Python linting

.flake8

@@ -0,0 +1,2 @@
+[flake8]
+max-line-length = 120

.pre-commit-config.yaml

@@ -34,6 +34,20 @@ repos:
     hooks:
       - id: black
 
+  # Flake8 lints Python code
+  - repo: https://github.com/pycqa/flake8
+    rev: 5.0.4
+    hooks:
+      - id: flake8
+
+  # MyPy does static type-checking in Python
+  # Note: In practice this doesn't currently do much, since we don't have type hints in our Python scripts.
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: v0.981
+    hooks:
+      - id: mypy
+        args: [--install-types, --non-interactive, --no-strict-optional, --ignore-missing-imports]
+
   # Beautysh formats Bash scripts
   - repo: https://github.com/lovesegfault/beautysh
     rev: v6.2.1
@@ -62,3 +76,11 @@ repos:
     hooks:
       - id: prettier
         types_or: [css, html, javascript, json, jsx, ts, tsx]
+
+  # # ESLint lints Javascript/Typescript files
+  # - repo: https://github.com/pre-commit/mirrors-eslint
+  #   rev: 'v8.56.0'  # Use the sha / tag you want to point at
+  #   hooks:
+  #   -   id: eslint
+  #       files: \.[jt]sx?$  # *.js, *.jsx, *.ts and *.tsx
+  #       types: [file]

launch/gripper_camera.launch.py

@@ -1,9 +1,6 @@
 from launch_ros.actions import Node
 
-import launch
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():

launch/multi_camera.launch.py

@@ -6,6 +6,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument, GroupAction, IncludeLaunchDescription
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
 
 json_path = os.path.join(
     get_package_share_directory("stretch_core"), "config", "HighAccuracyPreset.json"

launch/navigation_camera.launch.py

@@ -1,9 +1,6 @@
 from launch_ros.actions import Node
 
-import launch
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration
 
 
 def generate_launch_description():

launch/web_interface.launch.py

@@ -13,19 +13,15 @@
     GroupAction,
     IncludeLaunchDescription,
 )
-from launch.conditions import IfCondition, LaunchConfigurationNotEquals, UnlessCondition
+from launch.conditions import LaunchConfigurationNotEquals
 from launch.launch_description_sources import (
     FrontendLaunchDescriptionSource,
     PythonLaunchDescriptionSource,
 )
 from launch.substitutions import (
-    AndSubstitution,
     FindExecutable,
     LaunchConfiguration,
-    NotSubstitution,
-    OrSubstitution,
     PathJoinSubstitution,
-    ThisLaunchFileDir,
 )
 
 
@@ -77,93 +73,94 @@ def map_configuration_to_drivers(model, tool, has_beta_teleop_kit, has_nav_head_
     if (
         model == "RE1V0"
         and tool == "tool_stretch_gripper"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is False
     ):
         return "d435-only", False, False, False
     elif (
         model == "RE1V0"
         and tool == "tool_stretch_gripper"
-        and has_beta_teleop_kit == True
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is True
+        and has_nav_head_cam is False
     ):
         return "d435-only", True, True, False
     elif (
         model == "RE1V0"
         and tool == "tool_stretch_dex_wrist"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is False
     ):
         return "d435-only", False, False, False
     elif (
         model == "RE1V0"
         and tool == "tool_stretch_dex_wrist"
-        and has_beta_teleop_kit == True
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is True
+        and has_nav_head_cam is False
     ):
         return "d435-only", True, True, False
     # Stretch 2
     elif (
         model == "RE2V0"
         and tool == "tool_stretch_gripper"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is False
     ):
         return "d435-only", False, False, False
     elif (
         model == "RE2V0"
         and tool == "tool_stretch_gripper"
-        and has_beta_teleop_kit == True
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is True
+        and has_nav_head_cam is False
     ):
         return "d435-only", True, True, False
     elif (
         model == "RE2V0"
         and tool == "tool_stretch_dex_wrist"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is False
     ):
         return "d435-only", False, False, False
     elif (
         model == "RE2V0"
         and tool == "tool_stretch_dex_wrist"
-        and has_beta_teleop_kit == True
-        and has_nav_head_cam == False
+        and has_beta_teleop_kit is True
+        and has_nav_head_cam is False
     ):
         return "d435-only", True, True, False
     # Stretch 2+ (upgraded Stretch 2)
     elif (
         model == "RE2V0"
         and tool == "eoa_wrist_dw3_tool_sg3"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == True
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is True
     ):
         return "both", False, False, True
     elif (
         model == "RE2V0"
         and tool == "eoa_wrist_dw3_tool_nil"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == True
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is True
     ):
         return "both", False, False, True
     # Stretch 3
     elif (
         model == "SE3"
         and tool == "eoa_wrist_dw3_tool_sg3"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == True
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is True
     ):
         return "both", False, False, True
     elif (
         model == "SE3"
         and tool == "eoa_wrist_dw3_tool_nil"
-        and has_beta_teleop_kit == False
-        and has_nav_head_cam == True
+        and has_beta_teleop_kit is False
+        and has_nav_head_cam is True
     ):
         return "both", False, False, True
 
