Cleanup.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

tf2_py/package.xml

@@ -5,7 +5,7 @@
   <version>0.9.1</version>
   <description>The tf2_py package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
 
 
@@ -35,7 +35,7 @@
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>geometry_msgs</test_depend>
   <test_depend>rclpy</test_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

tf2_py/src/tf2_py.cpp

@@ -50,7 +50,7 @@ static PyObject *pModulerclpytime = NULL;
 static PyObject *pModulebuiltininterfacesmsgs = NULL;
 static PyObject *pModulegeometrymsgs = NULL;
 static PyObject *tf2_exception = NULL;
-static PyObject *tf2_connectivityexception = NULL, *tf2_lookupexception = NULL, *tf2_extrapolationexception = NULL, 
+static PyObject *tf2_connectivityexception = NULL, *tf2_lookupexception = NULL, *tf2_extrapolationexception = NULL,
                 *tf2_invalidargumentexception = NULL, *tf2_timeoutexception = NULL;
 
 struct buffer_core_t {
@@ -124,6 +124,7 @@ static PyObject *transform_converter(const geometry_msgs::msg::TransformStamped*
   PyObject *ptranslation = PyObject_GetAttrString(ptransform, "translation");
   PyObject *protation = PyObject_GetAttrString(ptransform, "rotation");
   Py_DECREF(ptransform);
+
   PyObject_SetAttrString(pinst, "child_frame_id", stringToPython(transform->child_frame_id));
 
   PyObject_SetAttrString(ptranslation, "x", PyFloat_FromDouble(transform->transform.translation.x));
@@ -178,7 +179,7 @@ static int rostime_converter(PyObject *obj, tf2::TimePoint *rt)
     *rt = tf2::TimePoint(std::chrono::duration_cast<tf2::Duration>(ns));
     return 1;
   }
-  
+
   PyErr_SetString(PyExc_TypeError, "time must have sec and nanosec, or nanoseconds.");
   return 0;
 }
@@ -188,7 +189,7 @@ static int rosduration_converter(PyObject *obj, tf2::Duration *rt)
   if(PyObject_HasAttrString(obj, "sec") && PyObject_HasAttrString(obj, "nanosec")) {
     PyObject *sec = pythonBorrowAttrString(obj, "sec");
     PyObject *nanosec = pythonBorrowAttrString(obj, "nanosec");
-    *rt = std::chrono::seconds(PyLong_AsLong(sec)) + 
+    *rt = std::chrono::seconds(PyLong_AsLong(sec)) +
       std::chrono::nanoseconds(PyLong_AsUnsignedLong(nanosec));
     return 1;
   }
@@ -200,7 +201,7 @@ static int rosduration_converter(PyObject *obj, tf2::Duration *rt)
     *rt = std::chrono::duration_cast<tf2::Duration>(ns);
     return 1;
   }
-  
+
   PyErr_SetString(PyExc_TypeError, "time must have sec and nanosec, or nanoseconds.");
   return 0;
 }
@@ -330,7 +331,7 @@ static PyObject *getLatestCommonTime(PyObject *self, PyObject *args)
     PyObject *nanoseconds = Py_BuildValue("i", time_msg.nanosec);
     PyDict_SetItemString(kwargs, "seconds", seconds);
     PyDict_SetItemString(kwargs, "nanoseconds", nanoseconds);
-    
+
     PyObject *ob = PyObject_Call(rclpy_time, args, kwargs);
     Py_DECREF(nanoseconds);
     Py_DECREF(seconds);
@@ -476,7 +477,7 @@ static PyObject *setTransform(PyObject *self, PyObject *args)
     return NULL;
 
   transform.header.stamp = toMsg(time);
-  
+
   PyObject *mtransform = pythonBorrowAttrString(py_transform, "transform");
 
   PyObject *translation = pythonBorrowAttrString(mtransform, "translation");
@@ -640,7 +641,7 @@ bool staticInit() {
     return false;
   }
 
