Add in the linters for tf2_ros_py. (#740)

Signed-off-by: Chris Lalancette <[email protected]>

tf2_ros_py/doc/source/conf.py

@@ -35,7 +35,7 @@
 # -- Project information -----------------------------------------------------
 
 project = 'tf2_ros_py'
-copyright = '2023, Open Source Robotics Foundation, Inc.'
+copyright = '2023, Open Source Robotics Foundation, Inc.'  # noqa: A001
 author = 'Open Source Robotics Foundation, Inc.'
 
 # The full version, including alpha/beta/rc tags

tf2_ros_py/test/test_buffer.py

@@ -1,40 +1,39 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-# All rights reserved.
+# Copyright (c) 2019 Open Source Robotics Foundation, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
+# modification, are permitted provided that the following conditions are met:
 #
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of the Willow Garage nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
 #
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from geometry_msgs.msg import TransformStamped
 import pytest
 import rclpy
-
 from tf2_ros.buffer import Buffer
-from geometry_msgs.msg import TransformStamped, PointStamped
+
 
 class TestBuffer:
+
     def build_transform(self, target, source, rclpy_time):
         transform = TransformStamped()
         transform.header.frame_id = target

tf2_ros_py/test/test_buffer_client.py

@@ -1,46 +1,42 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-# All rights reserved.
+# Copyright (c) 2019 Open Source Robotics Foundation, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
+# modification, are permitted provided that the following conditions are met:
 #
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of the Willow Garage nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
 #
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-import pytest
 import threading
-import time
-
-import rclpy
 
-from tf2_ros.buffer_client import BufferClient
 from geometry_msgs.msg import TransformStamped
-from tf2_msgs.action import LookupTransform
-from tf2_py import BufferCore, LookupException
+import pytest
+import rclpy
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.time import Time
+from tf2_msgs.action import LookupTransform
 from tf2_msgs.msg import TF2Error
+from tf2_py import BufferCore, LookupException
+from tf2_ros.buffer_client import BufferClient
 
 
 def build_transform(target_frame, source_frame, stamp):
@@ -61,8 +57,10 @@ def build_transform(target_frame, source_frame, stamp):
 
 
 class MockBufferServer():
+
     def __init__(self, node, buffer_core):
-        self.action_server = rclpy.action.ActionServer(node, LookupTransform, 'lookup_transform', self.execute_callback)
+        self.action_server = rclpy.action.ActionServer(
+            node, LookupTransform, 'lookup_transform', self.execute_callback)
         self.buffer_core = buffer_core
 
     def execute_callback(self, goal_handle):
@@ -72,9 +70,10 @@ def execute_callback(self, goal_handle):
 
         try:
             if not goal_handle.request.advanced:
-                transform = self.buffer_core.lookup_transform_core(target_frame=goal_handle.request.target_frame,
-                                                                   source_frame=goal_handle.request.source_frame,
-                                                                   time=Time.from_msg(goal_handle.request.source_time))
+                transform = self.buffer_core.lookup_transform_core(
+                    target_frame=goal_handle.request.target_frame,
+                    source_frame=goal_handle.request.source_frame,
+                    time=Time.from_msg(goal_handle.request.source_time))
             else:
                 transform = self.buffer_core.lookup_transform_full_core(
                     target_frame=goal_handle.request.target_frame,
@@ -85,7 +84,7 @@ def execute_callback(self, goal_handle):
                 )
             response.transform = transform
             goal_handle.succeed()
-        except LookupException as e:
+        except LookupException:
             response.error.error = TF2Error.LOOKUP_ERROR
             goal_handle.abort()
 
