Merge pull request #16 from clearpathrobotics/cib/jazzy-fixes

Apply linting fixes

.github/workflows/ci.yml

@@ -8,15 +8,33 @@ on:
 
 jobs:
   build_and_test:
-    name: humble
+    name: jazzy
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-          - {ROS_DISTRO: humble, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
       fail-fast: false
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{matrix.env}}
+
+  clearpath_desktop_src_ci:
+    name: Jazzy Clearpath Source
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/[email protected]
+        id: action_ros_ci_step
+        with:
+          target-ros2-distro: jazzy
+          package-name: |
+            clearpath_config_live
+            clearpath_desktop
+            ckearpath_viz
+          vcs-repo-file-url: dependencies.repos

clearpath_config_live/clearpath_config_live/clearpath_config_handler.py

@@ -12,16 +12,15 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rclpy.task import Future
-from watchdog.events import EVENT_TYPE_MODIFIED
-from watchdog.events import FileSystemEventHandler
-
 from clearpath_config_live.clearpath_config_watcher import (
     ClearpathConfigWatcher
 )
 from clearpath_config_live.robot_description_client import (
     RobotDescriptionClient
 )
+from rclpy.task import Future
+from watchdog.events import EVENT_TYPE_MODIFIED
+from watchdog.events import FileSystemEventHandler
 
 
 class ClearpathConfigHandler(FileSystemEventHandler):
@@ -48,5 +47,5 @@ def on_modified(self, event):
                     )
                 except Exception as ex:
                     self.future = Future()
-                    self.logger.error("Updater failed to regenerate config:")
+                    self.logger.error('Updater failed to regenerate config:')
                     self.logger.error(str(ex))

clearpath_config_live/clearpath_config_live/clearpath_config_live

@@ -32,19 +32,19 @@ from clearpath_config_live.robot_description_client import (
 def main():
     # Node
     rclpy.init()
-    node = rclpy.create_node("clearpath_config_live")
-    node.declare_parameter("setup_path", "/etc/clearpath")
-    logger = rclpy.logging.get_logger("clearpath_config_live")
+    node = rclpy.create_node('clearpath_config_live')
+    node.declare_parameter('setup_path', '/etc/clearpath')
+    logger = rclpy.logging.get_logger('clearpath_config_live')
 
     # Get File
-    setup_path_param = node.get_parameter("setup_path")
+    setup_path_param = node.get_parameter('setup_path')
     setup_path = setup_path_param.get_parameter_value().string_value
 
     # Watcher, Handler, and Client
     client = RobotDescriptionClient(
         node,
-        "robot_state_publisher",
-        "robot_description"
+        'robot_state_publisher',
+        'robot_description'
     )
     watcher = ClearpathConfigWatcher(setup_path, logger)
     handler = ClearpathConfigHandler(watcher, client, logger)
@@ -53,17 +53,17 @@ def main():
     try:
         watcher.start(handler)
     except Exception as ex:
-        logger.error("Live updater failed: \n")
+        logger.error('Live updater failed: \n')
         logger.error(ex.args)
 
     # Spin
     try:
         rclpy.spin(node)
     except KeyboardInterrupt:
-        logger.info("Live updater exited with keyboard interrupt.")
+        logger.info('Live updater exited with keyboard interrupt.')
     finally:
         watcher.stop()
 
 
-if __name__ == "__main__":
+if __name__ == '__main__':
     main()

clearpath_config_live/clearpath_config_live/clearpath_config_updater.py

@@ -13,10 +13,11 @@
 # limitations under the License.
 
 import os
-import xacro
+
 from clearpath_generator_common.description.generator import (
     DescriptionGenerator
 )
+import xacro
 
 
 class ClearpathConfigUpdater:
@@ -34,7 +35,7 @@ def __init__(
 
     def get_robot_description(self):
         """Get Robot Description Parameter."""
-        return self.doc.toprettyxml(indent="  ")
+        return self.doc.toprettyxml(indent='  ')
 
     def is_file(self, path: str) -> bool:
         """Check if File is the Same."""
@@ -49,5 +50,5 @@ def update(self) -> None:
         dg.generate()
         # Re-load Description
         self.doc = xacro.process_file(
-            os.path.join(self.setup_path, "robot.urdf.xacro")
+            os.path.join(self.setup_path, 'robot.urdf.xacro')
         )

clearpath_config_live/clearpath_config_live/clearpath_config_watcher.py

@@ -12,10 +12,11 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from typing import Set
+
 from clearpath_config_live.clearpath_config_updater import (
     ClearpathConfigUpdater
 )
-from typing import Set
 from watchdog.events import FileSystemEventHandler
 from watchdog.observers import Observer
 
@@ -46,7 +47,7 @@ def update_watched(self, event_handler: FileSystemEventHandler) -> None:
         """Update Directories being Watched."""
         self.observer.unschedule_all()
         for path in self.updater.paths:
-            self.logger.info("Watching directory: %s" % dir)
+            self.logger.info('Watching directory: %s' % dir)
             self.observer.schedule(event_handler, path=path, recursive=False)
 
     def update(self, event_handler: FileSystemEventHandler) -> None: