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Python string format #2466

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merged 5 commits into from
Jul 23, 2021
Merged

Python string format #2466

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6e22013
Convert to python format strings for readability
Timple Jul 20, 2021
0a8c5a7
Merge concatenated strings
Timple Jul 20, 2021
7621941
Revert converting generated files
Timple Jul 22, 2021
420b456
Single quotes for consistency
Timple Jul 23, 2021
bc52118
Just print the exception
Timple Jul 23, 2021
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2 changes: 1 addition & 1 deletion nav2_bringup/bringup/launch/multi_tb3_simulation_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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")
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I would probably try to keep single / double quotes consistent across the code base. If not for any other specific reason, this discussion could be valuable https://stackoverflow.com/questions/56011/single-quotes-vs-double-quotes-in-python (but my personal preference is just to make sure to be consistent, given there are no double / single quotes in the text itself)

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Oh yeah, @Timple make sure you're running the linters and this passes in the python ones

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@klintan: Agreed on the consistency, changed.

@SteveMacenski: I doubt these kind of CI errors are related to the python strings?

/opt/overlay_ws/src/navigation2/nav2_dwb_controller/dwb_critics/test/obstacle_footprint_test.cpp:246
Expected equality of these values:
  critic->lineCost(3, 3, 0, 50)
    Which is: 85
  50

ament_pep257 succeeds locally.

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No, other issues, have been fixed now but your fork is probably outdated. Merging! Thanks!


group = GroupAction([
IncludeLaunchDescription(
Expand Down
8 changes: 4 additions & 4 deletions nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Expand All @@ -87,7 +87,7 @@ 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()
Expand All @@ -102,10 +102,10 @@ 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()
Expand Down
2 changes: 1 addition & 1 deletion nav2_map_server/test/test_launch_files/map_saver_node.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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()

Expand Down
6 changes: 3 additions & 3 deletions nav2_simple_commander/nav2_simple_commander/demo_picking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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():
Expand Down
32 changes: 16 additions & 16 deletions nav2_simple_commander/nav2_simple_commander/robot_navigator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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()
Expand Down Expand Up @@ -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()
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -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)
Expand All @@ -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)
Expand All @@ -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

Expand Down
29 changes: 13 additions & 16 deletions nav2_system_tests/src/costmap_filters/tester_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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!')
Expand All @@ -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

Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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())
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down
22 changes: 11 additions & 11 deletions nav2_system_tests/src/system/nav_through_poses_tester_node.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -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!')
Expand All @@ -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):
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down
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