Nacho/fix flake8 remaining tests

nav2_bringup/launch/bringup_launch.py

@@ -34,36 +34,36 @@
 
 def generate_launch_description():
     # Get the launch directory
-    bringup_dir = get_package_share_directory("nav2_bringup")
-    launch_dir = os.path.join(bringup_dir, "launch")
+    bringup_dir = get_package_share_directory('nav2_bringup')
+    launch_dir = os.path.join(bringup_dir, 'launch')
 
     # Create the launch configuration variables
-    namespace = LaunchConfiguration("namespace")
-    use_namespace = LaunchConfiguration("use_namespace")
-    slam = LaunchConfiguration("slam")
-    map_yaml_file = LaunchConfiguration("map")
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    params_file = LaunchConfiguration("params_file")
-    autostart = LaunchConfiguration("autostart")
-    use_composition = LaunchConfiguration("use_composition")
-    use_respawn = LaunchConfiguration("use_respawn")
-    log_level = LaunchConfiguration("log_level")
+    namespace = LaunchConfiguration('namespace')
+    use_namespace = LaunchConfiguration('use_namespace')
+    slam = LaunchConfiguration('slam')
+    map_yaml_file = LaunchConfiguration('map')
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    params_file = LaunchConfiguration('params_file')
+    autostart = LaunchConfiguration('autostart')
+    use_composition = LaunchConfiguration('use_composition')
+    use_respawn = LaunchConfiguration('use_respawn')
+    log_level = LaunchConfiguration('log_level')
 
     # Map fully qualified names to relative ones so the node's namespace can be prepended.
     # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
     # https://github.com/ros/geometry2/issues/32
     # https://github.com/ros/robot_state_publisher/pull/30
     # TODO(orduno) Substitute with `PushNodeRemapping`
     #              https://github.com/ros2/launch_ros/issues/56
-    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
     # Only it applys when `use_namespace` is True.
     # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
     # in config file 'nav2_multirobot_params.yaml' as a default & example.
     # User defined config file should contain '<robot_namespace>' keyword for the replacements.
     params_file = ReplaceString(
         source_file=params_file,
-        replacements={"<robot_namespace>": ("/", namespace)},
+        replacements={'<robot_namespace>': ('/', namespace)},
         condition=IfCondition(use_namespace),
     )
 
@@ -78,59 +78,59 @@ def generate_launch_description():
     )
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
-        "RCUTILS_LOGGING_BUFFERED_STREAM", "1"
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
     )
 
     declare_namespace_cmd = DeclareLaunchArgument(
-        "namespace", default_value="", description="Top-level namespace"
+        'namespace', default_value='', description='Top-level namespace'
     )
 
     declare_use_namespace_cmd = DeclareLaunchArgument(
-        "use_namespace",
-        default_value="false",
-        description="Whether to apply a namespace to the navigation stack",
+        'use_namespace',
+        default_value='false',
+        description='Whether to apply a namespace to the navigation stack',
     )
 
     declare_slam_cmd = DeclareLaunchArgument(
-        "slam", default_value="False", description="Whether run a SLAM"
+        'slam', default_value='False', description='Whether run a SLAM'
     )
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
-        "map", default_value="", description="Full path to map yaml file to load"
+        'map', default_value='', description='Full path to map yaml file to load'
     )
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
-        "use_sim_time",
-        default_value="false",
-        description="Use simulation (Gazebo) clock if true",
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true',
     )
 
     declare_params_file_cmd = DeclareLaunchArgument(
-        "params_file",
-        default_value=os.path.join(bringup_dir, "params", "nav2_params.yaml"),
-        description="Full path to the ROS2 parameters file to use for all launched nodes",
+        'params_file',
+        default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
+        description='Full path to the ROS2 parameters file to use for all launched nodes',
     )
 
     declare_autostart_cmd = DeclareLaunchArgument(
-        "autostart",
-        default_value="true",
-        description="Automatically startup the nav2 stack",
+        'autostart',
+        default_value='true',
+        description='Automatically startup the nav2 stack',
     )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        "use_composition",
-        default_value="True",
-        description="Whether to use composed bringup",
+        'use_composition',
+        default_value='True',
+        description='Whether to use composed bringup',
     )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
-        "use_respawn",
-        default_value="False",
-        description="Whether to respawn if a node crashes. Applied when composition is disabled.",
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
     )
 
     declare_log_level_cmd = DeclareLaunchArgument(
-        "log_level", default_value="info", description="log level"
+        'log_level', default_value='info', description='log level'
     )
 
     # Specify the actions
@@ -139,55 +139,55 @@ def generate_launch_description():
             PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace),
             Node(
                 condition=IfCondition(use_composition),
-                name="nav2_container",
-                package="rclcpp_components",
-                executable="component_container_isolated",
-                parameters=[configured_params, {"autostart": autostart}],
-                arguments=["--ros-args", "--log-level", log_level],
+                name='nav2_container',
+                package='rclcpp_components',
+                executable='component_container_isolated',
+                parameters=[configured_params, {'autostart': autostart}],
+                arguments=['--ros-args', '--log-level', log_level],
                 remappings=remappings,
-                output="screen",
+                output='screen',
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
-                    os.path.join(launch_dir, "slam_launch.py")
+                    os.path.join(launch_dir, 'slam_launch.py')
                 ),
                 condition=IfCondition(slam),
                 launch_arguments={
-                    "namespace": namespace,
-                    "use_sim_time": use_sim_time,
-                    "autostart": autostart,
-                    "use_respawn": use_respawn,
-                    "params_file": params_file,
+                    'namespace': namespace,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'use_respawn': use_respawn,
+                    'params_file': params_file,
                 }.items(),
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
-                    os.path.join(launch_dir, "localization_launch.py")
+                    os.path.join(launch_dir, 'localization_launch.py')
                 ),
-                condition=IfCondition(PythonExpression(["not ", slam])),
+                condition=IfCondition(PythonExpression(['not ', slam])),
                 launch_arguments={
-                    "namespace": namespace,
-                    "map": map_yaml_file,
-                    "use_sim_time": use_sim_time,
-                    "autostart": autostart,
-                    "params_file": params_file,
-                    "use_composition": use_composition,
-                    "use_respawn": use_respawn,
-                    "container_name": "nav2_container",
+                    'namespace': namespace,
+                    'map': map_yaml_file,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'params_file': params_file,
+                    'use_composition': use_composition,
+                    'use_respawn': use_respawn,
+                    'container_name': 'nav2_container',
                 }.items(),
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
-                    os.path.join(launch_dir, "navigation_launch.py")
+                    os.path.join(launch_dir, 'navigation_launch.py')
                 ),
                 launch_arguments={
-                    "namespace": namespace,
-                    "use_sim_time": use_sim_time,
-                    "autostart": autostart,
-                    "params_file": params_file,
-                    "use_composition": use_composition,
-                    "use_respawn": use_respawn,
-                    "container_name": "nav2_container",
+                    'namespace': namespace,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'params_file': params_file,
+                    'use_composition': use_composition,
+                    'use_respawn': use_respawn,
+                    'container_name': 'nav2_container',
                 }.items(),
             ),
         ]