Formatting pass

Signed-off-by: methylDragon <[email protected]>

moveit_ros/trajectory_cache/CHANGELOG.rst

@@ -4,4 +4,4 @@ Changelog for package nexus_motion_planner
 
 0.1.0 (2024-05-17)
 ------------------
-* Add ``moveit_ros_trajectory_cache`` package for trajectory caching.
+* Add ``moveit_ros_trajectory_cache`` package for trajectory caching.

moveit_ros/trajectory_cache/CMakeLists.txt

@@ -19,45 +19,43 @@ find_package(warehouse_ros_sqlite REQUIRED)
 
 include_directories(include)
 
-set (trajectory_cache_dependencies
-  geometry_msgs
-  moveit_ros_planning_interface
-  moveit_ros_warehouse
-  rclcpp
-  tf2
-  tf2_ros
-  trajectory_msgs
-  warehouse_ros
-  warehouse_ros_sqlite
-)
-
-#===============================================================================
-set(TRAJECTORY_CACHE_LIBRARY_NAME trajectory_cache)
+set(trajectory_cache_dependencies
+    geometry_msgs
+    moveit_ros_planning_interface
+    moveit_ros_warehouse
+    rclcpp
+    tf2
+    tf2_ros
+    trajectory_msgs
+    warehouse_ros
+    warehouse_ros_sqlite)
+
+# ==============================================================================
 
 # Motion plan cache library
-add_library(${TRAJECTORY_CACHE_LIBRARY_NAME} src/trajectory_cache.cpp)
-ament_target_dependencies(${TRAJECTORY_CACHE_LIBRARY_NAME} ${trajectory_cache_dependencies})
-target_include_directories(${TRAJECTORY_CACHE_LIBRARY_NAME} PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
+add_library(trajectory_cache src/trajectory_cache.cpp)
+ament_target_dependencies(trajectory_cache ${trajectory_cache_dependencies})
+target_include_directories(
+  trajectory_cache
+  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>)
 
-#===============================================================================
+# ==============================================================================
 
 if(BUILD_TESTING)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(launch_testing_ament_cmake REQUIRED)
   find_package(rmf_utils REQUIRED)
 
-  # This test executable is run by the pytest_test, since a node is required for testing move groups
+  # This test executable is run by the pytest_test, since a node is required for
+  # testing move groups
   add_executable(test_trajectory_cache test/test_trajectory_cache.cpp)
-  target_link_libraries(test_trajectory_cache ${TRAJECTORY_CACHE_LIBRARY_NAME})
+  target_link_libraries(test_trajectory_cache trajectory_cache)
 
-  install(TARGETS
-      test_trajectory_cache
-    RUNTIME DESTINATION lib/${PROJECT_NAME}
-  )
+  install(TARGETS test_trajectory_cache RUNTIME DESTINATION lib/${PROJECT_NAME})
 
-  ament_add_pytest_test(test_trajectory_cache_py "test/test_trajectory_cache.py"
-   WORKING_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}"
-  )
+  ament_add_pytest_test(
+    test_trajectory_cache_py "test/test_trajectory_cache.py" WORKING_DIRECTORY
+    "${CMAKE_CURRENT_BINARY_DIR}")
 
 endif()
 

moveit_ros/trajectory_cache/README.md

@@ -124,8 +124,8 @@ Since this is an initial release, the following features are unsupported because
   - If your planning scene is expected to change between cache lookups, do NOT use this cache, fetched trajectories are likely to result in collision then.
   - To handle collisions this class will need to hash the planning scene world msg (after zeroing out std_msgs/Header timestamps and sequences) and do an appropriate lookup, or do more complicated checks to see if the scene world is "close enough" or is a less obstructed version of the scene in the cache entry.
  - !!! This cache does NOT support keying on joint velocities and efforts.
-   - The cache only keys on joint positions. 
+   - The cache only keys on joint positions.
 - !!! This cache does NOT support multi-DOF joints.
 - !!! This cache does NOT support certain constraints
   - Including: path, constraint regions, everything related to collision.
-- The fuzzy lookup can't be configured on a per-joint basis.
+- The fuzzy lookup can't be configured on a per-joint basis.

moveit_ros/trajectory_cache/include/moveit/trajectory_cache/trajectory_cache.hpp

@@ -257,4 +257,4 @@ class TrajectoryCache
 };
 
 }  // namespace trajectory_cache
-}  // namespace moveit_ros
+}  // namespace moveit_ros

moveit_ros/trajectory_cache/test/test_trajectory_cache.py

@@ -54,8 +54,7 @@ def robot_fixture(moveit_config):
         package="tf2_ros",
         executable="static_transform_publisher",
         output="log",
-        arguments=["0.0", "0.0", "0.0", "0.0",
-                   "0.0", "0.0", "world", "panda_link0"],
+        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "panda_link0"],
     )
 
     robot_state_publisher = Node(
@@ -87,8 +86,7 @@ def robot_fixture(moveit_config):
     ]:
         load_controllers += [
             ExecuteProcess(
-                cmd=["ros2 run controller_manager spawner {}".format(
-                    controller)],
+                cmd=["ros2 run controller_manager spawner {}".format(controller)],
                 shell=True,
                 output="log",
             )
@@ -99,7 +97,7 @@ def robot_fixture(moveit_config):
         static_tf,
         robot_state_publisher,
         ros2_control_node,
-        *load_controllers
+        *load_controllers,
     ]
 
 
@@ -111,24 +109,22 @@ def trajectory_cache_test_runner_node(moveit_config):
         name="test_trajectory_cache_node",
         output="screen",
         cached_output=True,
-        parameters=[moveit_config.to_dict()]
+        parameters=[moveit_config.to_dict()],
     )
 
 
 @launch_pytest.fixture
 def launch_description(trajectory_cache_test_runner_node, robot_fixture):
     return LaunchDescription(
-        robot_fixture +
-        [
-            trajectory_cache_test_runner_node,
-            launch_pytest.actions.ReadyToTest()
-        ]
+        robot_fixture
+        + [trajectory_cache_test_runner_node, launch_pytest.actions.ReadyToTest()]
     )
 
 
 def validate_stream(expected):
     def wrapped(output):
-        assert expected in output.splitlines(
+        assert (
+            expected in output.splitlines()
         ), f"Did not get expected: {expected} in output:\n\n{output}"
     return wrapped
 
@@ -140,15 +136,15 @@ def test_all_tests_pass(trajectory_cache_test_runner_node, launch_context):
         launch_context,
         trajectory_cache_test_runner_node,
         lambda x: x.count("[PASS]") == 165,  # All test cases passed.
-        timeout=30
+        timeout=30,
     )
 
     # Check no occurrences of [FAIL] in output
     assert not process_tools.wait_for_output_sync(
         launch_context,
         trajectory_cache_test_runner_node,
         lambda x: "[FAIL]" in x,
-        timeout=10
+        timeout=10,
     )
 
     yield