Compare revisions

Joseph Mirabel · Joseph Mirabel · Joseph Mirabel · Olivier Stasse · Olivier Stasse · Guilhem Saurel
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# format (Guilhem Saurel, 2022-09-06)
+426c21a7f4e5b445d17825235f983e2f8e1a86ec
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-include: http://rainboard.laas.fr/project/dynamic-graph-bridge/.gitlab-ci.yml
+include: http://rainboard.laas.fr/project/dynamic_graph_bridge/.gitlab-ci.yml
--- a/.gitmodules
+++ b/.gitmodules
 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+ci:
+    autoupdate_branch: 'devel'
+repos:
+-   repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v14.0.6
+    hooks:
+    -   id: clang-format
+        args: [--style=Google]
+-   repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+    -   id: check-added-large-files
+    -   id: check-ast
+    -   id: check-executables-have-shebangs
+    -   id: check-json
+    -   id: check-merge-conflict
+    -   id: check-symlinks
+    -   id: check-toml
+    -   id: check-yaml
+    -   id: debug-statements
+    -   id: destroyed-symlinks
+    -   id: detect-private-key
+    -   id: end-of-file-fixer
+    -   id: fix-byte-order-marker
+    -   id: mixed-line-ending
+    -   id: trailing-whitespace
+-   repo: https://github.com/psf/black
+    rev: 22.8.0
+    hooks:
+    -   id: black
+-   repo: https://github.com/PyCQA/flake8
+    rev: 5.0.4
+    hooks:
+    -   id: flake8
+-   repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+    - id: cmake-format
--- a/.travis.yml
+++ b/.travis.yml
-sudo: required
-
-services:
-  - docker
-
-before_install:
- docker build -t dyngb-trusty -f ./travis_custom/Dockerfile .
- docker run -t -d --name dyngb-trusty-test dyngb-trusty
- docker exec dyngb-trusty-test sudo mkdir -p /catkin_ws_dyngb/src
- docker exec dyngb-trusty-test sudo sh -c "cd /catkin_ws_dyngb/src;. /opt/ros/indigo/setup.sh;catkin_init_workspace"
- docker exec dyngb-trusty-test sudo git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge.git /catkin_ws_dyngb/src/dynamic_graph_bridge
-
-script:
- docker exec dyngb-trusty-test sudo sh -c "cd /catkin_ws_dyngb;. /opt/ros/indigo/setup.sh;. /home/docker/setup-opt-robotpkg.sh;catkin_make"
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,99 +3,100 @@
 # Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel
 #

-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)

 # Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME dynamic_graph_bridge)
-SET(PROJECT_DESCRIPTION "Dynamic graph bridge library")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
-SET(PROJECT_SUFFIX "-v3")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME dynamic_graph_bridge)
+set(PROJECT_DESCRIPTION "Dynamic graph bridge library")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")

 # Project options
-OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
+option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)

 # Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
 set(CXX_DISABLE_WERROR FALSE)
-SET(DOXYGEN_USE_MATHJAX YES)
-SET(CATKIN_ENABLE_TESTING OFF)
+set(DOXYGEN_USE_MATHJAX YES)
+set(CATKIN_ENABLE_TESTING OFF)

 # JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/boost.cmake)
-INCLUDE(cmake/python.cmake)
-INCLUDE(cmake/ros.cmake)
+include(cmake/base.cmake)
+include(cmake/boost.cmake)
+include(cmake/ros.cmake)

 # Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})

 # Project dependencies
-SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf2_ros
+set(CATKIN_REQUIRED_COMPONENTS
+    roscpp
+    std_msgs
+    message_generation
+    std_srvs
+    geometry_msgs
+    sensor_msgs
+    tf2_ros
    realtime_tools)

-IF(BUILD_PYTHON_INTERFACE)
-  FINDPYTHON()
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
-    PKG_CONFIG_REQUIRES dynamic-graph-python)
-  SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
-  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
-ENDIF(BUILD_PYTHON_INTERFACE)
+if(BUILD_PYTHON_INTERFACE)
+  add_project_dependency(dynamic-graph-python 4.0.0 REQUIRED)
+  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  set(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
+endif(BUILD_PYTHON_INTERFACE)

