Merge pull request #1 from rafal-gorecki/test-black

Test black

.github/workflows/black.yaml

@@ -0,0 +1,13 @@
+name: Black python lint
+
+on:
+    workflow_call:
+    pull_request:
+    push:
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: psf/black@stable

rosbot_bringup/launch/bringup.launch.py

@@ -1,13 +1,11 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node, SetParameter
-from launch.substitutions import  PathJoinSubstitution
+from launch.substitutions import PathJoinSubstitution
 from ament_index_python.packages import get_package_share_directory
 from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import (
-    LaunchConfiguration,
-    PathJoinSubstitution
-)
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
 
 def generate_launch_description():
     use_sim = LaunchConfiguration("use_sim")
@@ -29,7 +27,7 @@ def generate_launch_description():
         "simulation_engine",
         default_value="webots",
         description="Which simulation engine to be used",
-        choices=["ignition-gazebo", "gazebo-classic", "webots"]
+        choices=["ignition-gazebo", "gazebo-classic", "webots"],
     )
 
     rosbot_controller = get_package_share_directory("rosbot_controller")
@@ -77,7 +75,7 @@ def generate_launch_description():
         declare_simulation_engine_arg,
         SetParameter(name="use_sim_time", value=use_sim),
         controller_launch,
-        robot_localization_node
+        robot_localization_node,
     ]
 
     return LaunchDescription(actions)

rosbot_controller/launch/controller.launch.py

@@ -36,7 +36,10 @@ def generate_launch_description():
     declare_mecanum_arg = DeclareLaunchArgument(
         "mecanum",
         default_value="False",
-        description="Whether to use mecanum drive controller (otherwise diff drive controller is used)",
+        description=(
+            "Whether to use mecanum drive controller "
+            "(otherwise diff drive controller is used)"
+        ),
     )
 
     use_sim = LaunchConfiguration("use_sim")
@@ -58,7 +61,7 @@ def generate_launch_description():
         "simulation_engine",
         default_value="webots",
         description="Which simulation engine to be used",
-        choices=["ignition-gazebo", "gazebo-classic", "webots"]
+        choices=["ignition-gazebo", "gazebo-classic", "webots"],
     )
 
     controller_config_name = PythonExpression(
@@ -196,4 +199,4 @@ def generate_launch_description():
         delay_imu_broadcaster_spawner_after_robot_controller_spawner,
     ]
 
-    return LaunchDescription(actions)
+    return LaunchDescription(actions)

rosbot_controller/setup.py

@@ -2,28 +2,26 @@
 from glob import glob
 from setuptools import find_packages, setup
 
-package_name = 'rosbot_controller'
+package_name = "rosbot_controller"
 
 setup(
     name=package_name,
-    version='0.8.0',
-    packages=find_packages(exclude=['test']),
+    version="0.8.0",
+    packages=find_packages(exclude=["test"]),
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
-        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.launch.py")),
+        (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='Husarion',
-    maintainer_email='[email protected]',
-    description='Hardware configuration for ROSbot 2, 2R, PRO',
-    license='Apache License 2.0',
-    tests_require=['pytest'],
+    maintainer="Husarion",
+    maintainer_email="[email protected]",
+    description="Hardware configuration for ROSbot 2, 2R, PRO",
+    license="Apache License 2.0",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': [
-        ],
+        "console_scripts": [],
     },
 )

rosbot_controller/test/controllers_test_node.py

@@ -28,44 +28,37 @@ class ControllersTestNode(Node):
 
     __test__ = False
 
-    def __init__(self, name='test_node'):
+    def __init__(self, name="test_node"):
         super().__init__(name)
         self.joint_state_msg_event = Event()
         self.odom_msg_event = Event()
         self.imu_msg_event = Event()
 
     def create_test_subscribers_and_publishers(self):
         self.joint_state_sub = self.create_subscription(
-            JointState,
-            '/joint_states',
-            self.joint_states_callback,
-            10
+            JointState, "/joint_states", self.joint_states_callback, 10
         )
 
         self.odom_sub = self.create_subscription(
-            Odometry,
-            '/rosbot_base_controller/odom',
-            self.odometry_callback,
-            10
+            Odometry, "/rosbot_base_controller/odom", self.odometry_callback, 10
         )
 
         self.imu_sub = self.create_subscription(
-            Imu,
-            '/imu_broadcaster/imu',
-            self.joint_states_callback,
-            10
+            Imu, "/imu_broadcaster/imu", self.joint_states_callback, 10
         )
 
