Pre-commit changes

src/control/controllers/controllers/node_vel_to_ackermann.py

@@ -29,7 +29,7 @@ def cmd_callback(self, twist_msg: Twist):
  steering = 0.0
  else:
  radius = vel / twist_msg.angular.z
- atan(self.wheelbase / radius) * (180 / pi) * self.Kp ## MAKE THIS A PARAM
+ atan(self.wheelbase / radius) * (180 / pi) * self.Kp  ## MAKE THIS A PARAM
 
  msg = AckermannDriveStamped()
  # make time for msg id

src/hardware/canbus/src/component_canbus_translator.cpp

@@ -57,10 +57,11 @@ void CANTranslator::canmsg_timer() {
  for (int i = 0; i < 4; i++) {
  av_velocity += wheel_speeds_[i];
  }
- av_velocity = av_velocity / 4; // maybe get a vector of x,y here?
+ av_velocity = av_velocity / 4;  // maybe get a vector of x,y here?
 
  // update twist msg with new velocity
- geometry_msgs::msg::TwistWithCovarianceStamped::UniquePtr twist_msg(new geometry_msgs::msg::TwistWithCovarianceStamped());
+ geometry_msgs::msg::TwistWithCovarianceStamped::UniquePtr twist_msg(
+ new geometry_msgs::msg::TwistWithCovarianceStamped());
  twist_msg->header.stamp = this->now();
  twist_msg->header.frame_id = ros_base_frame_;
  twist_msg->twist.twist.linear.x = av_velocity;

src/hardware/steering_actuator/include/component_steering_actuator.hpp

@@ -171,7 +171,7 @@ class SteeringActuator : public rclcpp::Node, public CanInterface {
  // time to reset node if no state received
  std::chrono::time_point<std::chrono::system_clock> last_state_time = std::chrono::system_clock::now();
 
- void update_parameters(const rcl_interfaces::msg::ParameterEvent& event);
+ void update_parameters(const rcl_interfaces::msg::ParameterEvent &event);
  void configure_c5e();
  void c5e_state_request_callback();
  void as_state_callback(const driverless_msgs::msg::State::SharedPtr msg);

src/hardware/steering_actuator/src/component_steering_actuator.cpp

@@ -4,7 +4,7 @@
 
 namespace steering_actuator {
 
-void SteeringActuator::update_parameters(const rcl_interfaces::msg::ParameterEvent& event) {
+void SteeringActuator::update_parameters(const rcl_interfaces::msg::ParameterEvent &event) {
  (void)event;
 
  current_velocity_ = this->get_parameter("velocity").as_int();

src/navigation/odom_transformer/odom_transformer/node_odom_transformer.py

@@ -70,10 +70,12 @@ def odometry_callback(self, msg: Odometry):
  local_odom.pose.pose.orientation = orientation(0, 0, relative_heading)
  local_odom.twist = msg.twist
  # Adjust the linear velocity to be relative to the initial heading
- local_odom.twist.twist.linear.x = -(msg.twist.twist.linear.x * cos(relative_heading) + msg.twist.twist.linear.y * sin(
- relative_heading))
- local_odom.twist.twist.linear.y = -msg.twist.twist.linear.x * sin(relative_heading) + msg.twist.twist.linear.y * cos(
- relative_heading)
+ local_odom.twist.twist.linear.x = -(
+ msg.twist.twist.linear.x * cos(relative_heading) + msg.twist.twist.linear.y * sin(relative_heading)
+ )
+ local_odom.twist.twist.linear.y = -msg.twist.twist.linear.x * sin(
+ relative_heading
+ ) + msg.twist.twist.linear.y * cos(relative_heading)
 
  self.publisher.publish(local_odom)
 

src/navigation/planners/planners/node_ft_planner.py

@@ -171,7 +171,9 @@ def __init__(self):
 
  self.path_planner = PathPlanner(**self.get_planner_cfg())
 
