Add linting workflow using Black for code formatting

.github/workflows/pre-commit.yml

@@ -0,0 +1,24 @@
+name: pre-commit
+
+on: pull_request
+
+jobs:
+  black-format:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          ref: ${{ github.ref }}
+      - uses: actions/setup-python@v3
+      - name: Install uv
+        run: pip install uv
+      - name: Run black via uv
+        run: uvx black .
+      - name: Commit and push changes
+        run: |
+          git config --global user.name "github-actions[bot]"
+          git config --global user.email "github-actions[bot]@users.noreply.github.com"
+          git add .
+          git diff --cached --quiet || git commit -m "Apply black formatting"
+          git pull --rebase origin ${{ github.head_ref }}
+          git push origin HEAD:${{ github.head_ref }}

launch/auto.launch.py

@@ -5,35 +5,31 @@
 from ament_index_python import get_package_share_directory
 import os.path
 
+
 def generate_launch_description():
-    #Auto control node
-    start_auto_node = Node(
-        package='control_pkg',
-        executable='auto',
-        name='auto'
-    )
-
-    #Axle manager for Hyflex node
-    start_axle_manager_node = Node(
-        package='axle_manager',
-        executable='axle_manager',
-        name='axle_manager',
-        arguments=['--params-file '+os.path.join(get_package_share_directory('axle_manager'),'config','params.yaml')]
-    )
+    # Auto control node
+    start_auto_node = Node(package="control_pkg", executable="auto", name="auto")
 
-    #VN100 Sensor IMU Node
-    start_imu_node = Node(
-        package='sensors_pkg',
-        executable='imu',
-        name='imu'
+    # Axle manager for Hyflex node
+    start_axle_manager_node = Node(
+        package="axle_manager",
+        executable="axle_manager",
+        name="axle_manager",
+        arguments=[
+            "--params-file "
+            + os.path.join(
+                get_package_share_directory("axle_manager"), "config", "params.yaml"
+            )
+        ],
     )
 
+    # VN100 Sensor IMU Node
+    start_imu_node = Node(package="sensors_pkg", executable="imu", name="imu")
 
-
-    #Declare launch description and populate
+    # Declare launch description and populate
     ld = LaunchDescription()
 
-    #declare launch actions
+    # declare launch actions
     ld.add_action(start_axle_manager_node)
     ld.add_action(start_auto_node)
 

launch/fqr.launch.py

@@ -5,35 +5,31 @@
 from ament_index_python import get_package_share_directory
 import os.path
 
+
 def generate_launch_description():
-    #Auto control node
-    start_fqr_node = Node(
-        package='control_pkg',
-        executable='fqr',
-        name='fqr'
-    )
-
-    #Axle manager for Hyflex node
-    start_axle_manager_node = Node(
-        package='axle_manager',
-        executable='axle_manager',
-        name='axle_manager',
-        arguments=['--params-file '+os.path.join(get_package_share_directory('axle_manager'),'config','params.yaml')]
-    )
+    # Auto control node
+    start_fqr_node = Node(package="control_pkg", executable="fqr", name="fqr")
 
-    #VN100 Sensor IMU Node
-    start_imu_node = Node(
-        package='sensors_pkg',
-        executable='imu',
-        name='imu'
+    # Axle manager for Hyflex node
+    start_axle_manager_node = Node(
+        package="axle_manager",
+        executable="axle_manager",
+        name="axle_manager",
+        arguments=[
+            "--params-file "
+            + os.path.join(
+                get_package_share_directory("axle_manager"), "config", "params.yaml"
+            )
+        ],
     )
 
+    # VN100 Sensor IMU Node
+    start_imu_node = Node(package="sensors_pkg", executable="imu", name="imu")
 
-
-    #Declare launch description and populate
+    # Declare launch description and populate
     ld = LaunchDescription()
 
-    #declare launch actions
+    # declare launch actions
     ld.add_action(start_axle_manager_node)
     ld.add_action(start_fqr_node)
 

launch/jetson.launch.py

@@ -1,19 +1,23 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
-def generate_launch_description():
-    return LaunchDescription([
-        Node(
-            package='jetson_pkg',
-            executable='apriltag',
-            name='apriltag',
-            parameters=[
-                {'cap':'rtsp://admin:hyflex@192.168.1.131:80/cam/realmonitor?channel=1&subtype=0'},
-                {'fx':1071.1362274102335},
-                {'fy':1102.1406887400624},
-                {'cx':953.030188084331},
-                {'cy':468.0382502048589}
 
-            ]
-        )
-    ])
+def generate_launch_description():
+    return LaunchDescription(
+        [
+            Node(
+                package="jetson_pkg",
+                executable="apriltag",
+                name="apriltag",
+                parameters=[
+                    {
+                        "cap": "rtsp://admin:hyflex@192.168.1.131:80/cam/realmonitor?channel=1&subtype=0"
+                    },
+                    {"fx": 1071.1362274102335},
+                    {"fy": 1102.1406887400624},
+                    {"cx": 953.030188084331},
+                    {"cy": 468.0382502048589},
+                ],
+            )
+        ]
+    )

launch/lidar.launch.py

@@ -3,30 +3,29 @@
 from launch import LaunchDescription
 from launch_ros.actions import Node
 
