Code formatting

Author: fred-labs

carla_ad_agent/CMakeLists.txt

@@ -25,7 +25,7 @@ if(${ROS_VERSION} EQUAL 1)
           DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
 
 elseif(${ROS_VERSION} EQUAL 2)
-#TODO: remove
+  # TODO: remove
   find_package(ament_cmake REQUIRED)
   find_package(rclpy REQUIRED)
   ament_export_dependencies(rclpy)

carla_common/src/carla_common/transforms.py

@@ -326,21 +326,24 @@ def ros_pose_to_carla_transform(ros_pose):
         ros_point_to_carla_location(ros_pose.position),
         ros_quaternion_to_carla_rotation(ros_pose.orientation))
 
+
 def transform_matrix_to_ros_pose(mat):
     """
     Convert a transform matrix to a ROS pose.
     """
-    quat = mat2quat(mat[:3,:3])
+    quat = mat2quat(mat[:3, :3])
     msg = Pose()
-    msg.position=Point(x=mat[0, 3], y=mat[1, 3], z=mat[2, 3])
-    msg.orientation=Quaternion(w=quat[0], x=quat[1], y=quat[2], z=quat[3])
+    msg.position = Point(x=mat[0, 3], y=mat[1, 3], z=mat[2, 3])
+    msg.orientation = Quaternion(w=quat[0], x=quat[1], y=quat[2], z=quat[3])
     return msg
 
+
 def ros_pose_to_transform_matrix(msg):
     """
     Convert a ROS pose to a transform matrix
     """
     mat44 = numpy.eye(4)
-    mat44[:3,:3] = quat2mat([msg.orientation.w, msg.orientation.x, msg.orientation.y, msg.orientation.z])
+    mat44[:3, :3] = quat2mat([msg.orientation.w, msg.orientation.x,
+                              msg.orientation.y, msg.orientation.z])
     mat44[0:3, -1] = [msg.position.x, msg.position.y, msg.position.z]
-    return mat44
+    return mat44

carla_manual_control/src/carla_manual_control/carla_manual_control.py

@@ -175,7 +175,7 @@ def render(self, game_clock, display):
         """
         render the current image
         """
-        
+
         do_quit = self.controller.parse_events(game_clock)
         if do_quit:
             return
@@ -214,24 +214,25 @@ def __init__(self, role_name, hud, node):
 
         self.vehicle_control_manual_override_publisher = \
             self.node.new_publisher(Bool,
-                               "/carla/{}/vehicle_control_manual_override".format(self.role_name),
-                               qos_profile=fast_latched_qos, callback_group=self.callback_group)
+                                    "/carla/{}/vehicle_control_manual_override".format(
+                                        self.role_name),
+                                    qos_profile=fast_latched_qos, callback_group=self.callback_group)
 
         self.vehicle_control_manual_override = False
 
         self.auto_pilot_enable_publisher = \
             self.node.new_publisher(Bool,
-                               "/carla/{}/enable_autopilot".format(self.role_name),
-                               qos_profile=fast_qos, callback_group=self.callback_group)
+                                    "/carla/{}/enable_autopilot".format(self.role_name),
+                                    qos_profile=fast_qos, callback_group=self.callback_group)
 
         self.vehicle_control_publisher = \
             self.node.new_publisher(CarlaEgoVehicleControl,
-                               "/carla/{}/vehicle_control_cmd_manual".format(self.role_name),
-                               qos_profile=fast_qos, callback_group=self.callback_group)
+                                    "/carla/{}/vehicle_control_cmd_manual".format(self.role_name),
+                                    qos_profile=fast_qos, callback_group=self.callback_group)
 
         self.carla_status_subscriber = self.node.create_subscriber(CarlaStatus, "/carla/status",
-                                                              self._on_new_carla_frame,
-                                                              callback_group=self.callback_group)
+                                                                   self._on_new_carla_frame,
+                                                                   callback_group=self.callback_group)
 
         self.set_autopilot(self._autopilot_enabled)
 

carla_ros_bridge/src/carla_ros_bridge/actor_factory.py

@@ -12,10 +12,10 @@
 from enum import Enum
 
 try:
-   import queue
+    import queue
 except ImportError:
-   import Queue as queue
-   
+    import Queue as queue
+
 from carla_ros_bridge.actor import Actor
 from carla_ros_bridge.spectator import Spectator
 from carla_ros_bridge.traffic import Traffic, TrafficLight
@@ -72,7 +72,7 @@ def __init__(self, node, world, sync_mode=False):
 
         self._task_queue = queue.Queue()
         self._last_task = None
-        self._known_actor_ids = [] # used to immediately reply to spawn_actor/destroy_actor calls
+        self._known_actor_ids = []  # used to immediately reply to spawn_actor/destroy_actor calls
 
         self.lock = Lock()
         self.spawn_lock = Lock()
@@ -128,15 +128,15 @@ def update_available_objects(self):
                 task = self._task_queue.get()
                 if task[0] == ActorFactory.TaskType.SPAWN_PSEUDO_ACTOR:
                     pseudo_object = task[1]
-                    self._create_object(pseudo_object[0], pseudo_object[1].type, pseudo_object[1].id, pseudo_object[1].attach_to, pseudo_object[1].transform)
+                    self._create_object(pseudo_object[0], pseudo_object[1].type, pseudo_object[1].id,
+                                        pseudo_object[1].attach_to, pseudo_object[1].transform)
                 elif task[0] == ActorFactory.TaskType.DESTROY_ACTOR:
                     actor_id = task[1]
                     self._destroy_object(actor_id, delete_actor=True)
                 elif task[0] == ActorFactory.TaskType.SYNC:
                     break
         self.lock.release()
 
