husarion_gz_worlds pkg rename, FindPackageShare and isort

.gitignore

@@ -15,7 +15,7 @@ __pycache__/
 rosbot_hardware_interfaces/
 ros_components_description/
 rosbot_controllers/
-husarion/husarion_office_gz
+husarion_gz_worlds
 micro-ROS-Agent/
 micro_ros_msgs/
 industrial_ci/

.pre-commit-config.yaml

@@ -32,12 +32,11 @@ repos:
         files: ^(?!.*compose)(?!.*ekf\.yaml$).*$
         args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
 
-  # Please keep this version until --experimental-string-processing come back or will be available by default
   - repo: https://github.com/psf/black
-    rev: 23.11.0
+    rev: 24.4.0
     hooks:
       - id: black
-        args: [--line-length=99, --experimental-string-processing]
+        args: [--line-length=99]
 
   - repo: https://github.com/PyCQA/flake8
     rev: 7.0.0
@@ -46,6 +45,12 @@ repos:
         args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
                                        # black checks it
 
+  - repo: https://github.com/PyCQA/isort
+    rev: 5.13.2
+    hooks:
+      - id: isort
+        args: [--profile, black]
+
   - repo: local
     hooks:
       - id: ament_lint_cmake

README.md

@@ -109,4 +109,3 @@ For further usage examples check out our other repositories:
 * [`rosbot-xl-autonomy`](https://github.com/husarion/rosbot-xl-autonomy) - autonomous navigation & mapping based on Nav2
 * [`rosbot-xl-telepresence`](https://github.com/husarion/rosbot-xl-telepresence) - control and receive signals in real time from any device across the Internet using Husarnet VPN
 * [`rosbot-xl-manipulation`](https://github.com/husarion/rosbot-xl-manipulation) - integration of ROSbot XL with OpenManipulatorX
-

ROS_API.md

@@ -61,7 +61,7 @@ Launch files for Ignition Gazebo working with ROS2 control.
 | **include_camera_mount** | Whether to include camera mount to the robot URDF                 | **False**                                                   |
 | **mecanum**              | Whether to use mecanum drive controller, otherwise use diff drive | **False**                                                   |
 | **namespace**            | Namespace for all topics and tfs                                  | **""**                                                      |
-| **world**                | Path to SDF world file                                            | **`husarion_office_gz/`<br /> `worlds/husarion_world.sdf`** |
+| **world**                | Path to SDF world file                                            | **`husarion_gz_worlds/`<br /> `worlds/husarion_world.sdf`** |
 | **headless**             | Run Gazebo Ignition in the headless mode                          | **False**                                                   |
 | **robots**               | List of robots that will be spawn in the simulation               | **[]**\*\*                                                  |
 

rosbot_xl/rosbot_xl_simulation.repos

@@ -1,5 +1,5 @@
 repositories:
-  husarion/husarion_office_gz:
+  husarion_gz_worlds:
     type: git
-    url: https://github.com/husarion/husarion_office_gz
+    url: https://github.com/husarion/husarion_gz_worlds
     version: main

rosbot_xl_bringup/launch/bringup.launch.py

@@ -13,13 +13,11 @@
 # limitations under the License.
 
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
 from launch_ros.actions import Node, SetParameter
-
-from ament_index_python.packages import get_package_share_directory
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_launch_description():
@@ -92,8 +90,8 @@ def generate_launch_description():
         description="Which simulation engine will be used",
     )
 
-    rosbot_xl_controller = get_package_share_directory("rosbot_xl_controller")
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_controller = FindPackageShare("rosbot_xl_controller")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
 
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(

rosbot_xl_bringup/launch/combined.launch.py

@@ -12,19 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from launch import LaunchDescription
-from launch_ros.substitutions import FindPackageShare
 from launch.actions import (
-    IncludeLaunchDescription,
     DeclareLaunchArgument,
+    IncludeLaunchDescription,
     LogInfo,
-    SetEnvironmentVariable,
     OpaqueFunction,
+    SetEnvironmentVariable,
 )
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import ThisLaunchFileDir, LaunchConfiguration
+from launch.substitutions import (
+    LaunchConfiguration,
+    PathJoinSubstitution,
+    ThisLaunchFileDir,
+)
 from launch_ros.actions import Node
-import os
+from launch_ros.substitutions import FindPackageShare
 
 
 def generate_microros_agent_node(context, *args, **kwargs):
@@ -129,7 +134,9 @@ def generate_launch_description():
     package_dir = FindPackageShare("rosbot_xl_bringup").find("rosbot_xl_bringup")
 