-find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
-
-SEARCH_FOR_BOOST()
+add_project_dependency(Boost REQUIRED COMPONENTS program_options)
+add_project_dependency(dynamic_graph_bridge_msgs 0.3.0 REQUIRED)
+add_project_dependency(sot-core REQUIRED)

-ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)
+if(Boost_VERSION GREATER 107299 OR Boost_VERSION_MACRO GREATER 107299)
+  # Silence a warning about a deprecated use of boost bind by boost >= 1.73
+  # without dropping support for boost < 1.73
+  add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
+endif()

-add_required_dependency(dynamic_graph_bridge_msgs)
+find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})

 # Main Library
 set(${PROJECT_NAME}_HEADERS
-  include/dynamic_graph_bridge/ros_init.hh
-  include/dynamic_graph_bridge/sot_loader.hh
-  include/dynamic_graph_bridge/sot_loader_basic.hh
-  include/dynamic_graph_bridge/ros_interpreter.hh
-  src/converter.hh
-  src/sot_to_ros.hh
-  )
-
-SET(${PROJECT_NAME}_SOURCES
-  src/ros_init.cpp
-  src/sot_to_ros.cpp
-  src/ros_parameter.cpp
-  )
-
-ADD_LIBRARY(ros_bridge SHARED
-  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
-TARGET_INCLUDE_DIRECTORIES(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
-TARGET_INCLUDE_DIRECTORIES(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
-TARGET_LINK_LIBRARIES(ros_bridge ${catkin_LIBRARIES}
-  sot-core::sot-core pinocchio::pinocchio)
-pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
-
-IF(SUFFIX_SO_VERSION)
-  SET_TARGET_PROPERTIES(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
-ENDIF(SUFFIX_SO_VERSION)
-
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(TARGETS ros_bridge EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+    include/${PROJECT_NAME}/fwd.hh
+    include/${PROJECT_NAME}/ros_init.hh
+    include/${PROJECT_NAME}/sot_loader.hh
+    include/${PROJECT_NAME}/sot_loader_basic.hh
+    include/${PROJECT_NAME}/ros_interpreter.hh
+    src/converter.hh
+    src/sot_to_ros.hh)
+
+set(${PROJECT_NAME}_SOURCES src/ros_init.cpp src/sot_to_ros.cpp
+                            src/ros_parameter.cpp)
+
+add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
+                              ${${PROJECT_NAME}_HEADERS})
+target_include_directories(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
+target_include_directories(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
+target_link_libraries(
+  ros_bridge ${catkin_LIBRARIES} sot-core::sot-core pinocchio::pinocchio
+  dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
+
+if(SUFFIX_SO_VERSION)
+  set_target_properties(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
+endif(SUFFIX_SO_VERSION)
+
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  install(
+    TARGETS ros_bridge
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)

 add_subdirectory(src)
 add_subdirectory(tests)

-#install ros executables
-install(PROGRAMS
-  scripts/robot_pose_publisher
-  scripts/run_command
-  scripts/tf_publisher
-  DESTINATION share/${PROJECT_NAME}
-  )
+# install ros executables
+install(PROGRAMS scripts/robot_pose_publisher scripts/run_command
+                 scripts/tf_publisher DESTINATION share/${PROJECT_NAME})

 # Install package information
 install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME})
-PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)
--- a/README.md
+++ b/README.md
-dynamic-graph bindings
-======================
+# Dynamic Graph bindings

-[![Building Status](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge.svg?branch=master)](https://travis-ci.org/stack-of-tasks/dynamic_graph_bridge)
-[![Pipeline status](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/pipeline.svg)](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
-[![Coverage report](https://gepgitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/coverage.svg?job=doc-coverage)](http://projects.laas.fr/gepetto/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
+[![Pipeline status](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/pipeline.svg)](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/commits/master)
+[![Coverage report](https://gitlab.laas.fr/stack-of-tasks/dynamic_graph_bridge/badges/master/coverage.svg?job=doc-coverage)](https://gepettoweb.laas.fr/doc/stack-of-tasks/dynamic_graph_bridge/master/coverage/)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/stack-of-tasks/dynamic_graph_bridge/master.svg)](https://results.pre-commit.ci/latest/github/stack-of-tasks/dynamic_graph_bridge)