@@ -96,6 +95,7 @@ def destroy(self):
 
 
 class TestBufferClient:
+
     @classmethod
     def setup_class(cls):
         cls.context = rclpy.context.Context()
@@ -133,7 +133,8 @@ def spin(self):
 
     def test_lookup_transform_true(self):
         buffer_client = BufferClient(
-            self.node, 'lookup_transform', check_frequency=10.0, timeout_padding=rclpy.duration.Duration(seconds=0.0))
+            self.node, 'lookup_transform', check_frequency=10.0,
+            timeout_padding=rclpy.duration.Duration(seconds=0.0))
 
         result = buffer_client.lookup_transform(
             'foo', 'bar', rclpy.time.Time(), rclpy.duration.Duration(seconds=5.0))
@@ -144,7 +145,8 @@ def test_lookup_transform_true(self):
 
     def test_lookup_transform_fail(self):
         buffer_client = BufferClient(
-            self.node, 'lookup_transform', check_frequency=10.0, timeout_padding=rclpy.duration.Duration(seconds=0.0))
+            self.node, 'lookup_transform', check_frequency=10.0,
+            timeout_padding=rclpy.duration.Duration(seconds=0.0))
 
         with pytest.raises(LookupException) as excinfo:
             buffer_client.lookup_transform(

tf2_ros_py/test/test_copyright.py

@@ -0,0 +1,36 @@
+# Copyright (c) 2024 Open Source Robotics Foundation, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from ament_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    assert main(argv=['.', 'test']) == 0, 'Found errors'

tf2_ros_py/test/test_flake8.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2024 Open Source Robotics Foundation, Inc. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

tf2_ros_py/test/test_listener_and_broadcaster.py

@@ -1,43 +1,40 @@
-# Copyright 2019 Open Source Robotics Foundation, Inc.
-# All rights reserved.
+# Copyright (c) 2019 Open Source Robotics Foundation, Inc. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
+# modification, are permitted provided that the following conditions are met:
 #
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the name of the Willow Garage nor the names of its
-#    contributors may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
 #
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the copyright holder nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+from geometry_msgs.msg import TransformStamped
 import pytest
 import rclpy
-
-from geometry_msgs.msg import TransformStamped
+from tf2_ros import ExtrapolationException
 from tf2_ros.buffer import Buffer
-from tf2_ros.transform_broadcaster import TransformBroadcaster
 from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster
-from tf2_ros.transform_listener import TransformListener
 from tf2_ros.static_transform_listener import StaticTransformListener
-from tf2_ros import ExtrapolationException
+from tf2_ros.transform_broadcaster import TransformBroadcaster
+from tf2_ros.transform_listener import TransformListener
 
 
 def build_transform(target_frame, source_frame, stamp):
@@ -58,6 +55,7 @@ def build_transform(target_frame, source_frame, stamp):
 
 
 class TestBroadcasterAndListener:
+
     @classmethod
     def setup_class(cls):
         rclpy.init()
@@ -160,21 +158,21 @@ def test_broadcaster_and_listener(self):
         assert broadcasted_transform == listened_transform_async
 
     def test_static_broadcaster_and_listener(self):
-        broadcasted_transform = self.broadcast_static_transform(
+        broadcasted_tf = self.broadcast_static_transform(
             target_frame='foo', source_frame='bar',
             time_stamp=rclpy.time.Time(seconds=1.1, nanoseconds=0).to_msg())
 
-        listened_transform = self.buffer.lookup_transform(
+        listened_tf = self.buffer.lookup_transform(
             target_frame='foo', source_frame='bar',
             time=rclpy.time.Time(seconds=1.5, nanoseconds=0).to_msg())
 
-        assert broadcasted_transform.header.stamp.sec == 1
-        assert broadcasted_transform.header.stamp.nanosec == 100000000
+        assert broadcasted_tf.header.stamp.sec == 1
+        assert broadcasted_tf.header.stamp.nanosec == 100000000
 
-        assert listened_transform.header.stamp.sec == 1
-        assert listened_transform.header.stamp.nanosec == 500000000
+        assert listened_tf.header.stamp.sec == 1
+        assert listened_tf.header.stamp.nanosec == 500000000
 
-        assert broadcasted_transform.header.frame_id == listened_transform.header.frame_id
-        assert broadcasted_transform.child_frame_id == listened_transform.child_frame_id
-        assert broadcasted_transform.transform.translation == listened_transform.transform.translation
-        assert broadcasted_transform.transform.rotation == listened_transform.transform.rotation
+        assert broadcasted_tf.header.frame_id == listened_tf.header.frame_id
+        assert broadcasted_tf.child_frame_id == listened_tf.child_frame_id
+        assert broadcasted_tf.transform.translation == listened_tf.transform.translation
+        assert broadcasted_tf.transform.rotation == listened_tf.transform.rotation