Clean up code

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_publishers/odom_publisher.py

@@ -16,7 +16,6 @@ def __init__(self, **kwargs) -> None:
         super().__init__(**kwargs)
         self.__odom_publisher = rospy.Publisher("odom", Odometry, queue_size=0)
         self.__odom_msg = Odometry()
-
 
     def _init_request_meta_data(self) -> None:
         super()._init_request_meta_data()

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_publishers/ros_publisher.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import rospy
-from typing import List, Dict, Any
+from typing import List, Dict
 from multiverse_client.multiverse_ros_base import MultiverseRosBase
 
 
@@ -33,7 +33,7 @@ def start(self) -> None:
                 if not rospy.is_shutdown():
                     self._publish()
                 self.rate.sleep()
-        
+
         self._disconnect()
 
     def _construct_rosmsg(self, response_meta_data_dict: Dict) -> None:

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_publishers/tf_publisher.py

@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
 
 import rospy
-from typing import List
+from typing import Dict
 from tf2_ros import TransformBroadcaster
 from geometry_msgs.msg import TransformStamped
 from .ros_publisher import MultiverseRosPublisher
 import numpy
 
+
 class tf_publisher(MultiverseRosPublisher):
     def __init__(self, **kwargs) -> None:
         super().__init__(**kwargs)
@@ -21,22 +22,22 @@ def _init_request_meta_data(self) -> None:
         super()._init_request_meta_data()
         self._request_meta_data_dict["receive"][""] = ["position", "quaternion"]
 
-    def _construct_rosmsg(self, response_meta_data_dict: dict) -> None:
+    def _construct_rosmsg(self, response_meta_data_dict: Dict) -> None:
         self.object_names = []
         if response_meta_data_dict.get("receive") is None:
             return
-        
+
         self.object_names = response_meta_data_dict["receive"].keys()
         self.__tf_msgs = []
-        
+
         for object_name in self.object_names:
             tf_data = response_meta_data_dict["receive"][object_name]
             tf_msg = TransformStamped()
             tf_msg.header.frame_id = self.__root_frame_id
             tf_msg.header.stamp = rospy.Time.now()
             tf_msg.header.seq = self.__seq
             tf_msg.child_frame_id = object_name
-             
+
             tf_msg.transform.translation.x = tf_data["position"][0]
             tf_msg.transform.translation.y = tf_data["position"][1]
             tf_msg.transform.translation.z = tf_data["position"][2]
@@ -55,4 +56,4 @@ def _construct_rosmsg(self, response_meta_data_dict: dict) -> None:
         self.__seq += 1
 
     def _publish(self) -> None:
-        self.__tf_broadcaster.sendTransform(self.__tf_msgs)
+        self.__tf_broadcaster.sendTransform(self.__tf_msgs)

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_services/query_data_service.py

@@ -1,10 +1,9 @@
 #!/usr/bin/env python3
 
-from typing import Any
+from typing import Dict
 from .ros_service_server import MultiverseRosServiceServer
 from multiverse_msgs.msg import ObjectAttribute, ObjectData
 from multiverse_msgs.srv import Socket, SocketRequest, SocketResponse
-import rospy
 
 
 class query_data_service(MultiverseRosServiceServer):
@@ -70,7 +69,7 @@ def _bind_request_meta_data(self, request: SocketRequest) -> None:
                     continue
                 self._request_meta_data_dict["receive"][object_attribute.object_name].append(attribute_name)
 
-    def _bind_response(self, response_meta_data_dict: dict) -> SocketResponse:
+    def _bind_response(self, response_meta_data_dict: Dict) -> SocketResponse:
         response = SocketResponse()
         response.world = response_meta_data_dict["world"]
         response.length_unit = response_meta_data_dict["length_unit"]

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_subscribers/cmd_vel_subscriber.py

@@ -15,7 +15,7 @@ def __init__(self, **kwargs) -> None:
         self._topic_name = "/cmd_vel"
         self._data_class = Twist
 
-    def _init_request_meta_data(self):
+    def _init_request_meta_data(self) -> None:
         super()._init_request_meta_data()
         self._request_meta_data_dict["send"] = {}
         self._request_meta_data_dict["send"][self.__body] = ["relative_velocity"]
@@ -24,7 +24,7 @@ def _init_request_meta_data(self):
     def _init_send_data(self) -> None:
         self._send_data = [0.0] * 7
 
-    def _bind_send_data(self, twist_msg: Twist):
+    def _bind_send_data(self, twist_msg: Twist) -> None:
         self._send_data[1] = twist_msg.linear.x
         self._send_data[2] = twist_msg.linear.y
         self._send_data[3] = twist_msg.linear.z

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_client/multiverse_subscribers/ros_subscriber.py

@@ -38,7 +38,6 @@ def _subscriber_callback(self, data: Any) -> None:
         self._communicate()
         self._receive_data = self._get_receive_data()
 
-
     def _init_send_data(self) -> None:
         pass
 

multiverse_ws/src/multiverse_core/multiverse_client/scripts/multiverse_socket_node.py

@@ -22,11 +22,11 @@ def start(self):
             subscriber_thread = threading.Thread(target=subscriber.start)
             subscriber_thread.start()
             self.threads[subscriber] = subscriber_thread
-            
+
         publishers = rospy.get_param("multiverse/publishers", default={})
         for publisher_name, publisher_prop in publishers.items():
-            if publisher_prop.get('port') is None:
-                rospy.logwarn(f'Ignore {publisher_name} because port is not found in rosparam')
+            if publisher_prop.get("port") is None:
+                rospy.logwarn(f"Ignore {publisher_name} because port is not found in rosparam")
                 continue
             publisher_name += "_publisher"
             exec(f"from multiverse_client.multiverse_publishers.{publisher_name} import {publisher_name}")