 This ROS package binds together the ROS framework with the
 dynamic-graph real-time control architecture.
--- a/cmake @ 57c46b2d
+++ b/cmake @ 57c46b2d
-Subproject commit 1cec16d74e41ea0f2dde135456b68fd2b194ea15
+Subproject commit 57c46b2d7b26bb0c25f8f98cfc2a9868e03be603
--- a/doc/Doxyfile.extra.in
+++ b/doc/Doxyfile.extra.in
 INPUT                  = @PROJECT_SOURCE_DIR@/include \
 			 @PROJECT_SOURCE_DIR@/doc
-
--- a/include/dynamic_graph_bridge/fwd.hh
+++ b/include/dynamic_graph_bridge/fwd.hh
+/*
+ * Copyright CNRS 2021
+ *
+ * Author: Florent Lamiraux
+ *
+ * This file is part of sot-core.
+ */
+
+#ifndef DYNAMIC_GRAPH_BRIDGE_FWD_HH
+#define DYNAMIC_GRAPH_BRIDGE_FWD_HH
+
+#include <dynamic-graph/fwd.hh>
+
+namespace dynamicgraph {
+// classes defined in sot-core
+class Interpreter;
+typedef std::shared_ptr<Interpreter> InterpreterPtr_t;
+}  // namespace dynamicgraph
+
+#endif  // DYNAMIC_GRAPH_PYTHON_FWD_HH
--- a/include/dynamic_graph_bridge/ros_init.hh
+++ b/include/dynamic_graph_bridge/ros_init.hh
@@ -3,7 +3,8 @@
 #include <ros/ros.h>

 namespace dynamicgraph {
-ros::NodeHandle& rosInit(bool createAsyncSpinner = false, bool createMultiThreadSpinner = true);
+ros::NodeHandle& rosInit(bool createAsyncSpinner = false,
+                         bool createMultiThreadSpinner = true);

 /// \brief Return spinner or throw an exception if spinner
 /// creation has been disabled at startup.

--- a/include/dynamic_graph_bridge/ros_interpreter.hh
+++ b/include/dynamic_graph_bridge/ros_interpreter.hh
@@ -7,7 +7,9 @@

 #include <dynamic_graph_bridge_msgs/RunCommand.h>
 #include <dynamic_graph_bridge_msgs/RunPythonFile.h>
+
 #include <dynamic-graph/python/interpreter.hh>
+#include <dynamic_graph_bridge/fwd.hh>

 namespace dynamicgraph {
 /// \brief This class wraps the implementation of the runCommand
@@ -18,19 +20,22 @@ namespace dynamicgraph {
 /// the outside.
 class Interpreter {
 public:
-  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunCommand::Request&,
-                               dynamic_graph_bridge_msgs::RunCommand::Response&)>
+  typedef boost::function<bool(
+      dynamic_graph_bridge_msgs::RunCommand::Request&,
+      dynamic_graph_bridge_msgs::RunCommand::Response&)>
      runCommandCallback_t;

-  typedef boost::function<bool(dynamic_graph_bridge_msgs::RunPythonFile::Request&,
-                               dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
+  typedef boost::function<bool(
+      dynamic_graph_bridge_msgs::RunPythonFile::Request&,
+      dynamic_graph_bridge_msgs::RunPythonFile::Response&)>
      runPythonFileCallback_t;

  explicit Interpreter(ros::NodeHandle& nodeHandle);

  /// \brief Method to start python interpreter and deal with messages.
  /// \param Command string to execute, result, stdout, stderr strings.
-  void runCommand(const std::string& command, std::string& result, std::string& out, std::string& err);
+  void runCommand(const std::string& command, std::string& result,
+                  std::string& out, std::string& err);