-  if(pModulerclpytime == NULL) 
+  if(pModulerclpytime == NULL)
   {
     printf("Cannot load rclpy.time.Time module");
     return false;

tf2_ros/src/tf2_ros/buffer.py

@@ -67,7 +67,7 @@ def __init__(self, cache_time = None, debug = True):
         #     try:
         #         m = rosgraph.masterapi.Master(rospy.get_name())
         #         m.lookupService('~tf2_frames')
-        #     except (rosgraph.masterapi.Error, rosgraph.masterapi.Failure):   
+        #     except (rosgraph.masterapi.Error, rosgraph.masterapi.Failure):
         #         self.frame_server = rospy.Service('~tf2_frames', FrameGraph, self.__get_frames)
 
     def __get_frames(self, req):
@@ -120,10 +120,10 @@ def can_transform(self, target_frame, source_frame, time, timeout=Duration(), re
         clock = rclpy.timer.Clock()
         if timeout != Duration():
             start_time = clock.now()
-            # TODO(vinnamkim): rclpy.Rate is not ready 
+            # TODO(vinnamkim): rclpy.Rate is not ready
             # See https://github.com/ros2/rclpy/issues/186
             # r = rospy.Rate(20)
-            while (clock.now() < start_time + timeout and 
+            while (clock.now() < start_time + timeout and
                    not self.can_transform_core(target_frame, source_frame, time)[0] and
                    (clock.now() + Duration(seconds=3.0)) >= start_time): # big jumps in time are likely bag loops, so break for them
                 # r.sleep()
@@ -155,10 +155,10 @@ def can_transform_full(self, target_frame, target_time, source_frame, source_tim
         clock = rclpy.timer.Clock()
         if timeout != Duration():
             start_time = clock.now()
-            # TODO(vinnamkim): rclpy.Rate is not ready 
+            # TODO(vinnamkim): rclpy.Rate is not ready
             # See https://github.com/ros2/rclpy/issues/186
             # r = rospy.Rate(20)
-            while (clock.now() < start_time + timeout and 
+            while (clock.now() < start_time + timeout and
                    not self.can_transform_full_core(target_frame, target_time, source_frame, source_time, fixed_frame)[0] and
                    (clock.now() + Duration(seconds=3.0)) >= start_time): # big jumps in time are likely bag loops, so break for them
                 # r.sleep()

tf2_ros/src/tf2_ros/buffer_client.py

@@ -65,7 +65,7 @@ def __init__(self, node, ns, check_frequency = 10.0, timeout_padding = Duration(
         self.action_client = ActionClient(node, LookupTransform, action_name=ns)
         self.check_frequency = check_frequency
         self.timeout_padding = timeout_padding
-    
+
     # lookup, simple api 
     def lookup_transform(self, target_frame, source_frame, time, timeout=Duration()):
         """
@@ -165,16 +165,16 @@ def __is_done(self, state):
     def __process_goal(self, goal):
         if not self.action_client.server_is_ready():
             raise tf2.TimeoutException("The BufferServer is not ready")
-        
+
         event = threading.Event()
 
         def unblock(future):
             nonlocal event
             event.set()
-            
+
         send_goal_future = self.action_client.send_goal_async(goal)
         send_goal_future.add_done_callback(unblock)
-        
+
         def unblock_by_timeout():
             nonlocal send_goal_future, goal, event
             clock = Clock()
@@ -184,13 +184,13 @@ def unblock_by_timeout():
             while not send_goal_future.done() and not event.is_set():
                 if clock.now() > start_time + timeout + timeout_padding:
                     break
-                # TODO(vinnamkim): rclpy.Rate is not ready 
+                # TODO(vinnamkim): rclpy.Rate is not ready
                 # See https://github.com/ros2/rclpy/issues/186
                 #r = rospy.Rate(self.check_frequency)
                 sleep(1.0 / self.check_frequency)
 
             event.set()
-        
+
         t = threading.Thread(target=unblock_by_timeout)
         t.start()
 
@@ -204,7 +204,7 @@ def unblock_by_timeout():
             raise tf2.TimeoutException("The LookupTransform goal sent to the BufferServer did not come back in the specified time. Something is likely wrong with the server")
 
         goal_handle = send_goal_future.result()
-        
+
         if not goal_handle.accepted:
             raise tf2.TimeoutException("The LookupTransform goal sent to the BufferServer did not come back with accepted status. Something is likely wrong with the server.")