Python string format (#2466)

* Convert to python format strings for readability

* Merge concatenated strings

* Revert converting generated files

* Single quotes for consistency

* Just print the exception

nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py

@@ -123,7 +123,7 @@ def generate_launch_description():
     # Define commands for launching the navigation instances
     nav_instances_cmds = []
     for robot in robots:
-        params_file = LaunchConfiguration(robot['name'] + '_params_file')
+        params_file = LaunchConfiguration(f"{robot['name']}_params_file")
 
         group = GroupAction([
             IncludeLaunchDescription(

nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py

@@ -67,7 +67,7 @@ def main():
     if args.turtlebot_type is not None:
         sdf_file_path = os.path.join(
             get_package_share_directory('turtlebot3_gazebo'), 'models',
-            'turtlebot3_{}'.format(args.turtlebot_type), 'model.sdf')
+            f'turtlebot3_{args.turtlebot_type}', 'model.sdf')
     else:
         sdf_file_path = args.sdf
 
@@ -86,7 +86,7 @@ def main():
     if args.robot_namespace:
         ros_params = plugin.find('ros')
         ros_tf_remap = ET.SubElement(ros_params, 'remapping')
-        ros_tf_remap.text = '/tf:=/' + args.robot_namespace + '/tf'
+        ros_tf_remap.text = f'/tf:=/{args.robot_namespace}/tf'
 
     # Set data for request
     request = SpawnEntity.Request()
@@ -101,10 +101,10 @@ def main():
     future = client.call_async(request)
     rclpy.spin_until_future_complete(node, future, timeout_sec=args.timeout)
     if future.result() is not None:
-        print('response: %r' % future.result())
+        print(f'response: {future.result()!r}')
     else:
         raise RuntimeError(
-            'exception while calling service: %r' % future.exception())
+            f'exception while calling service: {future.exception()!r}')
 
     node.get_logger().info('Done! Shutting down node.')
     node.destroy_node()

nav2_map_server/test/test_launch_files/map_saver_node.launch.py

@@ -22,7 +22,7 @@
 
 
 def generate_launch_description():
-    map_publisher = os.path.dirname(os.getenv('TEST_EXECUTABLE')) + '/test_map_saver_publisher'
+    map_publisher = f"{os.path.dirname(os.getenv('TEST_EXECUTABLE'))}/test_map_saver_publisher"
 
     ld = LaunchDescription()
 

nav2_simple_commander/nav2_simple_commander/demo_picking.py

@@ -75,7 +75,7 @@ def main():
     shelf_item_pose.pose.position.y = shelf_positions[request_item_location][1]
     shelf_item_pose.pose.orientation.z = 1.0
     shelf_item_pose.pose.orientation.w = 0.0
-    print('Received request for item picking at ' + request_item_location + '.')
+    print(f'Received request for item picking at {request_item_location}.')
     navigator.goToPose(shelf_item_pose)
 
     # Do something during our route
@@ -105,12 +105,12 @@ def main():
         navigator.goToPose(shipping_destination)
 
     elif result == NavigationResult.CANCELED:
-        print('Task at ' + request_item_location + ' was canceled. Returning to staging point...')
+        print(f'Task at {request_item_location} was canceled. Returning to staging point...')
         initial_pose.header.stamp = navigator.get_clock().now().to_msg()
         navigator.goToPose(initial_pose)
 
     elif result == NavigationResult.FAILED:
-        print('Task at ' + request_item_location + ' failed!')
+        print(f'Task at {request_item_location} failed!')
         exit(-1)
 
     while not navigator.isNavComplete():

nav2_simple_commander/nav2_simple_commander/robot_navigator.py

@@ -96,14 +96,14 @@ def goThroughPoses(self, poses):
         goal_msg = NavigateThroughPoses.Goal()
         goal_msg.poses = poses
 
-        self.info('Navigating with ' + str(len(goal_msg.poses)) + ' goals.' + '...')
+        self.info(f'Navigating with {len(goal_msg.poses)} goals....')
         send_goal_future = self.nav_through_poses_client.send_goal_async(goal_msg,
                                                                          self._feedbackCallback)
         rclpy.spin_until_future_complete(self, send_goal_future)
         self.goal_handle = send_goal_future.result()
 
         if not self.goal_handle.accepted:
-            self.error('Goal with ' + str(len(poses)) + ' poses was rejected!')
+            self.error(f'Goal with {len(poses)} poses was rejected!')
             return False
 
         self.result_future = self.goal_handle.get_result_async()
@@ -142,14 +142,14 @@ def followWaypoints(self, poses):
         goal_msg = FollowWaypoints.Goal()
         goal_msg.poses = poses
 