-        self.imu_publisher = self.create_publisher(Imu, '_imu/data_raw', 10)
+        self.imu_publisher = self.create_publisher(Imu, "_imu/data_raw", 10)
 
         self.joint_states_publisher = self.create_publisher(
-            JointState, '_motors_response', 10)
+            JointState, "_motors_response", 10
+        )
 
         self.timer = None
 
     def start_node_thread(self):
         self.ros_spin_thread = Thread(
-            target=lambda node: rclpy.spin(node), args=(self,))
+            target=lambda node: rclpy.spin(node), args=(self,)
+        )
         self.ros_spin_thread.start()
 
     def joint_states_callback(self, data):
@@ -79,17 +72,23 @@ def imu_callback(self, data):
 
     def start_publishing_fake_hardware(self):
         self.timer = self.create_timer(
-            1.0/self.ROSBOT_HARDWARE_PUBLISHERS_RATE, self.publish_fake_hardware_messages)
+            1.0 / self.ROSBOT_HARDWARE_PUBLISHERS_RATE,
+            self.publish_fake_hardware_messages,
+        )
 
     def publish_fake_hardware_messages(self):
         imu_msg = Imu()
         imu_msg.header.stamp = self.get_clock().now().to_msg()
-        imu_msg.header.frame_id = 'imu_link'
+        imu_msg.header.frame_id = "imu_link"
 
         joint_state_msg = JointState()
         joint_state_msg.header.stamp = self.get_clock().now().to_msg()
         joint_state_msg.name = [
-            'fl_wheel_joint', 'fr_wheel_joint', 'rl_wheel_joint', 'rr_wheel_joint']
+            "fl_wheel_joint",
+            "fr_wheel_joint",
+            "rl_wheel_joint",
+            "rr_wheel_joint",
+        ]
         joint_state_msg.position = [0.0, 0.0, 0.0, 0.0]
         joint_state_msg.velocity = [0.0, 0.0, 0.0, 0.0]
 

rosbot_controller/test/test_copyright.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

rosbot_controller/test/test_diff_drive_controllers.py

@@ -23,14 +23,9 @@
 from launch.actions import IncludeLaunchDescription
 from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import PathJoinSubstitution
-
-# Import submodule from this directory
-import sys
-import os
-sys.path.append(os.path.abspath(os.path.dirname(__file__)+"./"))
 from controllers_test_node import ControllersTestNode
 
+
 @launch_pytest.fixture
 def generate_test_description():
     rosbot_controller = get_package_share_directory("rosbot_controller")
@@ -47,29 +42,31 @@ def generate_test_description():
         launch_arguments={
             "use_sim": "False",
             "mecanum": "False",
-            "use_gpu": "False"
+            "use_gpu": "False",
         }.items(),
     )
 
-    return LaunchDescription([
-        bringup_launch
-    ])
+    return LaunchDescription([bringup_launch])
 
 
 @pytest.mark.launch(fixture=generate_test_description)
 def test_controllers_startup_fail():
     rclpy.init()
     try:
-        node = ControllersTestNode('test_controllers_bringup')
+        node = ControllersTestNode("test_controllers_bringup")
         node.create_test_subscribers_and_publishers()
 
         node.start_node_thread()
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, 'Received JointStates message, check joint_state_broadcaster!'
+        assert (
+            not msgs_received_flag
+        ), "Received JointStates message, check joint_state_broadcaster!"
         msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, 'Received Odom message, check rosbot_base_controller!'
+        assert (
+            not msgs_received_flag
+        ), "Received Odom message, check rosbot_base_controller!"
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert not msgs_received_flag, 'Received Imu message, check imu_broadcaster!'
+        assert not msgs_received_flag, "Received Imu message, check imu_broadcaster!"
     finally:
         rclpy.shutdown()
 
@@ -78,16 +75,20 @@ def test_controllers_startup_fail():
 def test_controllers_startup_success():
     rclpy.init()
     try:
-        node = ControllersTestNode('test_controllers_bringup')
+        node = ControllersTestNode("test_controllers_bringup")
         node.create_test_subscribers_and_publishers()
         node.start_publishing_fake_hardware()
 
         node.start_node_thread()
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert msgs_received_flag, 'Did not receive JointStates message, check joint_state_broadcaster!'
+        assert (
+            msgs_received_flag
+        ), "Did not receive JointStates message, check joint_state_broadcaster!"
         msgs_received_flag = node.odom_msg_event.wait(timeout=10.0)
-        assert msgs_received_flag, 'Did not receive Odom message, check rosbot_base_controller!'
+        assert (
+            msgs_received_flag
+        ), "Did not receive Odom message, check rosbot_base_controller!"
         msgs_received_flag = node.joint_state_msg_event.wait(timeout=10.0)
-        assert msgs_received_flag, 'Did not receive Imu message, check imu_broadcaster!'
+        assert msgs_received_flag, "Did not receive Imu message, check imu_broadcaster!"
     finally:
         rclpy.shutdown()

rosbot_controller/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)