-
     def update_actor_states(self, frame_id, timestamp):
         """
         update the state of all known actors
@@ -152,7 +152,7 @@ def update_actor_states(self, frame_id, timestamp):
 
     def clear(self):
         for _, actor in self.actors.items():
-            actor.destroy() 
+            actor.destroy()
         self.actors.clear()
 
     def spawn_actor(self, req):
@@ -164,7 +164,7 @@ def spawn_actor(self, req):
         """
         with self.spawn_lock:
             if "pseudo" in req.type:
-                #only allow spawning pseudo objects if parent actor already exists in carla
+                # only allow spawning pseudo objects if parent actor already exists in carla
                 if req.attach_to != 0:
                     carla_actor = self.world.get_actor(req.attach_to)
                     if carla_actor is None:
@@ -189,7 +189,7 @@ def _destroy_actor(self, uid):
         if uid in self._known_actor_ids:
             objects_to_destroy.append(uid)
             self._known_actor_ids.remove(uid)
-        
+
         # remove actors that have the actor to be removed as parent.
         for actor in list(self.actors.values()):
             if actor.parent is not None and actor.parent.uid == uid:
@@ -225,7 +225,6 @@ def _spawn_carla_actor(self, req):
         carla_actor = self.world.spawn_actor(blueprint, transform, attach_to)
         return carla_actor.id
 
-
     def _create_object_from_actor(self, carla_actor):
         """
         create a object for a given carla actor
@@ -239,9 +238,12 @@ def _create_object_from_actor(self, carla_actor):
             else:
                 parent = self._create_object_from_actor(carla_actor.parent)
             # calculate relative transform
-            actor_transform_matrix = trans.ros_pose_to_transform_matrix(trans.carla_transform_to_ros_pose(carla_actor.get_transform()))
-            parent_transform_matrix = trans.ros_pose_to_transform_matrix(trans.carla_transform_to_ros_pose(carla_actor.parent.get_transform()))
-            relative_transform_matrix = np.matrix(parent_transform_matrix).getI() * np.matrix(actor_transform_matrix)
+            actor_transform_matrix = trans.ros_pose_to_transform_matrix(
+                trans.carla_transform_to_ros_pose(carla_actor.get_transform()))
+            parent_transform_matrix = trans.ros_pose_to_transform_matrix(
+                trans.carla_transform_to_ros_pose(carla_actor.parent.get_transform()))
+            relative_transform_matrix = np.matrix(
+                parent_transform_matrix).getI() * np.matrix(actor_transform_matrix)
             relative_transform = trans.transform_matrix_to_ros_pose(relative_transform_matrix)
 
         parent_id = 0
@@ -251,10 +253,10 @@ def _create_object_from_actor(self, carla_actor):
         name = carla_actor.attributes.get("role_name", "")
         if not name:
             name = str(carla_actor.id)
-        obj = self._create_object(carla_actor.id, carla_actor.type_id, name, parent_id, relative_transform, carla_actor)
+        obj = self._create_object(carla_actor.id, carla_actor.type_id, name,
+                                  parent_id, relative_transform, carla_actor)
         return obj
 
-
     def _destroy_object(self, actor_id, delete_actor):
         if actor_id not in self.actors:
             return
@@ -283,12 +285,11 @@ def _create_object(self, uid, type_id, name, attach_to, spawn_pose, carla_actor=
         if attach_to != 0:
             if attach_to not in self.actors:
                 raise IndexError("Parent object {} not found".format(attach_to))
-            
+
             parent = self.actors[attach_to]
         else:
             parent = None
 
-
         if type_id == TFSensor.get_blueprint_name():
             actor = TFSensor(uid=uid, name=name, parent=parent, node=self.node)
 

carla_ros_bridge/src/carla_ros_bridge/bridge.py

@@ -203,7 +203,8 @@ def destroy_object(self, req, response=None):
         destroyed_actors = self.actor_factory.destroy_actor(req.id)
         response.success = bool(destroyed_actors)
         for actor in destroyed_actors:
-            if actor in self._registered_actors: self._registered_actors.remove(actor)
+            if actor in self._registered_actors:
+                self._registered_actors.remove(actor)
         return response
 
     def get_blueprints(self, req):
@@ -300,7 +301,7 @@ def _synchronous_mode_update(self):
                     if not self._all_vehicle_control_commands_received.wait(CarlaRosBridge.VEHICLE_CONTROL_TIMEOUT):
                         self.logwarn("Timeout ({}s) while waiting for vehicle control commands. "
                                      "Missing command from actor ids {}".format(CarlaRosBridge.VEHICLE_CONTROL_TIMEOUT,
-                                         self._expected_ego_vehicle_control_command_ids))
+                                                                                self._expected_ego_vehicle_control_command_ids))
                     self._all_vehicle_control_commands_received.clear()
             self.synchronous_update_finished_event.set()
 
