Fix formatting because pre-commit was not running on CI for some time.

.pre-commit-config.yaml

@@ -139,5 +139,5 @@ repos:
     rev: v2.1.0
     hooks:
       - id: codespell
-        args: ['--write-changes']
+        args: ['--write-changes', '--uri-ignore-words-list=ist']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$

joint_trajectory_controller/include/joint_trajectory_controller/interpolation_methods.hpp

@@ -15,10 +15,11 @@
 #ifndef JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
 #define JOINT_TRAJECTORY_CONTROLLER__INTERPOLATION_METHODS_HPP_
 
-#include <rclcpp/rclcpp.hpp>
 #include <string>
 #include <unordered_map>
 
+#include "rclcpp/rclcpp.hpp"
+
 namespace joint_trajectory_controller
 {
 static const rclcpp::Logger LOGGER =

rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/double_editor.py

@@ -43,6 +43,7 @@ class DoubleEditor(QWidget):
     #   DoubleEditor?
     """
     Widget that allows to edit the value of a floating-point value.
+
     Optionally subject to lower and upper bounds.
     """
 
@@ -59,15 +60,17 @@ def __init__(self, min_val, max_val):
         self._max_val = max_val
 
         # Load editor UI
-        ui_file = os.path.join(get_package_share_directory('rqt_joint_trajectory_controller'),
-                               'resource', 'double_editor.ui')
+        ui_file = os.path.join(
+            get_package_share_directory("rqt_joint_trajectory_controller"),
+            "resource",
+            "double_editor.ui",
+        )
         loadUi(ui_file, self)
 
         # Setup widget ranges and slider scale factor
         self.slider.setRange(0, 100)
         self.slider.setSingleStep(1)
-        self._scale = (max_val - min_val) / \
-                      (self.slider.maximum() - self.slider.minimum())
+        self._scale = (max_val - min_val) / (self.slider.maximum() - self.slider.minimum())
         self.spin_box.setRange(min_val, max_val)
         self.spin_box.setSingleStep(self._scale)
 
@@ -82,8 +85,7 @@ def _slider_to_val(self, sval):
         return self._min_val + self._scale * (sval - self.slider.minimum())
 
     def _val_to_slider(self, val):
-        return round(self.slider.minimum() + (val - self._min_val) /
-                     self._scale)
+        return round(self.slider.minimum() + (val - self._min_val) / self._scale)
 
     def _on_slider_changed(self):
         val = self._slider_to_val(self.slider.value())

rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_limits_urdf.py

@@ -1,5 +1,19 @@
 #!/usr/bin/env python
 
+# Copyright 2022 PAL Robotics S.L.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 # TODO: Use urdf_parser_py.urdf instead. I gave it a try, but got
 #  Exception: Required attribute not set in XML: upper
 # upper is an optional attribute, so I don't understand what's going on
@@ -19,7 +33,7 @@ def callback(msg):
     description = msg.data
 
 
-def get_joint_limits(node, key='robot_description', use_smallest_joint_limits=True):
+def get_joint_limits(node, key="robot_description", use_smallest_joint_limits=True):
     global description
     use_small = use_smallest_joint_limits
     use_mimic = True
@@ -39,62 +53,59 @@ def get_joint_limits(node, key='robot_description', use_smallest_joint_limits=Tr
     dependent_joints = {}
 
     if description != "":
-        robot = xml.dom.minidom.parseString(description)\
-            .getElementsByTagName('robot')[0]
+        robot = xml.dom.minidom.parseString(description).getElementsByTagName("robot")[0]
 
         # Find all non-fixed joints
         for child in robot.childNodes:
             if child.nodeType is child.TEXT_NODE:
                 continue
-            if child.localName == 'joint':
-                jtype = child.getAttribute('type')
-                if jtype == 'fixed':
+            if child.localName == "joint":
+                jtype = child.getAttribute("type")
+                if jtype == "fixed":
                     continue
-                name = child.getAttribute('name')
+                name = child.getAttribute("name")
                 try:
-                    limit = child.getElementsByTagName('limit')[0]
+                    limit = child.getElementsByTagName("limit")[0]
                 except:
                     continue
-                if jtype == 'continuous':
+                if jtype == "continuous":
                     minval = -pi
                     maxval = pi
                 else:
                     try:
-                        minval = float(limit.getAttribute('lower'))
-                        maxval = float(limit.getAttribute('upper'))
+                        minval = float(limit.getAttribute("lower"))
+                        maxval = float(limit.getAttribute("upper"))
                     except:
                         continue
                 try:
-                    maxvel = float(limit.getAttribute('velocity'))
+                    maxvel = float(limit.getAttribute("velocity"))
                 except:
                     continue
-                safety_tags = child.getElementsByTagName('safety_controller')
+                safety_tags = child.getElementsByTagName("safety_controller")
                 if use_small and len(safety_tags) == 1:
                     tag = safety_tags[0]
-                    if tag.hasAttribute('soft_lower_limit'):
-                        minval = max(minval,
-                                     float(tag.getAttribute('soft_lower_limit')))
-                    if tag.hasAttribute('soft_upper_limit'):
-                        maxval = min(maxval,
-                                     float(tag.getAttribute('soft_upper_limit')))
-
-                mimic_tags = child.getElementsByTagName('mimic')
+                    if tag.hasAttribute("soft_lower_limit"):
+                        minval = max(minval, float(tag.getAttribute("soft_lower_limit")))
+                    if tag.hasAttribute("soft_upper_limit"):
+                        maxval = min(maxval, float(tag.getAttribute("soft_upper_limit")))
+
+                mimic_tags = child.getElementsByTagName("mimic")
                 if use_mimic and len(mimic_tags) == 1:
                     tag = mimic_tags[0]
-                    entry = {'parent': tag.getAttribute('joint')}
-                    if tag.hasAttribute('multiplier'):
-                        entry['factor'] = float(tag.getAttribute('multiplier'))
-                    if tag.hasAttribute('offset'):
-                        entry['offset'] = float(tag.getAttribute('offset'))
+                    entry = {"parent": tag.getAttribute("joint")}
+                    if tag.hasAttribute("multiplier"):
+                        entry["factor"] = float(tag.getAttribute("multiplier"))
+                    if tag.hasAttribute("offset"):
+                        entry["offset"] = float(tag.getAttribute("offset"))
 
                     dependent_joints[name] = entry
                     continue
 
                 if name in dependent_joints:
                     continue
 
-                joint = {'min_position': minval, 'max_position': maxval}
-                joint["has_position_limits"] = jtype != 'continuous'
-                joint['max_velocity'] = maxvel
+                joint = {"min_position": minval, "max_position": maxval}
+                joint["has_position_limits"] = jtype != "continuous"
+                joint["max_velocity"] = maxvel
                 free_joints[name] = joint
     return free_joints