-        self.info('Following ' + str(len(goal_msg.poses)) + ' goals.' + '...')
+        self.info(f'Following {len(goal_msg.poses)} goals....')
         send_goal_future = self.follow_waypoints_client.send_goal_async(goal_msg,
                                                                         self._feedbackCallback)
         rclpy.spin_until_future_complete(self, send_goal_future)
         self.goal_handle = send_goal_future.result()
 
         if not self.goal_handle.accepted:
-            self.error('Following ' + str(len(poses)) + ' waypoints request was rejected!')
+            self.error(f'Following {len(poses)} waypoints request was rejected!')
             return False
 
         self.result_future = self.goal_handle.get_result_async()
@@ -172,7 +172,7 @@ def isNavComplete(self):
         if self.result_future.result():
             self.status = self.result_future.result().status
             if self.status != GoalStatus.STATUS_SUCCEEDED:
-                self.debug('Goal with failed with status code: {0}'.format(self.status))
+                self.debug(f'Goal with failed with status code: {self.status}')
                 return True
         else:
             # Timed out, still processing, not complete yet
@@ -227,7 +227,7 @@ def getPath(self, start, goal):
         rclpy.spin_until_future_complete(self, self.result_future)
         self.status = self.result_future.result().status
         if self.status != GoalStatus.STATUS_SUCCEEDED:
-            self.warn('Getting path failed with status code: {0}'.format(self.status))
+            self.warn(f'Getting path failed with status code: {self.status}')
             return None
 
         return self.result_future.result().result.path
@@ -255,7 +255,7 @@ def getPathThroughPoses(self, start, goals):
         rclpy.spin_until_future_complete(self, self.result_future)
         self.status = self.result_future.result().status
         if self.status != GoalStatus.STATUS_SUCCEEDED:
-            self.warn('Getting path failed with status code: {0}'.format(self.status))
+            self.warn(f'Getting path failed with status code: {self.status}')
             return None
 
         return self.result_future.result().result.path
@@ -322,10 +322,10 @@ def lifecycleStartup(self):
         self.info('Starting up lifecycle nodes based on lifecycle_manager.')
         for srv_name, srv_type in self.get_service_names_and_types():
             if srv_type[0] == 'nav2_msgs/srv/ManageLifecycleNodes':
-                self.info('Starting up ' + srv_name)
+                self.info(f'Starting up {srv_name}')
                 mgr_client = self.create_client(ManageLifecycleNodes, srv_name)
                 while not mgr_client.wait_for_service(timeout_sec=1.0):
-                    self.info(srv_name + ' service not available, waiting...')
+                    self.info(f'{srv_name} service not available, waiting...')
                 req = ManageLifecycleNodes.Request()
                 req.command = ManageLifecycleNodes.Request().STARTUP
                 future = mgr_client.call_async(req)
@@ -346,10 +346,10 @@ def lifecycleShutdown(self):
         self.info('Shutting down lifecycle nodes based on lifecycle_manager.')
         for srv_name, srv_type in self.get_service_names_and_types():
             if srv_type[0] == 'nav2_msgs/srv/ManageLifecycleNodes':
-                self.info('Shutting down ' + srv_name)
+                self.info(f'Shutting down {srv_name}')
                 mgr_client = self.create_client(ManageLifecycleNodes, srv_name)
                 while not mgr_client.wait_for_service(timeout_sec=1.0):
-                    self.info(srv_name + ' service not available, waiting...')
+                    self.info(f'{srv_name} service not available, waiting...')
                 req = ManageLifecycleNodes.Request()
                 req.command = ManageLifecycleNodes.Request().SHUTDOWN
                 future = mgr_client.call_async(req)
@@ -359,21 +359,21 @@ def lifecycleShutdown(self):
 
     def _waitForNodeToActivate(self, node_name):
         # Waits for the node within the tester namespace to become active
-        self.debug('Waiting for ' + node_name + ' to become active..')
-        node_service = node_name + '/get_state'
+        self.debug(f'Waiting for {node_name} to become active..')
+        node_service = f'{node_name}/get_state'
         state_client = self.create_client(GetState, node_service)
         while not state_client.wait_for_service(timeout_sec=1.0):
-            self.info(node_service + ' service not available, waiting...')
+            self.info(f'{node_service} service not available, waiting...')
 