     # Construct the path to the XML file within the package
-    fastrtps_profiles_file = os.path.join(package_dir, "config", "microros_localhost_only.xml")
+    fastrtps_profiles_file = PathJoinSubstitution(
+        [package_dir, "config", "microros_localhost_only.xml"]
+    )
 
     declare_localhost_only_fastrtps_profiles_file_arg = DeclareLaunchArgument(
         "localhost_only_fastrtps_profiles_file",

rosbot_xl_bringup/package.xml

@@ -21,7 +21,6 @@
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>ament_index_python</exec_depend>
 
   <exec_depend>rosbot_xl_controller</exec_depend>
 

rosbot_xl_bringup/setup.py

@@ -14,6 +14,7 @@
 
 import os
 from glob import glob
+
 from setuptools import find_packages, setup
 
 package_name = "rosbot_xl_bringup"

rosbot_xl_bringup/test/test_copyright.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_copyright.main import main
 import pytest
+from ament_copyright.main import main
 
 
 @pytest.mark.copyright

rosbot_xl_bringup/test/test_diff_drive_ekf_and_scan.py

@@ -14,22 +14,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Thread
+
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode, ekf_and_scan_test
-from threading import Thread
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_xl_bringup/test/test_flake8.py

@@ -12,9 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_flake8.main import main_with_errors
-from os.path import join, dirname
+from os.path import dirname, join
+
 import pytest
+from ament_flake8.main import main_with_errors
 
 
 @pytest.mark.flake8

rosbot_xl_bringup/test/test_mecanum_ekf_and_scan.py

@@ -14,22 +14,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Thread
+
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode, ekf_and_scan_test
-from threading import Thread
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_xl_bringup/test/test_multirobot_ekf_and_scan.py

@@ -14,26 +14,25 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Thread
+
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from rclpy.executors import SingleThreadedExecutor
 from test_utils import BringupTestNode, ekf_and_scan_test
-from threading import Thread
-
 
 robot_names = ["rosbot1", "rosbot2", "rosbot3"]
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
     actions = []
     for i in range(len(robot_names)):
         bringup_launch = IncludeLaunchDescription(

rosbot_xl_bringup/test/test_namespaced_diff_drive_ekf_and_scan.py

@@ -14,22 +14,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Thread
+
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode, ekf_and_scan_test
-from threading import Thread
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_xl_bringup/test/test_namespaced_mecanum_ekf_and_scan.py

@@ -14,22 +14,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from threading import Thread
+
 import launch_pytest
 import pytest
 import rclpy
-
-from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import IncludeLaunchDescription
-from launch.substitutions import PathJoinSubstitution
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
 from test_utils import BringupTestNode, ekf_and_scan_test
-from threading import Thread
 
 
 @launch_pytest.fixture
 def generate_test_description():
-    rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
+    rosbot_xl_bringup = FindPackageShare("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution(

rosbot_xl_bringup/test/test_pep257.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_pep257.main import main
 import pytest
+from ament_pep257.main import main
 
 
 @pytest.mark.linter

rosbot_xl_bringup/test/test_utils.py

@@ -13,13 +13,13 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import rclpy
 import math
 import random
-
 from threading import Event
+
+import rclpy
 from rclpy.node import Node
-from sensor_msgs.msg import JointState, Imu, LaserScan
+from sensor_msgs.msg import Imu, JointState, LaserScan
 from tf2_ros import TransformException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener

rosbot_xl_controller/launch/controller.launch.py

@@ -15,22 +15,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from launch.event_handlers import OnProcessExit
 from launch import LaunchDescription
-from launch.actions import (
-    DeclareLaunchArgument,
-    RegisterEventHandler,
-    OpaqueFunction,
-)
+from launch.actions import DeclareLaunchArgument, OpaqueFunction, RegisterEventHandler
 from launch.conditions import UnlessCondition
+from launch.event_handlers import OnProcessExit
 from launch.substitutions import (
     Command,
-    PythonExpression,
     FindExecutable,
-    PathJoinSubstitution,
     LaunchConfiguration,
+    PathJoinSubstitution,
+    PythonExpression,
 )
-
 from launch_ros.actions import Node, SetParameter
 from launch_ros.substitutions import FindPackageShare
 

rosbot_xl_controller/package.xml

@@ -22,7 +22,6 @@
   <exec_depend>ros2launch</exec_depend>
   <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>ament_index_python</exec_depend>
 
   <exec_depend>rosbot_xl_description</exec_depend>
   <exec_depend>ros_components_description</exec_depend>

rosbot_xl_controller/setup.py

@@ -14,6 +14,7 @@
 
 import os
 from glob import glob
+
 from setuptools import find_packages, setup
 
 package_name = "rosbot_xl_controller"

rosbot_xl_controller/test/test_copyright.py

@@ -12,8 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from ament_copyright.main import main
 import pytest
+from ament_copyright.main import main
 
 
 @pytest.mark.copyright