PEP8 formatting

src/drone_controller.py

@@ -8,73 +8,74 @@
 # It also tracks the drone state based on navdata feedback
 
 # Import the ROS libraries, and load the manifest file which through <depend package=... /> will give us access to the project dependencies
-import roslib; roslib.load_manifest('ardrone_tutorials')
+import roslib
+roslib.load_manifest('ardrone_tutorials')
 import rospy
 
 # Import the messages we're interested in sending and receiving
 from geometry_msgs.msg import Twist  	 # for sending commands to the drone
 from std_msgs.msg import Empty       	 # for land/takeoff/emergency
-from ardrone_autonomy.msg import Navdata # for receiving navdata feedback
+from ardrone_autonomy.msg import Navdata  # for receiving navdata feedback
 
 # An enumeration of Drone Statuses
 from drone_status import DroneStatus
 
 
 # Some Constants
-COMMAND_PERIOD = 100 #ms
+COMMAND_PERIOD = 100  # ms
 
 
 class BasicDroneController(object):
-	def __init__(self):
-		# Holds the current drone status
-		self.status = -1
-
-		# Subscribe to the /ardrone/navdata topic, of message type navdata, and call self.ReceiveNavdata when a message is received
-		self.subNavdata = rospy.Subscriber('/ardrone/navdata',Navdata,self.ReceiveNavdata) 
-
-		# Allow the controller to publish to the /ardrone/takeoff, land and reset topics
-		self.pubLand    = rospy.Publisher('/ardrone/land',Empty)
-		self.pubTakeoff = rospy.Publisher('/ardrone/takeoff',Empty)
-		self.pubReset   = rospy.Publisher('/ardrone/reset',Empty)
-
-		# Allow the controller to publish to the /cmd_vel topic and thus control the drone
-		self.pubCommand = rospy.Publisher('/cmd_vel',Twist)
-
-		# Setup regular publishing of control packets
-		self.command = Twist()
-		self.commandTimer = rospy.Timer(rospy.Duration(COMMAND_PERIOD/1000.0),self.SendCommand)
-
-		# Land the drone if we are shutting down
-		rospy.on_shutdown(self.SendLand)
-
-	def ReceiveNavdata(self,navdata):
-		# Although there is a lot of data in this packet, we're only interested in the state at the moment	
-		self.status = navdata.state
-
-	def SendTakeoff(self):
-		# Send a takeoff message to the ardrone driver
-		# Note we only send a takeoff message if the drone is landed - an unexpected takeoff is not good!
-		if(self.status == DroneStatus.Landed):
-			self.pubTakeoff.publish(Empty())
-
-	def SendLand(self):
-		# Send a landing message to the ardrone driver
-		# Note we send this in all states, landing can do no harm
-		self.pubLand.publish(Empty())
-
-	def SendEmergency(self):
-		# Send an emergency (or reset) message to the ardrone driver
-		self.pubReset.publish(Empty())
-
-	def SetCommand(self,roll=0,pitch=0,yaw_velocity=0,z_velocity=0):
-		# Called by the main program to set the current command
-		self.command.linear.x  = pitch
-		self.command.linear.y  = roll
-		self.command.linear.z  = z_velocity
-		self.command.angular.z = yaw_velocity
-
-	def SendCommand(self,event):
-		# The previously set command is then sent out periodically if the drone is flying
-		if self.status == DroneStatus.Flying or self.status == DroneStatus.GotoHover or self.status == DroneStatus.Hovering:
-			self.pubCommand.publish(self.command)
 
+    def __init__(self):
+        # Holds the current drone status
+        self.status = -1
+
+        # Subscribe to the /ardrone/navdata topic, of message type navdata, and call self.ReceiveNavdata when a message is received
+        self.subNavdata = rospy.Subscriber('/ardrone/navdata', Navdata, self.ReceiveNavdata)
+
+        # Allow the controller to publish to the /ardrone/takeoff, land and reset topics
+        self.pubLand = rospy.Publisher('/ardrone/land', Empty)
+        self.pubTakeoff = rospy.Publisher('/ardrone/takeoff', Empty)
+        self.pubReset = rospy.Publisher('/ardrone/reset', Empty)
+
+        # Allow the controller to publish to the /cmd_vel topic and thus control the drone
+        self.pubCommand = rospy.Publisher('/cmd_vel', Twist)
+
+        # Setup regular publishing of control packets
+        self.command = Twist()
+        self.commandTimer = rospy.Timer(rospy.Duration(COMMAND_PERIOD / 1000.0), self.SendCommand)
+
+        # Land the drone if we are shutting down
+        rospy.on_shutdown(self.SendLand)
+
+    def ReceiveNavdata(self, navdata):
+        # Although there is a lot of data in this packet, we're only interested in the state at the moment
+        self.status = navdata.state
+
+    def SendTakeoff(self):
+        # Send a takeoff message to the ardrone driver
+        # Note we only send a takeoff message if the drone is landed - an unexpected takeoff is not good!
+        if(self.status == DroneStatus.Landed):
+            self.pubTakeoff.publish(Empty())
+
+    def SendLand(self):
+        # Send a landing message to the ardrone driver
+        # Note we send this in all states, landing can do no harm
+        self.pubLand.publish(Empty())
+
+    def SendEmergency(self):
+        # Send an emergency (or reset) message to the ardrone driver
+        self.pubReset.publish(Empty())
+
+    def SetCommand(self, roll=0, pitch=0, yaw_velocity=0, z_velocity=0):
+        # Called by the main program to set the current command
+        self.command.linear.x = pitch
+        self.command.linear.y = roll
+        self.command.linear.z = z_velocity
+        self.command.angular.z = yaw_velocity
+
+    def SendCommand(self, event):
+        # The previously set command is then sent out periodically if the drone is flying
+        if self.status == DroneStatus.Flying or self.status == DroneStatus.GotoHover or self.status == DroneStatus.Hovering:
+            self.pubCommand.publish(self.command)

src/drone_status.py

@@ -3,14 +3,15 @@
 # An enumeration of drone statuses for the tutorial "Up and flying with the AR.Drone and ROS | Getting Started"
 # https://github.com/mikehamer/ardrone_tutorials_getting_started
 
+
 class DroneStatus(object):
-	Emergency = 0
-	Inited    = 1
-	Landed    = 2
-	Flying    = 3
-	Hovering  = 4
-	Test      = 5
-	TakingOff = 6
-	GotoHover = 7
-	Landing   = 8
-	Looping   = 9
+    Emergency = 0
+    Inited = 1
+    Landed = 2
+    Flying = 3
+    Hovering = 4
+    Test = 5
+    TakingOff = 6
+    GotoHover = 7
+    Landing = 8
+    Looping = 9