@@ -324,7 +325,7 @@ def _carla_time_tick(self, carla_snapshot):
                 self.update_clock(carla_snapshot.timestamp)
                 self.status_publisher.set_frame(carla_snapshot.frame)
                 self._update(carla_snapshot.frame,
-                                carla_snapshot.timestamp.elapsed_seconds)
+                             carla_snapshot.timestamp.elapsed_seconds)
 
     def _update(self, frame_id, timestamp):
         """

carla_ros_bridge/src/carla_ros_bridge/carla_status_publisher.py

@@ -44,7 +44,7 @@ def __init__(self, synchronous_mode, fixed_delta_seconds, node):
         elif ROS_VERSION == 2:
             callback_group = ReentrantCallbackGroup()
         self.carla_status_publisher = self.node.new_publisher(CarlaStatus, "/carla/status",
-                                                         callback_group=callback_group)
+                                                              callback_group=callback_group)
         self.publish()
 
     def destroy(self):

carla_ros_bridge/src/carla_ros_bridge/odom_sensor.py

@@ -67,6 +67,7 @@ def update(self, frame, timestamp):
             odometry.twist.twist = self.parent.get_current_ros_twist_rotated()
         except AttributeError:
             # parent actor disappeared, do not send tf
-            self.node.logwarn("OdometrySensor could not publish. parent actor {} not found".format(self.parent.uid))
+            self.node.logwarn(
+                "OdometrySensor could not publish. parent actor {} not found".format(self.parent.uid))
             return
         self.odometry_publisher.publish(odometry)

carla_ros_bridge/src/carla_ros_bridge/sensor.py

@@ -158,14 +158,15 @@ def _callback_sensor_data(self, carla_sensor_data):
         :param carla_sensor_data: carla sensor data object
         :type carla_sensor_data: carla.SensorData
         """
-        self._callback_active.acquire()        
+        self._callback_active.acquire()
         if self.synchronous_mode:
             if self.sensor_tick_time:
                 self.next_data_expected_time = carla_sensor_data.timestamp + \
                     float(self.sensor_tick_time)
             self.queue.put(carla_sensor_data)
         else:
-            self.publish_tf(trans.carla_transform_to_ros_pose(carla_sensor_data.transform), carla_sensor_data.timestamp)
+            self.publish_tf(trans.carla_transform_to_ros_pose(
+                carla_sensor_data.transform), carla_sensor_data.timestamp)
             self.sensor_data_updated(carla_sensor_data)
         self._callback_active.release()
 
@@ -192,7 +193,8 @@ def _update_synchronous_event_sensor(self, frame):
                                           carla_sensor_data.frame, frame))
                 self.node.logdebug("{}({}): process {}".format(
                     self.__class__.__name__, self.get_id(), frame))
-                self.publish_tf(trans.carla_transform_to_ros_pose(carla_sensor_data.transform), frame)
+                self.publish_tf(trans.carla_transform_to_ros_pose(
+                    carla_sensor_data.transform), frame)
                 self.sensor_data_updated(carla_sensor_data)
             except queue.Empty:
                 return

carla_ros_bridge/src/carla_ros_bridge/speedometer_sensor.py

@@ -65,7 +65,8 @@ def update(self, frame, timestamp):
             transform = self.parent.carla_actor.get_transform()
         except AttributeError:
             # parent actor disappeared, do not send tf
-            self.node.logwarn("SpeedometerSensor could not publish. Parent actor {} not found".format(self.parent.uid))
+            self.node.logwarn(
+                "SpeedometerSensor could not publish. Parent actor {} not found".format(self.parent.uid))
             return
 
         vel_np = np.array([velocity.x, velocity.y, velocity.z])

carla_ros_bridge/src/carla_ros_bridge/tf_sensor.py

@@ -61,15 +61,16 @@ def update(self, frame, timestamp):
         Function (override) to update this object.
         """
         self.parent.get_prefix()
-        
+
         transform = None
         try:
             transform = self.parent.get_current_ros_transform()
         except AttributeError:
             # parent actor disappeared, do not send tf
-            self.node.logwarn("TFSensor could not publish transform. Actor {} not found".format(self.parent.uid))
+            self.node.logwarn(
+                "TFSensor could not publish transform. Actor {} not found".format(self.parent.uid))
             return
-        
+
         self._tf_broadcaster.sendTransform(TransformStamped(
             header=self.get_msg_header("map", timestamp=timestamp),
             child_frame_id=self.parent.get_prefix(),