- self.get_logger().info(f"---Ordered path planner node initalised with {self.topic_name}, {self.target_frame}---")
+ self.get_logger().info(
+ f"---Ordered path planner node initalised with {self.topic_name}, {self.target_frame}---"
+ )
 
  def get_planner_cfg(self):
  self.declare_parameter("mission", MissionTypes.trackdrive)

src/operations/mission_controller/launch/ebs_test.launch.py

@@ -29,9 +29,11 @@ def generate_launch_description():
  get_package_share_path("planners") / "config" / "ft_planner.yaml",
  ],
  ros_arguments=[
- "-p", "topic_name:=lidar/cone_detection",
- "-p", "target_frame:=base_footprint",
- ]
+ "-p",
+ "topic_name:=lidar/cone_detection",
+ "-p",
+ "target_frame:=base_footprint",
+ ],
  ),
  # guidance/control
  IncludeLaunchDescription(
@@ -42,7 +44,7 @@ def generate_launch_description():
  Node(
  package="controllers",
  executable="vel_to_ackermann_node",
- parameters=[{"Kp": 2.0}] # specific for EBS test
+ parameters=[{"Kp": 2.0}], # specific for EBS test
  ),
  ]
  )

src/operations/mission_controller/launch/trackdrive.launch.py

@@ -36,9 +36,11 @@ def generate_launch_description():
  get_package_share_path("planners") / "config" / "ft_planner.yaml",
  ],
  ros_arguments=[
- "-p", "topic_name:=slam/global_map",
- "-p", "target_frame:=track",
- ]
+ "-p",
+ "topic_name:=slam/global_map",
+ "-p",
+ "target_frame:=track",
+ ],
  ),
  # guidance/control
  IncludeLaunchDescription(
@@ -49,7 +51,7 @@ def generate_launch_description():
  Node(
  package="controllers",
  executable="vel_to_ackermann_node",
- parameters=[{"Kp": 4.0}], # specific for Trackdrive
+ parameters=[{"Kp": 4.0}],  # specific for Trackdrive
  ),
  ]
  )

src/operations/mission_controller/mission_controller/node_ebs_test_handler.py

@@ -49,7 +49,17 @@ def __init__(self):
 
  self.mission_started = True
 
- command = ["stdbuf", "-o", "L", "ros2", "param", "set", "velocity_controller_node", "min_time_to_max_accel_sec", "2.0"]
+ command = [
+ "stdbuf",
+ "-o",
+ "L",
+ "ros2",
+ "param",
+ "set",
+ "velocity_controller_node",
+ "min_time_to_max_accel_sec",
+ "2.0",
+ ]
  self.get_logger().info(f"Running Command: {' '.join(command)}")
  cmd = Popen(command)
  command = ["stdbuf", "-o", "L", "ros2", "param", "set", "steering_actuator_node", "max_position", "2000"]
@@ -71,7 +81,17 @@ def state_callback(self, msg: State):
  and self.odom_received
  ):
 
- command = ["stdbuf", "-o", "L", "ros2", "param", "set", "velocity_controller_node", "min_time_to_max_accel_sec", "2.0"]
+ command = [
+ "stdbuf",
+ "-o",
+ "L",
+ "ros2",
+ "param",
+ "set",
+ "velocity_controller_node",
+ "min_time_to_max_accel_sec",
+ "2.0",
+ ]
  self.get_logger().info(f"Running Command: {' '.join(command)}")
  self.process = Popen(command)
  command = ["stdbuf", "-o", "L", "ros2", "param", "set", "steering_actuator_node", "max_position", "2000"]

src/operations/mission_controller/mission_controller/node_trackdrive_handler.py

@@ -153,7 +153,7 @@ def timer_callback(self):
  if track_to_base.transform.translation.x < 2:
  self.last_x = track_to_base.transform.translation.x
  return
- 
+
  # we have left the box
  self.get_logger().info(f"Crossed start line in {time.time() - self.last_lap_time:.2f}s")
 
@@ -162,7 +162,7 @@ def timer_callback(self):
  self.last_lap_time = time.time()
 
  self.laps += 1
- self.lap_trig_pub.publish(UInt8(data=self.laps-1))
+ self.lap_trig_pub.publish(UInt8(data=self.laps - 1))
  self.get_logger().info(f"Lap {self.laps} completed")
 
  # we have finished lap "1"