pass style checks

umrover · Jan 24, 2025 · 9688cb1 · 9688cb1
1 parent 0c57e60
commit 9688cb1
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Showing 4 changed files with 15 additions and 26 deletions.
diff --git a/launch/localization.launch.py b/launch/localization.launch.py
@@ -12,7 +12,6 @@
 
 def generate_launch_description():
 
-
     rover_gps_driver_node = Node(
         package="mrover",
         executable="rover_gps_driver",
@@ -34,11 +33,4 @@ def generate_launch_description():
         parameters=[os.path.join(get_package_share_directory("mrover"), "config", "zed.yaml")],
     )
 
-
-    return LaunchDescription(
-        [
-            rover_gps_driver_node,
-            gps_linearization_node,
-            zed_node
-        ]
-    )
+    return LaunchDescription([rover_gps_driver_node, gps_linearization_node, zed_node])
diff --git a/launch/localization_basestation.launch.py b/launch/localization_basestation.launch.py
@@ -12,15 +12,13 @@
 
 def generate_launch_description():
 
-
     basestation_gps_driver_node = Node(
         package="mrover",
         executable="basestation_gps_driver.py",
         name="basestation_gps_driver",
         parameters=[os.path.join(get_package_share_directory("mrover"), "config", "localization.yaml")],
     )
 
-
     return LaunchDescription(
         [
             basestation_gps_driver_node,

diff --git a/localization/basestation_gps_driver.py b/localization/basestation_gps_driver.py
@@ -65,17 +65,17 @@ def spin(self) -> None:
                     for i in range(msg.numSvs):
                         gnssId = getattr(msg, f"gnssId_{i+1:02d}")
                         cno = getattr(msg, f"cno_{i+1:02d}")
-                        if (gnssId == 0):
+                        if gnssId == 0:
                             self.get_logger().info(f"GPS signal strength: {cno}")
-                        elif (gnssId == 1):
+                        elif gnssId == 1:
                             self.get_logger().info(f"SBAS signal strength: {cno}")
-                        elif (gnssId == 2):
+                        elif gnssId == 2:
                             self.get_logger().info(f"Galileo signal strength: {cno}")
-                        elif (gnssId == 3):
+                        elif gnssId == 3:
                             self.get_logger().info(f"BeiDou signal strength: {cno}")
-                        elif (gnssId == 5):
+                        elif gnssId == 5:
                             self.get_logger().info(f"QZSS signal strength: {cno}")
-                        elif (gnssId == 6):
+                        elif gnssId == 6:
                             self.get_logger().info(f"GLONASS signal strength: {cno}")
 
             rclpy.spin_once(self, timeout_sec=0)

diff --git a/localization/gps_linearization.py b/localization/gps_linearization.py
@@ -26,6 +26,7 @@
 import message_filters
 from lie.conversions import to_tf_tree, SE3
 
+
 class GPSLinearization(Node):
 
     def __init__(self) -> None:
@@ -54,25 +55,23 @@ def __init__(self) -> None:
         self.sync = message_filters.ApproximateTimeSynchronizer([self.gps_sub, self.orientation_sub], 10, 1)
         self.sync.registerCallback(self.synced_gps_imu_callback)
 
-
     def synced_gps_imu_callback(self, gps_msg: NavSatFix, imu_msg: Imu):
 
         if np.isnan([gps_msg.latitude, gps_msg.longitude, gps_msg.altitude]).any():
             self.get_logger().warn("Received NaN GPS data, ignoring")
             return
 
-        quaternion = np.array([imu_msg.orientation.x, imu_msg.orientation.y, imu_msg.orientation.z, imu_msg.orientation.w])
+        quaternion = np.array(
+            [imu_msg.orientation.x, imu_msg.orientation.y, imu_msg.orientation.z, imu_msg.orientation.w]
+        )
         quaternion = quaternion / np.linalg.norm(quaternion)
 
-        x, y, z = geodetic2enu(gps_msg.latitude, gps_msg.longitude, gps_msg.altitude, self.ref_lat, self.ref_lon, self.ref_alt, deg=True)
+        x, y, z = geodetic2enu(
+            gps_msg.latitude, gps_msg.longitude, gps_msg.altitude, self.ref_lat, self.ref_lon, self.ref_alt, deg=True
+        )
         pose = SE3(position=np.array([x, y, z]), quaternion=quaternion)
 
-        to_tf_tree(
-            tf_broadcaster=self.tf_broadcaster,
-            se3=pose,
-            child_frame="base_link",
-            parent_frame=self.world_frame
-        )
+        to_tf_tree(tf_broadcaster=self.tf_broadcaster, se3=pose, child_frame="base_link", parent_frame=self.world_frame)
 
         self.get_logger().info(f"Published to TF Tree: Position({x}, {y}, {z}), Orientation({imu_msg.orientation})")