  /// \brief Method to parse python scripts.
  /// \param Input file name to parse.
@@ -45,8 +50,9 @@ class Interpreter {
                          dynamic_graph_bridge_msgs::RunCommand::Response& res);

  /// \brief Run a Python file.
-  bool runPythonFileCallback(dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
-                             dynamic_graph_bridge_msgs::RunPythonFile::Response& res);
+  bool runPythonFileCallback(
+      dynamic_graph_bridge_msgs::RunPythonFile::Request& req,
+      dynamic_graph_bridge_msgs::RunPythonFile::Response& res);

 private:
  python::Interpreter interpreter_;

--- a/include/dynamic_graph_bridge/ros_parameter.hh
+++ b/include/dynamic_graph_bridge/ros_parameter.hh
@@ -5,5 +5,5 @@ namespace dynamicgraph {

 bool parameter_server_read_robot_description();

-};
+}
 #endif /* _ROS_DYNAMIC_GRAPH_PARAMETER_ */
--- a/include/dynamic_graph_bridge/sot_loader.hh
+++ b/include/dynamic_graph_bridge/sot_loader.hh
@@ -22,20 +22,21 @@
 #include <pinocchio/fwd.hpp>

 // Boost includes
-#include <boost/program_options.hpp>
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
+#include <boost/program_options.hpp>
 #include <boost/thread/thread.hpp>

 // ROS includes
-#include "ros/ros.h"
-#include "std_srvs/Empty.h"
 #include <sensor_msgs/JointState.h>
 #include <tf2_ros/transform_broadcaster.h>

+#include "ros/ros.h"
+#include "std_srvs/Empty.h"
+
 // Sot Framework includes
-#include <sot/core/debug.hh>
 #include <sot/core/abstract-sot-external-interface.hh>
+#include <sot/core/debug.hh>

 // Dynamic-graph-bridge includes.
 #include <dynamic_graph_bridge/sot_loader_basic.hh>

--- a/include/dynamic_graph_bridge/sot_loader_basic.hh
+++ b/include/dynamic_graph_bridge/sot_loader_basic.hh
@@ -22,18 +22,19 @@
 #include <pinocchio/fwd.hpp>

 // Boost includes
-#include <boost/program_options.hpp>
 #include <boost/foreach.hpp>
 #include <boost/format.hpp>
+#include <boost/program_options.hpp>

 // ROS includes
+#include <sensor_msgs/JointState.h>
+
 #include "ros/ros.h"
 #include "std_srvs/Empty.h"
-#include <sensor_msgs/JointState.h>

 // Sot Framework includes
-#include <sot/core/debug.hh>
 #include <sot/core/abstract-sot-external-interface.hh>
+#include <sot/core/debug.hh>

 namespace po = boost::program_options;
 namespace dgs = dynamicgraph::sot;
@@ -94,10 +95,12 @@ class SotLoaderBasic {
  virtual void initializeRosNode(int argc, char* argv[]);

  // \brief Callback function when starting dynamic graph.
-  bool start_dg(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
+  bool start_dg(std_srvs::Empty::Request& request,
+                std_srvs::Empty::Response& response);

  // \brief Callback function when stopping dynamic graph.
-  bool stop_dg(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
+  bool stop_dg(std_srvs::Empty::Request& request,
+               std_srvs::Empty::Response& response);

  // \brief Read the state vector description based upon the robot links.
  int readSotVectorStateParam();

--- a/package.xml
+++ b/package.xml
 <package format="2">
  <name>dynamic_graph_bridge</name>
-  <version>3.3.1</version>
+  <version>3.4.5</version>
  <description>

     ROS bindings for dynamic graph.

