diff --git a/autoware_msg_bag_converter/autoware_msg_bag_converter/bag.py b/autoware_msg_bag_converter/autoware_msg_bag_converter/bag.py index cb8a2335d..fc3ec9ddb 100644 --- a/autoware_msg_bag_converter/autoware_msg_bag_converter/bag.py +++ b/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: diff --git a/autoware_msg_bag_converter/autoware_msg_bag_converter/converter.py b/autoware_msg_bag_converter/autoware_msg_bag_converter/converter.py index 14be52988..3f630f33c 100644 --- a/autoware_msg_bag_converter/autoware_msg_bag_converter/converter.py +++ b/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: diff --git a/bag2lanelet/scripts/bag2lanelet.py b/bag2lanelet/scripts/bag2lanelet.py index 8543389e5..18dcd17ac 100755 --- a/bag2lanelet/scripts/bag2lanelet.py +++ b/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 diff --git a/bag2lanelet/scripts/bag2map.py b/bag2lanelet/scripts/bag2map.py index f3e6300af..ba7c3be4a 100755 --- a/bag2lanelet/scripts/bag2map.py +++ b/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 diff --git a/bag2lanelet/scripts/bag2trajectory.py b/bag2lanelet/scripts/bag2trajectory.py index eb7f822f1..da33043e3 100755 --- a/bag2lanelet/scripts/bag2trajectory.py +++ b/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): diff --git a/bag2lanelet/scripts/bag2way.py b/bag2lanelet/scripts/bag2way.py index 1b8e8e769..932a42342 100755 --- a/bag2lanelet/scripts/bag2way.py +++ b/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: diff --git a/bag2lanelet/scripts/lanelet_xml.py b/bag2lanelet/scripts/lanelet_xml.py index 3da8ce05c..8b472138f 100755 --- a/bag2lanelet/scripts/lanelet_xml.py +++ b/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 diff --git a/common/tier4_debug_tools/scripts/pose2tf.py b/common/tier4_debug_tools/scripts/pose2tf.py index c954e370d..4ffd9d963 100755 --- a/common/tier4_debug_tools/scripts/pose2tf.py +++ b/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): diff --git a/common/tier4_debug_tools/scripts/self_pose_listener.py b/common/tier4_debug_tools/scripts/self_pose_listener.py index 0087bfbbb..d0cd7aaf0 100755 --- a/common/tier4_debug_tools/scripts/self_pose_listener.py +++ b/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 diff --git a/common/tier4_debug_tools/scripts/stop_reason2pose.py b/common/tier4_debug_tools/scripts/stop_reason2pose.py index 433f4e750..884011467 100755 --- a/common/tier4_debug_tools/scripts/stop_reason2pose.py +++ b/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 diff --git a/common/tier4_debug_tools/scripts/tf2pose.py b/common/tier4_debug_tools/scripts/tf2pose.py index a4422fdd8..552449049 100755 --- a/common/tier4_debug_tools/scripts/tf2pose.py +++ b/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 diff --git a/control/control_debug_tools/scripts/consistency_checker.py b/control/control_debug_tools/scripts/consistency_checker.py index a8b964aa7..2ae07bafe 100755 --- a/control/control_debug_tools/scripts/consistency_checker.py +++ b/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): diff --git a/localization/deviation_estimation_tools/deviation_evaluator/scripts/bag_load_utils.py b/localization/deviation_estimation_tools/deviation_evaluator/scripts/bag_load_utils.py index baeb57bd6..85811a3e2 100644 --- a/localization/deviation_estimation_tools/deviation_evaluator/scripts/bag_load_utils.py +++ b/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 diff --git a/localization/deviation_estimation_tools/deviation_evaluator/scripts/deviation_evaluation_visualizer.py b/localization/deviation_estimation_tools/deviation_evaluator/scripts/deviation_evaluation_visualizer.py index 7d1ee6a0f..f3702ba4d 100755 --- a/localization/deviation_estimation_tools/deviation_evaluator/scripts/deviation_evaluation_visualizer.py +++ b/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 = { diff --git a/localization/deviation_estimation_tools/deviation_evaluator/scripts/plot_utils.py b/localization/deviation_estimation_tools/deviation_evaluator/scripts/plot_utils.py index 4ef3752e5..50077d67b 100644 --- a/localization/deviation_estimation_tools/deviation_evaluator/scripts/plot_utils.py +++ b/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): diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py index a8a553a38..4b68070b2 100755 --- a/planning/planning_debug_tools/scripts/closest_velocity_checker.py +++ b/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" diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py index 597c58a83..4503bc3c0 100755 --- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py +++ b/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): diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py