[.github] Remove core common_drivers COLCON_IGNORE in xs_humble CI (#84)

* Remove core common_drivers COLCON_IGNORE

* Lint

* Lint

Author: lukeschmitt-tr

.github/workflows/xs-humble.yaml

@@ -40,6 +40,7 @@ jobs:
       - name: Prepare Workspace
         run: |
           rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE || echo "File not found"
+          rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE || echo "File not found"
           rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
           rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE
           rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE

interbotix_common_toolbox/interbotix_common_modules/interbotix_common_modules/common_robot/robot.py

@@ -99,10 +99,12 @@ def __start(node: InterbotixRobotNode, daemon: bool = True) -> None:
     global __interbotix_execution_thread
     global __interbotix_executor
     __interbotix_executor = MultiThreadedExecutor()
+
     def spin(node: InterbotixRobotNode) -> None:
         while rclpy.ok():
             __interbotix_executor.add_node(node=node)
             __interbotix_executor.spin()
+
     __interbotix_execution_thread = Thread(target=spin, args=(node,), daemon=daemon)
     __interbotix_execution_thread.start()
 

interbotix_common_toolbox/interbotix_gravity_compensation/include/interbotix_gravity_compensation/interbotix_gravity_compensation.hpp

@@ -26,8 +26,8 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-#ifndef INTERBOTIX_GRAVITY_COMPENSATION_HPP_
-#define INTERBOTIX_GRAVITY_COMPENSATION_HPP_
+#ifndef INTERBOTIX_GRAVITY_COMPENSATION__INTERBOTIX_GRAVITY_COMPENSATION_HPP_
+#define INTERBOTIX_GRAVITY_COMPENSATION__INTERBOTIX_GRAVITY_COMPENSATION_HPP_
 
 #include <memory>
 #include <mutex>
@@ -196,4 +196,4 @@ class InterbotixGravityCompensation : public rclcpp::Node
   bool prepare_tree();
 };
 
-#endif  // INTERBOTIX_GRAVITY_COMPENSATION_HPP_
+#endif  // INTERBOTIX_GRAVITY_COMPENSATION__INTERBOTIX_GRAVITY_COMPENSATION_HPP_

interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/gravity_compensation.py

@@ -49,15 +49,15 @@ def __init__(
         logging_level: LoggingSeverity = LoggingSeverity.INFO,
         node_name: str = 'interbotix_robot_manipulation',
         node: InterbotixRobotNode = None,
-        args = None,
+        args=None,
     ) -> None:
         """
         Construct the Interbotix Gravity Compensation Module.
 
         :param robot_model: Interbotix Arm model (ex. 'wx250' or 'aloha_wx250s')
         :param robot_name: (optional) defaults to value given to 'robot_model'; this can be
-            customized if controlling two of the same arms from one computer (like 'arm1/wx250s' and
-            'arm2/wx250s')
+            customized if controlling two of the same arms from one computer (like 'arm1/wx250s'
+            and 'arm2/wx250s')
         :param topic_joint_states: (optional) the specific JointState topic output by the xs_sdk
             node
         :param logging_level: (optional) rclpy logging severity level. Can be DEBUG, INFO, WARN,
@@ -104,17 +104,13 @@ def __init__(self, core: InterbotixRobotXSCore) -> None:
         self.request = SetBool.Request()
 
     def enable(self) -> None:
-        """
-        Enable gravity compensation on the robot.
-        """
+        """Enable gravity compensation on the robot."""
         self.request.data = True
         self.core.get_node().wait_until_future_complete(
             self.client.call_async(self.request))
 
     def disable(self) -> None:
-        """
-        Disable gravity compensation on the robot.
-        """
+        """Disable gravity compensation on the robot."""
         self.request.data = False
         self.core.get_node().wait_until_future_complete(
             self.client.call_async(self.request))