  </description>
-  <maintainer email="hpp@laas.fr">hpp@laas.fr</maintainer>
+  <maintainer email="guilhem.saurel@laas.fr">guilhem.saurel@laas.fr</maintainer>
  <author email="hpp@laas.fr">hpp@laas.fr</author>

  <license>LGPL</license>

--- a/pyproject.toml
+++ b/pyproject.toml
+[tool.black]
+exclude = "cmake"
--- a/scripts/robot_pose_publisher
+++ b/scripts/robot_pose_publisher
@@ -8,23 +8,26 @@ import rospy
 import tf
 import sensor_msgs.msg

-frame = ''
-childFrame = ''
+frame = ""
+childFrame = ""
+

-#DEPRECATED. Robot Pose is already being published
 def pose_broadcaster(msg):
-    translation = msg.position[0:3];
-    rotation = tf.transformations.quaternion_from_euler(msg.position[3], msg.position[4], msg.position[5])
+    # DEPRECATED. Robot Pose is already being published
+    translation = msg.position[0:3]
+    rotation = tf.transformations.quaternion_from_euler(
+        msg.position[3], msg.position[4], msg.position[5]
+    )
    tfbr = tf.TransformBroadcaster()
-    tfbr.sendTransform(translation, rotation,
-                       rospy.Time.now(), childFrame, frame)
+    tfbr.sendTransform(translation, rotation, rospy.Time.now(), childFrame, frame)
+
+
+if __name__ == "__main__":
+    rospy.init_node("robot_pose_publisher", anonymous=True)

-if __name__ == '__main__':
-    rospy.init_node('robot_pose_publisher', anonymous=True)
+    frame = rospy.get_param("~frame", "odom")
+    childFrame = rospy.get_param("~child_frame", "base_link")
+    topic = rospy.get_param("~topic", "joint_states")

-    frame = rospy.get_param('~frame', 'odom')
-    childFrame = rospy.get_param('~child_frame', 'base_link')
-    topic = rospy.get_param('~topic', 'joint_states')
-    
    rospy.Subscriber(topic, sensor_msgs.msg.JointState, pose_broadcaster)
    rospy.spin()
--- a/scripts/run_command
+++ b/scripts/run_command
@@ -2,7 +2,7 @@

 import rospy

-import dynamic_graph
+import dynamic_graph  # noqa: F401
 import dynamic_graph_bridge_msgs.srv
 import sys
 import code
@@ -18,7 +18,8 @@ except ImportError:
    print("Module readline not available.")

 # Enable a History
-HISTFILE="%s/.pyhistory" % os.environ["HOME"]
+HISTFILE = "%s/.pyhistory" % os.environ["HOME"]
+

 def savehist():
    readline.write_history_file(HISTFILE)
@@ -29,30 +30,31 @@ class RosShell(InteractiveConsole):
        self.cache = ""
        InteractiveConsole.__init__(self)

-        rospy.loginfo('waiting for service...')
-        rospy.wait_for_service('run_command')
+        rospy.loginfo("waiting for service...")
+        rospy.wait_for_service("run_command")
        self.client = rospy.ServiceProxy(
-            'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
-        rospy.wait_for_service('run_script')
+            "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
+        )
+        rospy.wait_for_service("run_script")
        self.scriptClient = rospy.ServiceProxy(
-            'run_script', dynamic_graph_bridge_msgs.srv.RunPythonFile, True)
-        
+            "run_script", dynamic_graph_bridge_msgs.srv.RunPythonFile, True
+        )
+
        readline.set_completer(DGCompleter(self.client).complete)
        readline.parse_and_bind("tab: complete")

        # Read the existing history if there is one
        if os.path.exists(HISTFILE):
            readline.read_history_file(HISTFILE)
-            
+
        # Set maximum number of items that will be written to the history file
        readline.set_history_length(300)
-            
- 
+
    import atexit
-    atexit.register(savehist)

+    atexit.register(savehist)