index fa0d73011..4c5871c36 100644 --- a/planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py +++ b/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): diff --git a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py b/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py index da72cc6f7..7730f01c3 100755 --- a/planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py +++ b/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) diff --git a/planning/planning_debug_tools/scripts/perception_replayer/time_manager_widget.py b/planning/planning_debug_tools/scripts/perception_replayer/time_manager_widget.py index c9ec36ca2..ef077f9dd 100644 --- a/planning/planning_debug_tools/scripts/perception_replayer/time_manager_widget.py +++ b/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. diff --git a/planning/planning_debug_tools/scripts/perception_replayer/utils.py b/planning/planning_debug_tools/scripts/perception_replayer/utils.py index 34489f5ba..3dcce34cd 100644 --- a/planning/planning_debug_tools/scripts/perception_replayer/utils.py +++ b/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): diff --git a/planning/planning_debug_tools/scripts/processing_time_checker.py b/planning/planning_debug_tools/scripts/processing_time_checker.py index 39e94ebcc..dd82e1e21 100755 --- a/planning/planning_debug_tools/scripts/processing_time_checker.py +++ b/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 diff --git a/planning/planning_debug_tools/scripts/trajectory_visualizer.py b/planning/planning_debug_tools/scripts/trajectory_visualizer.py index dfa16d497..2490b2b9c 100755 --- a/planning/planning_debug_tools/scripts/trajectory_visualizer.py +++ b/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") diff --git a/simulator/simulator_compatibility_test/setup.py b/simulator/simulator_compatibility_test/setup.py index f5b1e18cf..485108bc6 100644 --- a/simulator/simulator_compatibility_test/setup.py +++ b/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 diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/clients/moraisim/morai_client_event_cmd.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/clients/moraisim/morai_client_event_cmd.py index 3fdd0b450..ae163ee95 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/clients/moraisim/morai_client_event_cmd.py +++ b/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 diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py index 9c643fbb9..5be3e6a21 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py +++ b/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): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/control_mode_command.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/control_mode_command.py index aaac318bf..d0baafc90 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/control_mode_command.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/control_mode_command.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import ControlModeCommand import rclpy +from autoware_vehicle_msgs.msg import ControlModeCommand 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 ControlModeCommand_Constants(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/gear_command.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/gear_command.py index dbb6cc173..f4bf75843 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/gear_command.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/gear_command.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import GearCommand import rclpy +from autoware_vehicle_msgs.msg import GearCommand 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 GearMode(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py index a1af495cd..8a362a710 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/publishers/moraisim/morai_ctrl_cmd.py @@ -1,7 +1,7 @@ from enum import Enum -from morai_msgs.msg import CtrlCmd import rclpy +from morai_msgs.msg import CtrlCmd from rclpy.node import Node diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/control_mode_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/control_mode_report.py index 347f73266..60b8aa6dd 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/control_mode_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/control_mode_report.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import ControlModeReport import rclpy +from autoware_vehicle_msgs.msg import ControlModeReport 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 ControlModeReport_Constants(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/gear_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/gear_report.py index ebbe470f0..5213b9b8a 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/gear_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/gear_report.