+
 def generate_launch_description():
-    sick_scan_pkg_prefix = get_package_share_directory('sick_scan_xd')
-    lms_launch_file_path = os.path.join(sick_scan_pkg_prefix, 'launch/sick_lms_1xx.launch')
+    sick_scan_pkg_prefix = get_package_share_directory("sick_scan_xd")
+    lms_launch_file_path = os.path.join(
+        sick_scan_pkg_prefix, "launch/sick_lms_1xx.launch"
+    )
     laser_scan_node = Node(
-        package='sick_scan_xd',
-        executable='sick_generic_caller',
-        output='screen',
+        package="sick_scan_xd",
+        executable="sick_generic_caller",
+        output="screen",
         arguments=[
             lms_launch_file_path,
-            'hostname:=192.168.1.134',
-            'tf_base_frame_id:=lidar_laser',
-            'scan_freq:=25',
-            'ang_res:=0.5',
-            ]
+            "hostname:=192.168.1.134",
+            "tf_base_frame_id:=lidar_laser",
+            "scan_freq:=25",
+            "ang_res:=0.5",
+        ],
     )
-    
+
     obs_node = Node(
-        package='sensors_pkg',
-        executable='obs',
-        name='obs',
+        package="sensors_pkg",
+        executable="obs",
+        name="obs",
     )
-
-    return LaunchDescription([
-        laser_scan_node,
-        obs_node
-    ])
 
+    return LaunchDescription([laser_scan_node, obs_node])

launch/sick_lms_1xx.launch.py

@@ -5,35 +5,41 @@
 from launch_ros.actions import Node
 from launch.actions import DeclareLaunchArgument
 
+
 def generate_launch_description():
 
     ld = LaunchDescription()
-    sick_scan_pkg_prefix = get_package_share_directory('sick_scan')
-    launchfile = os.path.basename(__file__)[:-3] # convert "<lidar_name>.launch.py" to "<lidar_name>.launch"
-    launch_file_path = os.path.join(sick_scan_pkg_prefix, 'launch/' + launchfile) # 'launch/sick_lms_1xx.launch')
-    node_arguments=[launch_file_path]
-
+    sick_scan_pkg_prefix = get_package_share_directory("sick_scan")
+    launchfile = os.path.basename(__file__)[
+        :-3
+    ]  # convert "<lidar_name>.launch.py" to "<lidar_name>.launch"
+    launch_file_path = os.path.join(
+        sick_scan_pkg_prefix, "launch/" + launchfile
+    )  # 'launch/sick_lms_1xx.launch')
+    node_arguments = [launch_file_path]
+
     # append optional commandline arguments in name:=value syntax
     for arg in sys.argv:
         if len(arg.split(":=")) == 2:
             node_arguments.append(arg)
-
-    ROS_DISTRO = os.environ.get('ROS_DISTRO') # i.e. 'eloquent', 'foxy', etc.
-    if ROS_DISTRO[0] <= "e": # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
+
+    ROS_DISTRO = os.environ.get("ROS_DISTRO")  # i.e. 'eloquent', 'foxy', etc.
+    if (
+        ROS_DISTRO[0] <= "e"
+    ):  # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
         node = Node(
-            package='sick_scan',
-            node_executable='sick_generic_caller',
-            output='screen',
-            arguments=node_arguments
+            package="sick_scan",
+            node_executable="sick_generic_caller",
+            output="screen",
+            arguments=node_arguments,
         )
-    else: # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
+    else:  # ROS versions eloquent and earlier require "node_executable", ROS foxy and later use "executable"
         node = Node(
-            package='sick_scan',
-            executable='sick_generic_caller',
-            output='screen',
-            arguments=node_arguments
+            package="sick_scan",
+            executable="sick_generic_caller",
+            output="screen",
+            arguments=node_arguments,
         )
-    
+
     ld.add_action(node)
     return ld
-

launch/simulation/hyflex_sim.launch.py

@@ -7,27 +7,29 @@
 
 
 def generate_launch_description():
-    package_dir = get_package_share_directory('simulation')
-    robot_description_path = os.path.join(package_dir, 'resource', 'hyflex.urdf')
+    package_dir = get_package_share_directory("simulation")
+    robot_description_path = os.path.join(package_dir, "resource", "hyflex.urdf")
 
     webots = WebotsLauncher(
-        world=os.path.join(package_dir, 'worlds', 'hyflex_world.wbt')
+        world=os.path.join(package_dir, "worlds", "hyflex_world.wbt")
     )
 
     hyflex_driver = WebotsController(
-        robot_name='hyflex',
+        robot_name="hyflex",
         parameters=[
-            {'robot_description': robot_description_path},
-        ]
+            {"robot_description": robot_description_path},
+        ],
     )
 
-    return LaunchDescription([
-        webots,
-        hyflex_driver,
-        launch.actions.RegisterEventHandler(
-            event_handler=launch.event_handlers.OnProcessExit(
-                target_action=webots,
-                on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
-            )
-        )
-    ])
+    return LaunchDescription(
+        [
+            webots,
+            hyflex_driver,
+            launch.actions.RegisterEventHandler(
+                event_handler=launch.event_handlers.OnProcessExit(
+                    target_action=webots,
+                    on_exit=[launch.actions.EmitEvent(event=launch.events.Shutdown())],
+                )
+            ),
+        ]
+    )