reverted all summer work done (now in summer work branch)

rb_ws/src/buggy/paths/rosbag_to_pose_csv.py

@@ -1,9 +1,7 @@
 #! /usr/bin/env python3
-import rosbag
 import argparse
-import uuid
-import json
 import csv
+import rosbag
 from tf.transformations import euler_from_quaternion
 
 def main():
@@ -26,7 +24,7 @@ def main():
     i = 0
 
     # Loop through bag
-    for topic, msg, t in bag.read_messages(topics="/nav/odom"):
+    for _, msg, _ in bag.read_messages(topics="/nav/odom"):
         # Skip waypoints
         if i % args.subsample != 0:
             i += 1
@@ -38,7 +36,7 @@ def main():
         orientation_q = msg.pose.pose.orientation
 
         orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
-        (roll, pitch, yaw) = euler_from_quaternion (orientation_list)
+        (_, _, yaw) = euler_from_quaternion (orientation_list)
 
 
         waypoints.append([str(lat), str(lon), str(yaw)])
@@ -49,7 +47,6 @@ def main():
                             quotechar='|', quoting=csv.QUOTE_MINIMAL)
         for row in waypoints:
             writer.writerow(row)
-
 
 
 if __name__ == "__main__":

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

@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import rospy
 import numpy as np
 from controller import Controller
 
@@ -24,7 +23,6 @@ def calculate_lateral_accel(linear_speed: float, steering_angle: float) -> float
         """
         if (steering_angle == 0.0):
             return 0.0
-
         radius_front_wheel = Controller.WHEELBASE / np.sin(np.deg2rad(steering_angle))
         radius_rear_wheel = Controller.WHEELBASE / np.tan(np.deg2rad(steering_angle))
 
@@ -49,7 +47,7 @@ def compute_braking(self, speed: float, steering_angle: float) -> float:
             return self._compute_binary_braking(speed, steering_angle)
         else:
             return self._compute_modulated_braking(speed, steering_angle)
-    
+
     def _compute_binary_braking(self, speed: float, steering_angle: float) -> float:
         """Binary braking - using lateral acceleration
 
@@ -65,7 +63,7 @@ def _compute_binary_braking(self, speed: float, steering_angle: float) -> float:
             return 1.0
         else:
             return 0.0
-    
+
     def _compute_modulated_braking(self, speed: float, steering_angle: float) -> float:
         """Using P controller for braking based on lateral acceleration of buggy. Modulated values
         from 0-1

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

@@ -1,5 +1,3 @@
-from abc import ABC, abstractmethod
-
 import numpy as np
 
 import rospy

rb_ws/src/buggy/scripts/validation/log_battery.py

@@ -1,9 +1,8 @@
 # A script to log battery data to a .txt file
 
+import csv
 import rospy
 from sensor_msgs.msg import BatteryState # Callback function to print the subscribed data on the terminal
-import numpy as np
-import csv
 
 file = open('battery_data.txt', 'w', newline='')
 writer = csv.writer(file)

rb_ws/src/buggy/scripts/validation/log_battery_tester.py

@@ -1,4 +1,4 @@
-# Script 
+# Script
 import rospy
 from sensor_msgs.msg import BatteryState # Callback function to print the subscribed data on the terminal
 import numpy as np