style(pre-commit): autofix

autoware_msg_bag_converter/autoware_msg_bag_converter/bag.py

@@ -12,10 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from rosbag2_py import ConverterOptions
-from rosbag2_py import SequentialReader
-from rosbag2_py import SequentialWriter
-from rosbag2_py import StorageOptions
+from rosbag2_py import ConverterOptions, SequentialReader, SequentialWriter, StorageOptions
 
 
 def get_default_converter_options() -> ConverterOptions:

autoware_msg_bag_converter/autoware_msg_bag_converter/converter.py

@@ -16,12 +16,9 @@
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_sequential_writer.py
 # https://github.com/ros2/rosbag2/blob/rolling/rosbag2_py/test/test_reindexer.py
 
-from rosbag2_py import Reindexer
-from rosbag2_py import TopicMetadata
+from rosbag2_py import Reindexer, TopicMetadata
 
-from autoware_msg_bag_converter.bag import create_reader
-from autoware_msg_bag_converter.bag import create_writer
-from autoware_msg_bag_converter.bag import get_default_storage_options
+from autoware_msg_bag_converter.bag import create_reader, create_writer, get_default_storage_options
 
 
 def change_topic_type(old_type: TopicMetadata) -> TopicMetadata:

bag2lanelet/scripts/bag2lanelet.py

@@ -1,11 +1,10 @@
 #!/bin/env python3
 import argparse
-from datetime import datetime
 import os
 import pathlib
+from datetime import datetime
 
-from bag2way import bag2pose
-from bag2way import pose2line
+from bag2way import bag2pose, pose2line
 from lanelet_xml import LaneletMap
 
 

bag2lanelet/scripts/bag2map.py

@@ -1,11 +1,11 @@
 #!/bin/env python3
 import argparse
-from datetime import datetime
 import os
 import pathlib
+from datetime import datetime
 
-from bag2way import bag2point_stamped
 import folium
+from bag2way import bag2point_stamped
 from tools.bag2lanelet.scripts.lanelet_xml import LaneletMap
 
 

bag2lanelet/scripts/bag2trajectory.py

@@ -2,9 +2,9 @@
 import argparse
 import pathlib
 
-from bag2way import bag2pose
 import numpy as np
 import tf_transformations
+from bag2way import bag2pose
 
 
 def generate(input_path, output_path):

bag2lanelet/scripts/bag2way.py

@@ -1,12 +1,10 @@
 from datetime import datetime
 
 import numpy as np
+import tf_transformations
 from rclpy.serialization import deserialize_message
-from rosbag2_py import ConverterOptions
-from rosbag2_py import SequentialReader
-from rosbag2_py import StorageOptions
+from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions
 from rosidl_runtime_py.utilities import get_message
-import tf_transformations
 
 
 def create_reader(bag_dir: str) -> SequentialReader:

bag2lanelet/scripts/lanelet_xml.py

@@ -1,5 +1,5 @@
-from xml.dom.minidom import parseString
 import xml.etree.ElementTree as ET
+from xml.dom.minidom import parseString
 
 from mgrspy import mgrs
 

common/tier4_debug_tools/scripts/pose2tf.py

@@ -18,11 +18,10 @@
 import argparse
 import sys
 
-from geometry_msgs.msg import PoseStamped
-from geometry_msgs.msg import TransformStamped
 import rclpy
-from rclpy.node import Node
 import tf2_ros
+from geometry_msgs.msg import PoseStamped, TransformStamped
+from rclpy.node import Node
 
 
 class Pose2TfNode(Node):

common/tier4_debug_tools/scripts/self_pose_listener.py

@@ -14,8 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from geometry_msgs.msg import PoseStamped
 import rclpy
+from geometry_msgs.msg import PoseStamped
 from rclpy.node import Node
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer

common/tier4_debug_tools/scripts/stop_reason2pose.py

@@ -18,10 +18,10 @@
 import math
 import sys
 
-from case_converter import pascal2snake
-from geometry_msgs.msg import PoseStamped
 import numpy as np
 import rclpy
+from case_converter import pascal2snake
+from geometry_msgs.msg import PoseStamped
 from rclpy.node import Node
 from rtree import index
 from self_pose_listener import SelfPoseListener

common/tier4_debug_tools/scripts/tf2pose.py

@@ -17,8 +17,8 @@
 import argparse
 import sys
 
-from geometry_msgs.msg import PoseStamped
 import rclpy
+from geometry_msgs.msg import PoseStamped
 from rclpy.node import Node
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer

control/control_debug_tools/scripts/consistency_checker.py

@@ -18,8 +18,8 @@
 import argparse
 import math
 
-from ament_index_python.packages import get_package_share_directory
 import yaml
+from ament_index_python.packages import get_package_share_directory
 
 
 def read_yaml(file_path):

localization/deviation_estimation_tools/deviation_evaluator/scripts/bag_load_utils.py

