chore: reformat project

Author: Apolo151

CustomRobots/car_junction/launch/car_junction.launch.py

@@ -26,20 +26,22 @@ def generate_launch_description():
         "GAZEBO_MODEL_PATH"
     ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
 
-    start_ros_gazebo_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        arguments=[
-            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
-            "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist", 
-            "/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
-            "/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
-            "/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
-        ],
-        parameters=[{'use_sim_time': True}],
-        output="screen"
-    ),
-    
+    start_ros_gazebo_bridge = (
+        Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            arguments=[
+                "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+                "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+                "/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
+                "/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
+                "/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            ],
+            parameters=[{"use_sim_time": True}],
+            output="screen",
+        ),
+    )
+
     start_ros_gazebo_image_bridge = Node(
         package="ros_gz_image",
         executable="image_bridge",

CustomRobots/car_junction/scripts/TrafficSystem.py

@@ -10,7 +10,6 @@
 import numpy as np
 
 
-
 class CarSpawner(object):
     def __init__(self):
         self.node = Node()
@@ -23,22 +22,23 @@ def __init__(self):
         self.spawn_positions = [
             (2, -20.0, 1.5, 1.57),
             (-2, 20.0, 1.5, -1.57),
-            (20.0, 2, 1.5, 3.14)
+            (20.0, 2, 1.5, 3.14),
         ]
+
     def update(self, info, _ecm):
         current_time = time.time()
-        
+
         # Spawn new car
         if current_time - self.last_spawn > self.spawn_interval:
             coords = random.choice(self.spawn_positions)
             model_name = f"car_{random.randint(1000,9999)}"
-            
-            yaw=coords[3]
+
+            yaw = coords[3]
             qx, qy, qz, qw = etoq(yaw, 0, 0)
-            
+
             req = EntityFactory()
-            
-            req.relative_to = ''
+
+            req.relative_to = ""
             req.sdf_filename = self.sdf_path
             req.name = model_name
             req.pose.position.x = coords[0]
@@ -48,11 +48,11 @@ def update(self, info, _ecm):
             req.pose.orientation.x = qx
             req.pose.orientation.y = qy
             req.pose.orientation.z = qz
-            
+
             self.node.request(
-                f"/world/{self.world}/create",
-                req, EntityFactory, Boolean, 1000)
-            
+                f"/world/{self.world}/create", req, EntityFactory, Boolean, 1000
+            )
+
             self.active_models[model_name] = current_time
             self.last_spawn = current_time
             print(f"Spawned {model_name}")
@@ -63,25 +63,30 @@ def update(self, info, _ecm):
                 self.node.request(
                     f"/world/{self.world}/remove",
                     Entity(name=name, type=Entity.MODEL),
-                    Entity, Boolean, 1000)
+                    Entity,
+                    Boolean,
+                    1000,
+                )
                 del self.active_models[name]
                 print(f"Removed {name}")
 
+
 def etoq(yaw, pitch, roll):
-    
-        cy = np.cos(yaw * 0.5)
-        sy = np.sin(yaw * 0.5)
-        cp = np.cos(pitch * 0.5)
-        sp = np.sin(pitch * 0.5)
-        cr = np.cos(roll * 0.5)
-        sr = np.sin(roll * 0.5)
 
-        qw = cr * cp * cy + sr * sp * sy
-        qx = sr * cp * cy - cr * sp * sy
-        qy = cr * sp * cy + sr * cp * sy
-        qz = cr * cp * sy - sr * sp * cy
+    cy = np.cos(yaw * 0.5)
+    sy = np.sin(yaw * 0.5)
+    cp = np.cos(pitch * 0.5)
+    sp = np.sin(pitch * 0.5)
+    cr = np.cos(roll * 0.5)
+    sr = np.sin(roll * 0.5)
+
+    qw = cr * cp * cy + sr * sp * sy
+    qx = sr * cp * cy - cr * sp * sy
+    qy = cr * sp * cy + sr * cp * sy
+    qz = cr * cp * sy - sr * sp * cy
+
+    return qx, qy, qz, qw
 
-        return qx, qy, qz, qw
 
 def get_system():
-    return CarSpawner()
+    return CarSpawner()

Launchers/car_junction.launch.py

@@ -26,20 +26,22 @@ def generate_launch_description():
         "GAZEBO_MODEL_PATH"
     ] = f"{os.environ.get('GAZEBO_MODEL_PATH', '')}:{':'.join(gazebo_models_path)}"
 
-    start_ros_gazebo_bridge = Node(
-        package="ros_gz_bridge",
-        executable="parameter_bridge",
-        arguments=[
-            "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
-            "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist", 
-            "/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
-            "/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
-            "/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
-        ],
-        parameters=[{'use_sim_time': True}],
-        output="screen"
-    ),
-    
+    start_ros_gazebo_bridge = (
+        Node(
+            package="ros_gz_bridge",
+            executable="parameter_bridge",
+            arguments=[
+                "/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock",
+                "/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist",
+                "/odom@nav_msgs/msg/Odometry]gz.msgs.Odometry",
+                "/waymo/lidar/points@sensor_msgs/msg/PointCloud2[gz.msgs.PointCloudPacked",
+                "/waymo/camera_info@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo",
+            ],
+            parameters=[{"use_sim_time": True}],
+            output="screen",
+        ),
+    )
+
     start_ros_gazebo_image_bridge = Node(
         package="ros_gz_image",
         executable="image_bridge",