     raise ValueError(
-        f"cannot find valid configuration for model={model}, tool={tool}, has_beta_teleop_kit={has_beta_teleop_kit}, has_nav_head_cam={has_nav_head_cam}"
+        f"cannot find valid configuration for model={model}, tool={tool}, "
+        f"has_beta_teleop_kit={has_beta_teleop_kit}, has_nav_head_cam={has_nav_head_cam}"
     )
 
 
@@ -173,7 +170,6 @@ def generate_launch_description():
     rosbridge_package = str(get_package_share_path("rosbridge_server"))
     stretch_core_path = str(get_package_share_directory("stretch_core"))
     stretch_navigation_path = str(get_package_share_directory("stretch_nav2"))
-    navigation_bringup_path = str(get_package_share_directory("nav2_bringup"))
 
     _, robot_params = stretch_body.robot_params.RobotParams().get_params()
     stretch_serial_no = robot_params["robot"]["serial_no"]
@@ -222,10 +218,6 @@ def generate_launch_description():
         ),
         description="Full path to the ROS2 parameters file to use for all launched nodes",
     )
-    dict_file_path = os.path.join(core_package, "config", "stretch_marker_dict.yaml")
-    depthimage_to_laserscan_config = os.path.join(
-        core_package, "config", "depthimage_to_laser_scan_params.yaml"
-    )
 
     # Start collecting nodes to launch
     ld = LaunchDescription(
@@ -277,7 +269,7 @@ def generate_launch_description():
             )
         )
 
-    if driver_navigation_cam == True:
+    if driver_navigation_cam is True:
         # Beta Teleop Kit Navigation Camera
         ld.add_action(
             GroupAction(
@@ -297,7 +289,7 @@ def generate_launch_description():
             )
         )
 
-    if driver_nav_head_cam == True:
+    if driver_nav_head_cam is True:
         # Nav Head Wide Angle Camera
         ld.add_action(
             GroupAction(
@@ -313,7 +305,7 @@ def generate_launch_description():
             )
         )
 
-    if driver_gripper_cam == True:
+    if driver_gripper_cam is True:
         # Beta Teleop Kit Gripper Camera
         ld.add_action(
             GroupAction(
@@ -333,7 +325,7 @@ def generate_launch_description():
             )
         )
 
-    if driver_navigation_cam == False and driver_nav_head_cam == False:
+    if driver_navigation_cam is False and driver_nav_head_cam is False:
         # Blank Navigation Camera Node
         # Publish blank image if no navigation camera exists
         ld.add_action(
@@ -352,7 +344,7 @@ def generate_launch_description():
             )
         )
 
-    if drivers_realsense == "d435-only" and driver_gripper_cam == False:
+    if drivers_realsense == "d435-only" and driver_gripper_cam is False:
         # Blank Gripper Camera Node
         # Publish blank image if there is no gripper camera exists
         ld.add_action(

nodes/configure_video_streams.py

@@ -10,20 +10,18 @@
 import PyKDL
 import rclpy
 import ros2_numpy
+import tf2_py as tf2
 import tf2_ros
 import yaml
 from cv_bridge import CvBridge
 from rclpy.duration import Duration
-from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 from rclpy.qos import QoSProfile, ReliabilityPolicy
 from rclpy.time import Time
 