@@ -21,11 +21,10 @@
 import dataclasses
 import sqlite3
 
+import numpy as np
 from constants import THRESHOLD_FOR_INITIALIZED_ERROR
-from geometry_msgs.msg import PoseWithCovarianceStamped
-from geometry_msgs.msg import TwistWithCovarianceStamped
+from geometry_msgs.msg import PoseWithCovarianceStamped, TwistWithCovarianceStamped
 from nav_msgs.msg import Odometry
-import numpy as np
 from rclpy.serialization import deserialize_message
 from rosidl_runtime_py.utilities import get_message
 from scipy.spatial.transform import Rotation

localization/deviation_estimation_tools/deviation_evaluator/scripts/deviation_evaluation_visualizer.py

@@ -20,10 +20,10 @@
 from pathlib import Path
 from threading import Thread
 
-from bag_load_utils import BagFileEvaluator
 import numpy as np
-from plot_utils import plot_bag_compare
 import rclpy
+from bag_load_utils import BagFileEvaluator
+from plot_utils import plot_bag_compare
 from rclpy.node import Node
 
 PARAMS = {

localization/deviation_estimation_tools/deviation_evaluator/scripts/plot_utils.py

@@ -15,9 +15,9 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from constants import THRESHOLD_FOR_INITIALIZED_ERROR
 import matplotlib.pyplot as plt
 import numpy as np
+from constants import THRESHOLD_FOR_INITIALIZED_ERROR
 
 
 def plot_thresholds(recall_list, lower_bound, threshold, scale, save_path=None):

planning/planning_debug_tools/scripts/closest_velocity_checker.py

@@ -16,23 +16,19 @@
 
 import time
 
+import numpy as np
+import rclpy
 from autoware_control_msgs.msg import Control as AckermannControlCommand
-from autoware_planning_msgs.msg import Path
-from autoware_planning_msgs.msg import Trajectory
-from autoware_vehicle_msgs.msg import Engage
-from autoware_vehicle_msgs.msg import VelocityReport
+from autoware_planning_msgs.msg import Path, Trajectory
+from autoware_vehicle_msgs.msg import Engage, VelocityReport
 from geometry_msgs.msg import Pose
 from nav_msgs.msg import Odometry
-import numpy as np
-import rclpy
 from rclpy.node import Node
 from tf2_ros import LookupException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_debug_msgs.msg import Float32MultiArrayStamped
-from tier4_debug_msgs.msg import Float32Stamped
-from tier4_planning_msgs.msg import PathWithLaneId
-from tier4_planning_msgs.msg import VelocityLimit
+from tier4_debug_msgs.msg import Float32MultiArrayStamped, Float32Stamped
+from tier4_planning_msgs.msg import PathWithLaneId, VelocityLimit
 
 REF_LINK = "map"
 SELF_LINK = "base_link"

planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py

@@ -19,14 +19,12 @@
 import functools
 import sys
 
-from PyQt5.QtWidgets import QApplication
-from geometry_msgs.msg import PoseStamped
-from geometry_msgs.msg import PoseWithCovarianceStamped
-from perception_replayer_common import PerceptionReplayerCommon
 import rclpy
+from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped
+from perception_replayer_common import PerceptionReplayerCommon
+from PyQt5.QtWidgets import QApplication
 from time_manager_widget import TimeManagerWidget
-from utils import create_empty_pointcloud
-from utils import translate_objects_coordinate
+from utils import create_empty_pointcloud, translate_objects_coordinate
 
 
 class PerceptionReplayer(PerceptionReplayerCommon):

planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py

@@ -15,27 +15,26 @@
 # limitations under the License.
 
 import os
-from subprocess import CalledProcessError
-from subprocess import check_output
 import time
+from subprocess import CalledProcessError, check_output
 
-from autoware_perception_msgs.msg import DetectedObjects
-from autoware_perception_msgs.msg import PredictedObjects
-from autoware_perception_msgs.msg import TrackedObjects
-from autoware_perception_msgs.msg import TrafficLightElement
-from autoware_perception_msgs.msg import TrafficLightGroup
-from autoware_perception_msgs.msg import TrafficLightGroupArray
-from geometry_msgs.msg import PoseStamped
-from geometry_msgs.msg import PoseWithCovarianceStamped
-from nav_msgs.msg import Odometry
 import psutil
+from autoware_perception_msgs.msg import (
+    DetectedObjects,
+    PredictedObjects,
+    TrackedObjects,
+    TrafficLightElement,
+    TrafficLightGroup,
+    TrafficLightGroupArray,
+)
+from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped
+from nav_msgs.msg import Odometry
 from rclpy.node import Node
 from rclpy.serialization import deserialize_message
 from rosbag2_py import StorageFilter
 from rosidl_runtime_py.utilities import get_message
 from sensor_msgs.msg import PointCloud2
-from utils import get_starting_time
-from utils import open_reader
+from utils import get_starting_time, open_reader
 
 
 class PerceptionReplayerCommon(Node):

planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py

@@ -15,15 +15,13 @@
 # limitations under the License.
 