-    def runcode(self, code, retry = True):
+    def runcode(self, code, retry=True):
        source = self.cache[:-1]
        self.cache = ""
        if source != "":
@@ -60,50 +62,53 @@ class RosShell(InteractiveConsole):
                if not self.client:
                    print("Connection to remote server lost. Reconnecting...")
                    self.client = rospy.ServiceProxy(
-                        'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
+                        "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
+                    )
                    if retry:
                        print("Retrying previous command...")
                        self.cache = source
                        return self.runcode(code, False)
                response = self.client(str(source))
                if response.standardoutput != "":
-                    print response.standardoutput[:-1]
+                    print(response.standardoutput[:-1])
                if response.standarderror != "":
-                    print response.standarderror[:-1]
+                    print(response.standarderror[:-1])
                elif response.result != "None":
-                    print response.result
-            except rospy.ServiceException, e:
+                    print(response.result)
+            except rospy.ServiceException:
                print("Connection to remote server lost. Reconnecting...")
                self.client = rospy.ServiceProxy(
-                    'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
+                    "run_command", dynamic_graph_bridge_msgs.srv.RunCommand, True
+                )
                if retry:
                    print("Retrying previous command...")
                    self.cache = source
                    self.runcode(code, False)

-    def runsource(self, source, filename = '<input>', symbol = 'single'):
+    def runsource(self, source, filename="<input>", symbol="single"):
        try:
            c = code.compile_command(source, filename, symbol)
            if c:
                return self.runcode(c)
            else:
                return True
-        except SyntaxError, OverflowError:
+        except (SyntaxError, OverflowError):
            self.showsyntaxerror()
            self.cache = ""
            return False

-    def push(self,line):
+    def push(self, line):
        self.cache += line + "\n"
-        return InteractiveConsole.push(self,line)
+        return InteractiveConsole.push(self, line)

-if __name__ == '__main__':
+
+if __name__ == "__main__":
    import optparse
    import os.path
-    rospy.init_node('run_command', argv=sys.argv)
+
+    rospy.init_node("run_command", argv=sys.argv)
    sys.argv = rospy.myargv(argv=None)
-    parser = optparse.OptionParser(
-        usage='\n\t%prog [options]')
+    parser = optparse.OptionParser(usage="\n\t%prog [options]")
    (options, args) = parser.parse_args(sys.argv[1:])

    sh = RosShell()
@@ -118,6 +123,6 @@ if __name__ == '__main__':
            if not response:
                print("Error while file parsing ")
        else:
-            print("Provided file does not exist: %s"%(infile))
+            print("Provided file does not exist: %s" % (infile))
    else:
        sh.interact("Interacting with remote server.")
--- a/scripts/tf_publisher
+++ b/scripts/tf_publisher
@@ -6,6 +6,8 @@
 # through dynamic_graph_bridge.
 #

+import logging
+
 import rospy

 import tf
@@ -13,15 +15,15 @@ import geometry_msgs.msg


 def main():
-    rospy.init_node('tf_publisher', anonymous=True)
+    rospy.init_node("tf_publisher", anonymous=True)

-    frame = rospy.get_param('~frame', '')
-    childFrame = rospy.get_param('~child_frame', '')
-    topic = rospy.get_param('~topic', '')
-    rateSeconds = rospy.get_param('~rate', 5)
+    frame = rospy.get_param("~frame", "")
+    childFrame = rospy.get_param("~child_frame", "")
+    topic = rospy.get_param("~topic", "")
+    rateSeconds = rospy.get_param("~rate", 5)

    if not frame or not childFrame or not topic:
-        logpy.error("frame, childFrame and topic are required parameters")
+        logging.error("frame, childFrame and topic are required parameters")
        return

    rate = rospy.Rate(rateSeconds)
@@ -35,11 +37,10 @@ def main():
    ok = False
    while not rospy.is_shutdown() and not ok:
        try:
-            tl.waitForTransform(childFrame, frame,
-                                rospy.Time(), rospy.Duration(0.1))
+            tl.waitForTransform(childFrame, frame, rospy.Time(), rospy.Duration(0.1))
            ok = True
-        except tf.Exception, e:
-            rospy.logwarn("waiting for tf transform")
+        except tf.Exception:
+            logging.warning("waiting for tf transform")
            ok = False

    while not rospy.is_shutdown():
@@ -60,4 +61,5 @@ def main():
        pub.publish(transform)
        rate.sleep()

+
 main()
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