[MSA] Three small edits

.pre-commit-config.yaml

@@ -33,7 +33,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 22.3.0
     hooks:
       - id: black
 

moveit_commander/src/moveit_commander/planning_scene_interface.py

@@ -65,7 +65,7 @@ class PlanningSceneInterface(object):
     """
 
     def __init__(self, ns="", synchronous=False, service_timeout=5.0):
-        """ Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics. """
+        """Create a planning scene interface; it uses both C++ wrapped methods and scene manipulation topics."""
         self._psi = _moveit_planning_scene_interface.PlanningSceneInterface(ns)
 
         self._pub_co = rospy.Publisher(
@@ -94,31 +94,31 @@ def __submit(self, collision_object, attach=False):
                 self._pub_co.publish(collision_object)
 
     def add_object(self, collision_object):
-        """ Add an object to the planning scene """
+        """Add an object to the planning scene"""
         self.__submit(collision_object, attach=False)
 
     def add_sphere(self, name, pose, radius=1):
-        """ Add a sphere to the planning scene """
+        """Add a sphere to the planning scene"""
         co = self.__make_sphere(name, pose, radius)
         self.__submit(co, attach=False)
 
     def add_cylinder(self, name, pose, height, radius):
-        """ Add a cylinder to the planning scene """
+        """Add a cylinder to the planning scene"""
         co = self.__make_cylinder(name, pose, height, radius)
         self.__submit(co, attach=False)
 
     def add_mesh(self, name, pose, filename, size=(1, 1, 1)):
-        """ Add a mesh to the planning scene """
+        """Add a mesh to the planning scene"""
         co = self.__make_mesh(name, pose, filename, size)
         self.__submit(co, attach=False)
 
     def add_box(self, name, pose, size=(1, 1, 1)):
-        """ Add a box to the planning scene """
+        """Add a box to the planning scene"""
         co = self.__make_box(name, pose, size)
         self.__submit(co, attach=False)
 
     def add_plane(self, name, pose, normal=(0, 0, 1), offset=0):
-        """ Add a plane to the planning scene """
+        """Add a plane to the planning scene"""
         co = CollisionObject()
         co.operation = CollisionObject.ADD
         co.id = name
@@ -131,7 +131,7 @@ def add_plane(self, name, pose, normal=(0, 0, 1), offset=0):
         self.__submit(co, attach=False)
 
     def attach_object(self, attached_collision_object):
-        """ Attach an object in the planning scene """
+        """Attach an object in the planning scene"""
         self.__submit(attached_collision_object, attach=True)
 
     def attach_mesh(
@@ -162,7 +162,7 @@ def attach_box(self, link, name, pose=None, size=(1, 1, 1), touch_links=[]):
         self.__submit(aco, attach=True)
 
     def clear(self):
-        """ Remove all objects from the planning scene """
+        """Remove all objects from the planning scene"""
         self.remove_attached_object()
         self.remove_world_object()
 

moveit_commander/src/moveit_commander/robot.py

@@ -192,7 +192,7 @@ def get_robot_markers(self, *args):
         return mrkr
 
     def get_root_link(self):
-        """Get the name of the root link of the robot model """
+        """Get the name of the root link of the robot model"""
         return self._r.get_robot_root_link()
 
     def get_active_joint_names(self, group=None):
@@ -241,7 +241,7 @@ def get_group_names(self):
         return self._r.get_group_names()
 
     def get_current_state(self):
-        """ Get a RobotState message describing the current state of the robot"""
+        """Get a RobotState message describing the current state of the robot"""
         s = RobotState()
         s.deserialize(self._r.get_current_state())
         return s

moveit_ros/planning_interface/test/serialize_msg.py

@@ -102,14 +102,14 @@ def test_rejectIntTuple(self):
 
     def test_rejectUnicode(self):
         with self.assertRaisesRegexp(Exception, "Python argument types in"):
-            self.helper.compareEmbeddedZeros(u"kdasd")
+            self.helper.compareEmbeddedZeros("kdasd")
 
     @unittest.skipIf(py_version_maj == 2, "does not trigger with python 2.7")
     def test_rejectUnicodeTuple(self):
         with self.assertRaisesRegexp(
             RuntimeError, "Underlying python object is not a Bytes/String instance"
         ):
-            self.helper.compareVectorTuple((u"kdasd",))
+            self.helper.compareVectorTuple(("kdasd",))
 
 
 if __name__ == "__main__":

moveit_setup_assistant/README.md

@@ -106,4 +106,4 @@ The format for the templates is custom to MSA. Let's assume you have a `Template
 
 becomes
 
-   <name>r2d2_moveit_config</name>
+    <name>r2d2_moveit_config</name>

moveit_setup_assistant/moveit_setup_assistant/src/main.cpp

@@ -93,12 +93,6 @@ int main(int argc, char** argv)
   auto client = std::make_unique<rviz_common::ros_integration::RosClientAbstraction>();
   auto node = client->init(argc, argv, "moveit_setup_assistant", false);
 
-  /* TODO:
-   * Migration Notes:
-   *   ROS 1 MSA had an explicit SIGINT handler (ros::init_options::NoSigintHandler) not replicated here
-   *   ROS 1 MSA also started an ASyncSpinner
-   */
-
   // Create Qt Application
   QApplication qt_app(argc, argv);
   // numeric values should always be POSIX

moveit_setup_assistant/moveit_setup_core_plugins/include/moveit_setup_core_plugins/configuration_files_widget.hpp

@@ -43,7 +43,6 @@
 #include <QList>
 #include <QLabel>
 #include <QListWidget>
-#include <QListWidget>
 #include <QListWidgetItem>
 #include <QProgressBar>
 #include <QPushButton>