 import argparse
-from collections import deque
 import pickle
+from collections import deque
 
 import numpy as np
-from perception_replayer_common import PerceptionReplayerCommon
 import rclpy
-from utils import StopWatch
-from utils import create_empty_pointcloud
-from utils import translate_objects_coordinate
+from perception_replayer_common import PerceptionReplayerCommon
+from utils import StopWatch, create_empty_pointcloud, translate_objects_coordinate
 
 dist_eps = 1e-2  # (meters)
 

planning/planning_debug_tools/scripts/perception_replayer/time_manager_widget.py

@@ -15,12 +15,7 @@
 # limitations under the License.
 
 from PyQt5 import QtCore
-from PyQt5.QtWidgets import QGridLayout
-from PyQt5.QtWidgets import QMainWindow
-from PyQt5.QtWidgets import QPushButton
-from PyQt5.QtWidgets import QSizePolicy
-from PyQt5.QtWidgets import QSlider
-from PyQt5.QtWidgets import QWidget
+from PyQt5.QtWidgets import QGridLayout, QMainWindow, QPushButton, QSizePolicy, QSlider, QWidget
 
 
 # With QSlider, the slider's handle cannot be captured if the mouse cursor is not the handle position when pressing the mouse.

planning/planning_debug_tools/scripts/perception_replayer/utils.py

@@ -17,13 +17,11 @@
 import math
 import time
 
-from geometry_msgs.msg import Quaternion
 import numpy as np
 import rosbag2_py
-from sensor_msgs.msg import PointCloud2
-from sensor_msgs.msg import PointField
-from tf_transformations import euler_from_quaternion
-from tf_transformations import quaternion_from_euler
+from geometry_msgs.msg import Quaternion
+from sensor_msgs.msg import PointCloud2, PointField
+from tf_transformations import euler_from_quaternion, quaternion_from_euler
 
 
 def get_starting_time(uri: str):

planning/planning_debug_tools/scripts/processing_time_checker.py

@@ -16,9 +16,9 @@
 
 
 import argparse
-from collections import deque
 import os
 import sys
+from collections import deque
 
 import rclpy
 from rclpy.node import Node

planning/planning_debug_tools/scripts/trajectory_visualizer.py

@@ -16,24 +16,19 @@
 
 import argparse
 
-from autoware_planning_msgs.msg import Path
-from autoware_planning_msgs.msg import PathPoint
-from autoware_planning_msgs.msg import Trajectory
-from autoware_planning_msgs.msg import TrajectoryPoint
-from autoware_vehicle_msgs.msg import VelocityReport
-from geometry_msgs.msg import Pose
-from matplotlib import animation
 import matplotlib.pyplot as plt
 import message_filters
-from nav_msgs.msg import Odometry
 import numpy as np
 import rclpy
+from autoware_planning_msgs.msg import Path, PathPoint, Trajectory, TrajectoryPoint
+from autoware_vehicle_msgs.msg import VelocityReport
+from geometry_msgs.msg import Pose
+from matplotlib import animation
+from nav_msgs.msg import Odometry
 from rclpy.node import Node
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from tier4_planning_msgs.msg import PathPointWithLaneId
-from tier4_planning_msgs.msg import PathWithLaneId
-from tier4_planning_msgs.msg import VelocityLimit
+from tier4_planning_msgs.msg import PathPointWithLaneId, PathWithLaneId, VelocityLimit
 
 parser = argparse.ArgumentParser()
 parser.add_argument("-l", "--length", help="max arclength in plot")

simulator/simulator_compatibility_test/setup.py

@@ -1,8 +1,7 @@
 from warnings import simplefilter
 
 from pkg_resources import PkgResourcesDeprecationWarning
-from setuptools import SetuptoolsDeprecationWarning
-from setuptools import setup
+from setuptools import SetuptoolsDeprecationWarning, setup
 
 # cspell: ignore moraisim
 

simulator/simulator_compatibility_test/simulator_compatibility_test/clients/moraisim/morai_client_event_cmd.py

@@ -1,5 +1,5 @@
-from morai_msgs.srv import MoraiEventCmdSrv
 import rclpy
+from morai_msgs.srv import MoraiEventCmdSrv
 from rclpy.node import Node
 
 

simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py

@@ -1,12 +1,9 @@
+import rclpy
 from autoware_control_msgs.msg import Control as AckermannControlCommand
 from autoware_control_msgs.msg import Lateral as LateralCommand
 from autoware_control_msgs.msg import Longitudinal as LongitudinalCommand
-import rclpy
 from rclpy.node import Node
-from rclpy.qos import QoSDurabilityPolicy
-from rclpy.qos import QoSHistoryPolicy
-from rclpy.qos import QoSProfile
-from rclpy.qos import QoSReliabilityPolicy
+from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
 
 
 class ControlCommand(Node):