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import GearReport import rclpy +from autoware_vehicle_msgs.msg import GearReport 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 GearMode(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/hazard_lights_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/hazard_lights_report.py index 10b30d3a3..28c9a1dca 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/hazard_lights_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/hazard_lights_report.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import HazardLightsReport import rclpy +from autoware_vehicle_msgs.msg import HazardLightsReport 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 HazardLightsReport_Constants(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/steering_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/steering_report.py index 493637fdc..bb247f3f2 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/steering_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/steering_report.py @@ -1,10 +1,7 @@ -from autoware_vehicle_msgs.msg import SteeringReport import rclpy +from autoware_vehicle_msgs.msg import SteeringReport 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 SubscriberSteeringReport(Node): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/turn_indicators_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/turn_indicators_report.py index 599c918d4..a704e2dc5 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/turn_indicators_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/turn_indicators_report.py @@ -1,12 +1,9 @@ from enum import Enum -from autoware_vehicle_msgs.msg import TurnIndicatorsReport import rclpy +from autoware_vehicle_msgs.msg import TurnIndicatorsReport 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 TurnIndicatorsReport_Constants(Enum): diff --git a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/velocity_report.py b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/velocity_report.py index 0e632c87a..5cfbf6de7 100644 --- a/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/velocity_report.py +++ b/simulator/simulator_compatibility_test/simulator_compatibility_test/subscribers/velocity_report.py @@ -1,10 +1,7 @@ -from autoware_vehicle_msgs.msg import VelocityReport import rclpy +from autoware_vehicle_msgs.msg import VelocityReport 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 SubscriberVelocityReport(Node): diff --git a/simulator/simulator_compatibility_test/test_base/test_02_change_gear_and_report.py b/simulator/simulator_compatibility_test/test_base/test_02_change_gear_and_report.py index 75207bb52..c85721460 100644 --- a/simulator/simulator_compatibility_test/test_base/test_02_change_gear_and_report.py +++ b/simulator/simulator_compatibility_test/test_base/test_02_change_gear_and_report.py @@ -1,14 +1,10 @@ import time -from autoware_vehicle_msgs.msg import GearCommand import rclpy +from autoware_vehicle_msgs.msg import GearCommand from rclpy.executors import MultiThreadedExecutor -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSHistoryPolicy -from rclpy.qos import QoSProfile -from rclpy.qos import QoSReliabilityPolicy -from simulator_compatibility_test.subscribers.gear_report import GearMode -from simulator_compatibility_test.subscribers.gear_report import SubscriberGearReport +from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy +from simulator_compatibility_test.subscribers.gear_report import GearMode, SubscriberGearReport class Test02ChangeGearAndReportBase: diff --git a/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py b/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py index 176ef5a82..5e33b8368 100644 --- a/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py +++ b/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py @@ -1,15 +1,12 @@ import time +import pytest +import rclpy from autoware_control_msgs.msg import Control as ControlCommand from autoware_control_msgs.msg import Lateral as LateralCommand from autoware_control_msgs.msg import Longitudinal as LongitudinalCommand -import pytest -import rclpy from rclpy.executors import MultiThreadedExecutor -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 from simulator_compatibility_test.subscribers.velocity_report import SubscriberVelocityReport diff --git a/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py b/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py index 5959bdefe..9998ce411 100644 --- a/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py +++ b/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py @@ -1,15 +1,12 @@ import time +import pytest +import rclpy from autoware_control_msgs.msg import Control as ControlCommand from autoware_control_msgs.msg import Lateral as LateralCommand from autoware_control_msgs.msg import Longitudinal as LongitudinalCommand -import pytest -import rclpy from rclpy.executors import MultiThreadedExecutor -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 from simulator_compatibility_test.subscribers.steering_report import SubscriberSteeringReport diff --git a/simulator/simulator_compatibility_test/test_base/test_05_turn_indicators_cmd_and_report.py b/simulator/simulator_compatibility_test/test_base/test_05_turn_indicators_cmd_and_report.py index c26f7d2f3..c15a76cbe 100644 --- a/simulator/simulator_compatibility_test/test_base/test_05_turn_indicators_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_base/test_05_turn_indicators_cmd_and_report.py @@ -1,18 +1,13 @@ -from enum import Enum import time +from enum import Enum -from autoware_vehicle_msgs.msg import TurnIndicatorsCommand import pytest import rclpy +from autoware_vehicle_msgs.msg import TurnIndicatorsCommand from rclpy.executors import MultiThreadedExecutor -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 from simulator_compatibility_test.subscribers.turn_indicators_report import ( SubscriberTurnIndicatorsReport, -) -from simulator_compatibility_test.subscribers.turn_indicators_report import ( TurnIndicatorsReport_Constants, ) diff --git a/simulator/simulator_compatibility_test/test_base/test_06_hazard_lights_cmd_and_report.py b/simulator/simulator_compatibility_test/test_base/test_06_hazard_lights_cmd_and_report.py index 950eabcbb..efa458894 100644 --- a/simulator/simulator_compatibility_test/test_base/test_06_hazard_lights_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_base/test_06_hazard_lights_cmd_and_report.py @@ -1,18 +1,13 @@ -from enum import Enum import time +from enum import Enum -from autoware_vehicle_msgs.msg import HazardLightsCommand import pytest import rclpy +from autoware_vehicle_msgs.msg import HazardLightsCommand from rclpy.executors import MultiThreadedExecutor -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 from simulator_compatibility_test.subscribers.hazard_lights_report import ( HazardLightsReport_Constants, -) -from simulator_compatibility_test.subscribers.hazard_lights_report import ( SubscriberHazardLightsReport, ) diff --git a/simulator/simulator_compatibility_test/test_base/test_copyright.py b/simulator/simulator_compatibility_test/test_base/test_copyright.py index f46f861db..9167f3d7a 100644 --- a/simulator/simulator_compatibility_test/test_base/test_copyright.py +++ b/simulator/simulator_compatibility_test/test_base/test_copyright.py @@ -12,8 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_copyright.main import main import pytest +from ament_copyright.main import main @pytest.mark.copyright diff --git a/simulator/simulator_compatibility_test/test_base/test_flake8.py b/simulator/simulator_compatibility_test/test_base/test_flake8.py index 49c1644ff..22fffcb86 100644 --- a/simulator/simulator_compatibility_test/test_base/test_flake8.py +++ b/simulator/simulator_compatibility_test/test_base/test_flake8.py @@ -12,8 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_flake8.main import main_with_errors import pytest +from ament_flake8.main import main_with_errors @pytest.mark.flake8 diff --git a/simulator/simulator_compatibility_test/test_base/test_pep257.py b/simulator/simulator_compatibility_test/test_base/test_pep257.py index a2c3deb8e..4eddb46ed 100644 --- a/simulator/simulator_compatibility_test/test_base/test_pep257.py +++ b/simulator/simulator_compatibility_test/test_base/test_pep257.py @@ -12,8 +12,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_pep257.main import main import pytest +from ament_pep257.main import main @pytest.mark.linter diff --git a/simulator/simulator_compatibility_test/test_morai_sim/test_02_change_gear_and_report.py b/simulator/simulator_compatibility_test/test_morai_sim/test_02_change_gear_and_report.py index ea2f5ed05..937c1be94 100644 --- a/simulator/simulator_compatibility_test/test_morai_sim/test_02_change_gear_and_report.py +++ b/simulator/simulator_compatibility_test/test_morai_sim/test_02_change_gear_and_report.py @@ -1,5 +1,4 @@ -from test_base.test_02_change_gear_and_report import GearMode -from test_base.test_02_change_gear_and_report import Test02ChangeGearAndReportBase +from test_base.test_02_change_gear_and_report import GearMode, Test02ChangeGearAndReportBase class