         req = GetState.Request()
         state = 'unknown'
         while state != 'active':
-            self.debug('Getting ' + node_name + ' state...')
+            self.debug(f'Getting {node_name} state...')
             future = state_client.call_async(req)
             rclpy.spin_until_future_complete(self, future)
             if future.result() is not None:
                 state = future.result().current_state.label
-                self.debug('Result of get_state: %s' % state)
+                self.debug(f'Result of get_state: {state}')
             time.sleep(2)
         return
 

nav2_system_tests/src/costmap_filters/tester_node.py

@@ -210,7 +210,7 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None):
         rclpy.spin_until_future_complete(self, get_result_future)
         status = get_result_future.result().status
         if status != GoalStatus.STATUS_SUCCEEDED:
-            self.info_msg('Goal failed with status code: {0}'.format(status))
+            self.info_msg(f'Goal failed with status code: {status}')
             return False
 
         self.info_msg('Goal succeeded!')
@@ -230,8 +230,7 @@ def checkKeepout(self, x, y):
             self.warn_msg('Filter mask was not received')
         elif self.isInKeepout(x, y):
             self.filter_test_result = False
-            self.error_msg('Pose (' + str(x) + ', ' +
-                           str(y) + ') belongs to keepout zone')
+            self.error_msg(f'Pose ({x}, {y}) belongs to keepout zone')
             return False
         return True
 
@@ -286,7 +285,7 @@ def dwbCostCloudCallback(self, msg):
             self.cost_cloud_received = True
 
     def speedLimitCallback(self, msg):
-        self.info_msg('Received speed limit: ' + str(msg.speed_limit))
+        self.info_msg(f'Received speed limit: {msg.speed_limit}')
         self.checkSpeed(self.speed_it, msg.speed_limit)
         self.speed_it += 1
 
@@ -340,25 +339,25 @@ def distanceFromGoal(self):
         d_x = self.current_pose.position.x - self.goal_pose.position.x
         d_y = self.current_pose.position.y - self.goal_pose.position.y
         distance = math.sqrt(d_x * d_x + d_y * d_y)
-        self.info_msg('Distance from goal is: ' + str(distance))
+        self.info_msg(f'Distance from goal is: {distance}')
         return distance
 
     def wait_for_node_active(self, node_name: str):
         # Waits for the node within the tester namespace to become active
-        self.info_msg('Waiting for ' + node_name + ' to become active')
-        node_service = node_name + '/get_state'
+        self.info_msg(f'Waiting for {node_name} to become active')
+        node_service = f'{node_name}/get_state'
         state_client = self.create_client(GetState, node_service)
         while not state_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(node_service + ' service not available, waiting...')
+            self.info_msg(f'{node_service} service not available, waiting...')
         req = GetState.Request()  # empty request
         state = 'UNKNOWN'
         while (state != 'active'):
-            self.info_msg('Getting ' + node_name + ' state...')
+            self.info_msg(f'Getting {node_name} state...')
             future = state_client.call_async(req)
             rclpy.spin_until_future_complete(self, future)
             if future.result() is not None:
                 state = future.result().current_state.label
-                self.info_msg('Result of get_state: %s' % state)
+                self.info_msg(f'Result of get_state: {state}')
             else:
                 self.error_msg('Exception while calling service: %r' %
                                future.exception())
@@ -372,8 +371,7 @@ def shutdown(self):
         mgr_client = self.create_client(
             ManageLifecycleNodes, transition_service)
         while not mgr_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(transition_service +
-                          ' service not available, waiting...')
+            self.info_msg(f'{transition_service} service not available, waiting...')
 
         req = ManageLifecycleNodes.Request()
         req.command = ManageLifecycleNodes.Request().SHUTDOWN
@@ -385,13 +383,12 @@ def shutdown(self):
             self.info_msg(
                 'Shutting down navigation lifecycle manager complete.')
         except Exception as e:  # noqa: B902
-            self.error_msg('Service call failed %r' % (e,))
+            self.error_msg(f'Service call failed {e!r}')
         transition_service = 'lifecycle_manager_localization/manage_nodes'
         mgr_client = self.create_client(
             ManageLifecycleNodes, transition_service)
         while not mgr_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(transition_service +
-                          ' service not available, waiting...')
+            self.info_msg(f'{transition_service} service not available, waiting...')
 
