_size=1
         )
@@ -82,7 +80,7 @@ def update_speed(self, msg):
     def update_msg(self, msg):
         with self.lock:
             self.msg = msg
-        
+
     def tick_caller(self):
         while ((not rospy.is_shutdown()) and (self.msg == None)): # with no message, we wait
             rospy.sleep(0.001)