Fixed formatting to pass format test per requeset by Yadunund.

PickNikRobotics · Jan 3, 2024 · e447429 · e447429
1 parent eadbc1d
commit e447429
Showing 1 changed file with 46 additions and 20 deletions.
diff --git a/abb_bringup/launch/abb_moveit.launch.py b/abb_bringup/launch/abb_moveit.launch.py
@@ -32,39 +32,65 @@ def launch_setup(context, *args, **kwargs):
 
     # MoveIt configuration
     moveit_config = (
-        MoveItConfigsBuilder("abb_bringup", package_name=f'{moveit_config_package.perform(context)}')
-        .robot_description(file_path=os.path.join(
-            get_package_share_directory(f'{support_package.perform(context)}'),
-            'urdf', f'{robot_xacro_file.perform(context)}'))
-        .robot_description_semantic(file_path=os.path.join(
-            get_package_share_directory(f'{moveit_config_package.perform(context)}'),
-            'config', f'{moveit_config_file.perform(context)}'))
+        MoveItConfigsBuilder(
+            "abb_bringup", package_name=f"{moveit_config_package.perform(context)}"
+        )
+        .robot_description(
+            file_path=os.path.join(
+                get_package_share_directory(f"{support_package.perform(context)}"),
+                "urdf",
+                f"{robot_xacro_file.perform(context)}",
+            )
+        )
+        .robot_description_semantic(
+            file_path=os.path.join(
+                get_package_share_directory(f"{moveit_config_package.perform(context)}"),
+                "config",
+                f"{moveit_config_file.perform(context)}",
+            )
+        )
         .planning_pipelines(
             pipelines=["ompl"],
-            default_planning_pipeline="ompl", )
-        .robot_description_kinematics(file_path=os.path.join(
-            get_package_share_directory(f'{moveit_config_package.perform(context)}'),
-            'config', 'kinematics.yaml'))
-        .trajectory_execution(file_path=os.path.join(
-            get_package_share_directory(f'{moveit_config_package.perform(context)}'),
-            'config', 'moveit_controllers.yaml'))
+            default_planning_pipeline="ompl",
+        )
+        .robot_description_kinematics(
+            file_path=os.path.join(
+                get_package_share_directory(f"{moveit_config_package.perform(context)}"),
+                "config",
+                "kinematics.yaml",
+            )
+        )
+        .trajectory_execution(
+            file_path=os.path.join(
+                get_package_share_directory(f"{moveit_config_package.perform(context)}"),
+                "config",
+                "moveit_controllers.yaml",
+            )
+        )
         .planning_scene_monitor(
             publish_planning_scene=True,
             publish_geometry_updates=True,
             publish_state_updates=True,
             publish_transforms_updates=True,
             publish_robot_description=True,
-            publish_robot_description_semantic=True)
-        .joint_limits(file_path=os.path.join(
-            get_package_share_directory(f'{moveit_config_package.perform(context)}'),
-            'config', 'joint_limits.yaml'))
+            publish_robot_description_semantic=True
+        )
+        .joint_limits(
+            file_path=os.path.join(
+                get_package_share_directory(f"{moveit_config_package.perform(context)}"),
+                "config",
+                "joint_limits.yaml",
+            )
+        )
         .to_moveit_configs()
     )
 
     # MoveIt controllers
     moveit_controllers = {
-        "moveit_simple_controller_manager": load_yaml(f"{moveit_config_package.perform(context)}",
-                                                      "config/moveit_controllers.yaml"),
+        "moveit_simple_controller_manager": load_yaml(
+            f"{moveit_config_package.perform(context)}",
+            "config/moveit_controllers.yaml"
+        ),
         "moveit_controller_manager": "moveit_simple_controller_manager/MoveItSimpleControllerManager",
     }