         req = ManageLifecycleNodes.Request()
         req.command = ManageLifecycleNodes.Request().SHUTDOWN
@@ -403,7 +400,7 @@ def shutdown(self):
             self.info_msg(
                 'Shutting down localization lifecycle manager complete')
         except Exception as e:  # noqa: B902
-            self.error_msg('Service call failed %r' % (e,))
+            self.error_msg(f'Service call failed {e!r}')
 
     def wait_for_initial_pose(self):
         self.initial_pose_received = False

nav2_system_tests/src/system/nav_through_poses_tester_node.py

@@ -111,7 +111,7 @@ def runNavigateAction(self, goal_pose: Optional[Pose] = None):
         rclpy.spin_until_future_complete(self, get_result_future)
         status = get_result_future.result().status
         if status != GoalStatus.STATUS_SUCCEEDED:
-            self.info_msg('Goal failed with status code: {0}'.format(status))
+            self.info_msg(f'Goal failed with status code: {status}')
             return False
 
         self.info_msg('Goal succeeded!')
@@ -124,22 +124,22 @@ def poseCallback(self, msg):
 
     def wait_for_node_active(self, node_name: str):
         # Waits for the node within the tester namespace to become active
-        self.info_msg('Waiting for ' + node_name + ' to become active')
-        node_service = node_name + '/get_state'
+        self.info_msg(f'Waiting for {node_name} to become active')
+        node_service = f'{node_name}/get_state'
         state_client = self.create_client(GetState, node_service)
         while not state_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(node_service + ' service not available, waiting...')
+            self.info_msg(f'{node_service} service not available, waiting...')
         req = GetState.Request()  # empty request
         state = 'UNKNOWN'
         while (state != 'active'):
-            self.info_msg('Getting ' + node_name + ' state...')
+            self.info_msg(f'Getting {node_name} state...')
             future = state_client.call_async(req)
             rclpy.spin_until_future_complete(self, future)
             if future.result() is not None:
                 state = future.result().current_state.label
-                self.info_msg('Result of get_state: %s' % state)
+                self.info_msg(f'Result of get_state: {state}')
             else:
-                self.error_msg('Exception while calling service: %r' % future.exception())
+                self.error_msg(f'Exception while calling service: {future.exception()!r}')
             time.sleep(5)
 
     def shutdown(self):
@@ -149,7 +149,7 @@ def shutdown(self):
         transition_service = 'lifecycle_manager_navigation/manage_nodes'
         mgr_client = self.create_client(ManageLifecycleNodes, transition_service)
         while not mgr_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(transition_service + ' service not available, waiting...')
+            self.info_msg(f'{transition_service} service not available, waiting...')
 
         req = ManageLifecycleNodes.Request()
         req.command = ManageLifecycleNodes.Request().SHUTDOWN
@@ -160,11 +160,11 @@ def shutdown(self):
             future.result()
             self.info_msg('Shutting down navigation lifecycle manager complete.')
         except Exception as e:  # noqa: B902
-            self.error_msg('Service call failed %r' % (e,))
+            self.error_msg(f'Service call failed {e!r}')
         transition_service = 'lifecycle_manager_localization/manage_nodes'
         mgr_client = self.create_client(ManageLifecycleNodes, transition_service)
         while not mgr_client.wait_for_service(timeout_sec=1.0):
-            self.info_msg(transition_service + ' service not available, waiting...')
+            self.info_msg(f'{transition_service} service not available, waiting...')
 
         req = ManageLifecycleNodes.Request()
         req.command = ManageLifecycleNodes.Request().SHUTDOWN
@@ -175,7 +175,7 @@ def shutdown(self):
             future.result()
             self.info_msg('Shutting down localization lifecycle manager complete')
         except Exception as e:  # noqa: B902
-            self.error_msg('Service call failed %r' % (e,))
+            self.error_msg(f'Service call failed {e!r}')
 
     def wait_for_initial_pose(self):
         self.initial_pose_received = False