 # from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud
 from sensor_msgs.msg import CameraInfo, CompressedImage, Image, JointState, PointCloud2
-from sensor_msgs_py.point_cloud2 import create_cloud, read_points
 from std_srvs.srv import SetBool
-from visualization_msgs.msg import MarkerArray
 
 
 class ConfigureVideoStreams(Node):
@@ -170,11 +168,17 @@ def pc_callback(self, msg, img):
                 Time(),
                 timeout=Duration(seconds=0.1),
             )
-        except:
+        except (
+            tf2.ConnectivityException,
+            tf2.ExtrapolationException,
+            tf2.InvalidArgumentException,
+            tf2.LookupException,
+            tf2.TimeoutException,
+            tf2.TransformException,
+        ) as error:
             self.get_logger().warn(
-                "Could not find the transform between frames {} and {}".format(
-                    "base_link", "camera_color_optical_frame"
-                )
+                "Could not find the transform between frames base_link and "
+                f"camera_color_optical_frame. Error: {error}"
             )
             return img
 

nodes/gripper_camera.py

@@ -4,7 +4,6 @@
 # my_image_publisher/my_image_publisher/publisher_node.py
 
 import os
-import threading
 
 import cv2
 import rclpy
@@ -22,26 +21,26 @@
 UVC_VIDEO_INDEX = "/dev/hello-gripper-camera"
 UVC_VIDEO_FORMAT = "MJPG"  # MJPG YUYV
 
-UVC_BRIGHTNESS = (
-    -40
-)  # brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=0
-UVC_CONTRAST = (
-    40  # contrast 0x00980901 (int)    : min=0 max=64 step=1 default=32 value=32
-)
-UVC_SATURATION = (
-    60  # saturation 0x00980902 (int)    : min=0 max=128 step=1 default=90 value=90
-)
-UVC_HUE = 0  # hue 0x00980903 (int)    : min=-40 max=40 step=1 default=0 value=0
-UVC_GAMMA = (
-    80  # gamma 0x00980910 (int)    : min=72 max=500 step=1 default=100 value=100
-)
-UVC_GAIN = 80  # gain 0x00980913 (int)    : min=0 max=100 step=1 default=0 value=0
-UVC_WB_TEMP = 4250  # white_balance_temperature 0x0098091a (int)    : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive
-UVC_SHARPNESS = (
-    100  # sharpness 0x0098091b (int)    : min=0 max=6 step=1 default=3 value=3
-)
-UVC_BACKLIT_COMP = 1  # backlight_compensation 0x0098091c (int)    : min=0 max=2 step=1 default=1 value=1
-UVC_EXPOSURE_TIME = 157  # exposure_time_absolute 0x009a0902 (int)    : min=1 max=5000 step=1 default=157 value=157 flags=inactive
+# brightness 0x00980900 (int)    : min=-64 max=64 step=1 default=0 value=0
+UVC_BRIGHTNESS = -40
+# contrast 0x00980901 (int)    : min=0 max=64 step=1 default=32 value=32
+UVC_CONTRAST = 40
+# saturation 0x00980902 (int)    : min=0 max=128 step=1 default=90 value=90
+UVC_SATURATION = 60
+# hue 0x00980903 (int)    : min=-40 max=40 step=1 default=0 value=0
+UVC_HUE = 0
+# gamma 0x00980910 (int)    : min=72 max=500 step=1 default=100 value=100
+UVC_GAMMA = 80
+# gain 0x00980913 (int)    : min=0 max=100 step=1 default=0 value=0
+UVC_GAIN = 80
+# white_balance_temperature 0x0098091a (int)    : min=2800 max=6500 step=1 default=4600 value=4600 flags=inactive
+UVC_WB_TEMP = 4250
+# sharpness 0x0098091b (int)    : min=0 max=6 step=1 default=3 value=3
+UVC_SHARPNESS = 100
+# backlight_compensation 0x0098091c (int)    : min=0 max=2 step=1 default=1 value=1
+UVC_BACKLIT_COMP = 1
+# exposure_time_absolute 0x009a0902 (int)    : min=1 max=5000 step=1 default=157 value=157 flags=inactive
+UVC_EXPOSURE_TIME = 157
 
 # More UVC Video capture properties here:
 # https://docs.opencv.org/3.4/d4/d15/group__videoio__flags__base.html