Test02ChangeGearAndReportMorai(Test02ChangeGearAndReportBase): diff --git a/simulator/simulator_compatibility_test/test_morai_sim/test_04_lateral_command_and_report.py b/simulator/simulator_compatibility_test/test_morai_sim/test_04_lateral_command_and_report.py index 66742659d..8e67f8a23 100644 --- a/simulator/simulator_compatibility_test/test_morai_sim/test_04_lateral_command_and_report.py +++ b/simulator/simulator_compatibility_test/test_morai_sim/test_04_lateral_command_and_report.py @@ -1,5 +1,5 @@ -from math import pi import time +from math import pi from test_base.test_04_lateral_command_and_report import Test04LateralCommandAndReportBase diff --git a/simulator/simulator_compatibility_test/test_morai_sim/test_05_turn_indicators_cmd_and_report.py b/simulator/simulator_compatibility_test/test_morai_sim/test_05_turn_indicators_cmd_and_report.py index 557fbc54c..890550240 100644 --- a/simulator/simulator_compatibility_test/test_morai_sim/test_05_turn_indicators_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_morai_sim/test_05_turn_indicators_cmd_and_report.py @@ -1,8 +1,10 @@ from simulator_compatibility_test.subscribers.turn_indicators_report import ( TurnIndicatorsReport_Constants, ) -from test_base.test_05_turn_indicators_cmd_and_report import Test05TurnIndicatorsCmdAndReportBase -from test_base.test_05_turn_indicators_cmd_and_report import TurnIndicatorsCommand_Constants +from test_base.test_05_turn_indicators_cmd_and_report import ( + Test05TurnIndicatorsCmdAndReportBase, + TurnIndicatorsCommand_Constants, +) class Test05TurnIndicatorsCmdAndReportMorai(Test05TurnIndicatorsCmdAndReportBase): diff --git a/simulator/simulator_compatibility_test/test_morai_sim/test_06_hazard_lights_cmd_and_report.py b/simulator/simulator_compatibility_test/test_morai_sim/test_06_hazard_lights_cmd_and_report.py index aed788780..5663d299c 100644 --- a/simulator/simulator_compatibility_test/test_morai_sim/test_06_hazard_lights_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_morai_sim/test_06_hazard_lights_cmd_and_report.py @@ -1,8 +1,10 @@ from simulator_compatibility_test.subscribers.hazard_lights_report import ( HazardLightsReport_Constants, ) -from test_base.test_06_hazard_lights_cmd_and_report import HazardLightsCommand_Constants -from test_base.test_06_hazard_lights_cmd_and_report import Test06HazardLightsCmdAndReportBase +from test_base.test_06_hazard_lights_cmd_and_report import ( + HazardLightsCommand_Constants, + Test06HazardLightsCmdAndReportBase, +) class Test06HazardLightsCmdAndReportMorai(Test06HazardLightsCmdAndReportBase): diff --git a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_02_change_gear_and_report.py b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_02_change_gear_and_report.py index 4be81e267..30d27af68 100644 --- a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_02_change_gear_and_report.py +++ b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_02_change_gear_and_report.py @@ -1,5 +1,4 @@ -from test_base.test_02_change_gear_and_report import GearMode -from test_base.test_02_change_gear_and_report import Test02ChangeGearAndReportBase +from test_base.test_02_change_gear_and_report import GearMode, Test02ChangeGearAndReportBase class Test02ChangeGearAndReportSim(Test02ChangeGearAndReportBase): diff --git a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_04_lateral_command_and_report.py b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_04_lateral_command_and_report.py index 98188824f..4b6eff85e 100644 --- a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_04_lateral_command_and_report.py +++ b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_04_lateral_command_and_report.py @@ -1,5 +1,5 @@ -from math import pi import time +from math import pi from test_base.test_04_lateral_command_and_report import Test04LateralCommandAndReportBase diff --git a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_05_turn_indicators_cmd_and_report.py b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_05_turn_indicators_cmd_and_report.py index 2c880f968..039ef2f70 100644 --- a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_05_turn_indicators_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_05_turn_indicators_cmd_and_report.py @@ -1,8 +1,10 @@ from simulator_compatibility_test.subscribers.turn_indicators_report import ( TurnIndicatorsReport_Constants, ) -from test_base.test_05_turn_indicators_cmd_and_report import Test05TurnIndicatorsCmdAndReportBase -from test_base.test_05_turn_indicators_cmd_and_report import TurnIndicatorsCommand_Constants +from test_base.test_05_turn_indicators_cmd_and_report import ( + Test05TurnIndicatorsCmdAndReportBase, + TurnIndicatorsCommand_Constants, +) class Test05TurnIndicatorsCmdAndReportSim(Test05TurnIndicatorsCmdAndReportBase): diff --git a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_06_hazard_lights_cmd_and_report.py b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_06_hazard_lights_cmd_and_report.py index cd9e0bbf1..4f05517c1 100644 --- a/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_06_hazard_lights_cmd_and_report.py +++ b/simulator/simulator_compatibility_test/test_sim_common_manual_testing/test_06_hazard_lights_cmd_and_report.py @@ -1,8 +1,10 @@ from simulator_compatibility_test.subscribers.hazard_lights_report import ( HazardLightsReport_Constants, ) -from test_base.test_06_hazard_lights_cmd_and_report import HazardLightsCommand_Constants -from test_base.test_06_hazard_lights_cmd_and_report import Test06HazardLightsCmdAndReportBase +from test_base.test_06_hazard_lights_cmd_and_report import ( + HazardLightsCommand_Constants, + Test06HazardLightsCmdAndReportBase, +) class Test06HazardLightsCmdAndReportSim(Test06HazardLightsCmdAndReportBase): diff --git a/system/rqt_diagnostic_graph_monitor/python/items.py b/system/rqt_diagnostic_graph_monitor/python/items.py index 96f60ef0e..c6f2b25a9 100644 --- a/system/rqt_diagnostic_graph_monitor/python/items.py +++ b/system/rqt_diagnostic_graph_monitor/python/items.py @@ -14,11 +14,9 @@ from diagnostic_msgs.msg import DiagnosticStatus -from python_qt_binding import QtGui -from python_qt_binding import QtWidgets +from python_qt_binding import QtGui, QtWidgets -from .graph import BaseUnit -from .graph import UnitLink +from .graph import BaseUnit, UnitLink class MonitorIcons: diff --git a/system/rqt_diagnostic_graph_monitor/python/module.py b/system/rqt_diagnostic_graph_monitor/python/module.py index 74294659e..0795124d5 100644 --- a/system/rqt_diagnostic_graph_monitor/python/module.py +++ b/system/rqt_diagnostic_graph_monitor/python/module.py @@ -14,13 +14,10 @@ from rclpy.node import Node -from tier4_system_msgs.msg import DiagGraphStatus -from tier4_system_msgs.msg import DiagGraphStruct +from tier4_system_msgs.msg import DiagGraphStatus, DiagGraphStruct from .graph import Graph -from .utils import default_qos -from .utils import durable_qos -from .utils import foreach +from .utils import default_qos, durable_qos, foreach class MonitorModule: diff --git a/system/rqt_diagnostic_graph_monitor/python/utils.py b/system/rqt_diagnostic_graph_monitor/python/utils.py index 6e66102b1..97b8feb91 100644 --- a/system/rqt_diagnostic_graph_monitor/python/utils.py +++ b/system/rqt_diagnostic_graph_monitor/python/utils.py @@ -12,8 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from rclpy.qos import QoSDurabilityPolicy -from rclpy.qos import QoSProfile +from rclpy.qos import QoSDurabilityPolicy, QoSProfile def default_qos(depth): diff --git a/system/rqt_diagnostic_graph_monitor/python/widget.py b/system/rqt_diagnostic_graph_monitor/python/widget.py index e7f022e59..c3505a331 100644 --- a/system/rqt_diagnostic_graph_monitor/python/widget.py +++ b/system/rqt_diagnostic_graph_monitor/python/widget.py @@ -12,8 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -from python_qt_binding import QtCore -from python_qt_binding import QtWidgets +from python_qt_binding import QtCore, QtWidgets from .graph import Graph from .items import MonitorItem diff --git a/vehicle/pitch_checker/scripts/view_pitch.py b/vehicle/pitch_checker/scripts/view_pitch.py index 933a02186..3f70163ec 100755 --- a/vehicle/pitch_checker/scripts/view_pitch.py +++ b/vehicle/pitch_checker/scripts/view_pitch.py @@ -15,10 +15,10 @@ # See the License for the specific language governing permissions and # limitations under the License. -from ament_index_python.packages import get_package_share_directory import matplotlib.pyplot as plt import pandas as pd import rclpy +from ament_index_python.packages import get_package_share_directory from rclpy.node import Node diff --git a/vehicle/time_delay_estimator/scripts/correlation_visualizer.py b/vehicle/time_delay_estimator/scripts/correlation_visualizer.py index 3a486f0a0..57bf3c21f 100755 --- a/vehicle/time_delay_estimator/scripts/correlation_visualizer.py +++ b/vehicle/time_delay_estimator/scripts/correlation_visualizer.py @@ -18,13 +18,12 @@ import copy from threading import Thread -from matplotlib import animation import matplotlib.pyplot as plt import numpy as np import rclpy +from matplotlib import animation from rclpy.node import Node -from std_msgs.msg import Float32MultiArray -from std_msgs.msg import Float64MultiArray +from std_msgs.msg import Float32MultiArray, Float64MultiArray plt.style.use("dark_background")