Create pylint.yml

.github/workflows/pylint.yml

@@ -0,0 +1,26 @@
+name: Pylint
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: docker://ros:noetic-ros-base
+#    strategy:
+#      matrix:
+#        python-version: ["3.8", "3.9", "3.10"]
+    steps:
+    - uses: actions/checkout@v3
+ #   - name: Set up Python ${{ matrix.python-version }}
+ #     uses: actions/setup-python@v3
+ #     with:
+ #       python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pylint
+    - name: Analysing the code with pylint
+      run: |
+        source /opt/ros/noetic/setup.bash
+        pylint $(git ls-files '*.py')

.gitignore

@@ -0,0 +1 @@
+.vscode/

.pylintrc

@@ -0,0 +1,42 @@
+
+[MESSAGES CONTROL]
+
+# Only show warnings with the listed confidence levels. Leave empty to show
+# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
+confidence=
+
+# Disable the message, report, category or checker with the given id(s). You
+# can either give multiple identifiers separated by comma (,) or put this
+# option multiple times (only on the command line, not in the configuration
+# file where it should appear only once).You can also use "--disable=all" to
+# disable everything first and then reenable specific checks. For example, if
+# you want to run only the similarities checker, you can use "--disable=all
+# --enable=similarities". If you want to run only the classes checker, but have
+# no Warning level messages displayed, use"--disable=all --enable=classes
+# --disable=W"
+disable=duplicate-code, # pylint-file-header: Fails in unit tests
+        missing-docstring, # pylint-file-header: Add DOCSTRINGS only where helpful
+        relative-import, # pylint-file-header: ignore for unit tests
+        redefined-outer-name, # pylint-file-header: conflicts with pytest fixtures
+        too-few-public-methods, # pylint-file-header: know what you are doing
+        bad-option-value # pylint-file-header: conflict with super-with-arguments in py34
+
+# Enable the message, report, category or checker with the given id(s). You can
+# either give multiple identifier separated by comma (,) or put this option
+# multiple time (only on the command line, not in the configuration file where
+# it should appear only once). See also the "--disable" option for examples.
+# enable=
+
+[BASIC]
+# Good variable names which should always be accepted, separated by a comma
+good-names=i,
+           j,
+           k,
+           m,
+           n,
+           dt,
+           tf,
+           _
+
+# Bad variable names which should always be refused, separated by a comma
+# bad-names=

haruna/scripts/base_controller.py

@@ -39,8 +39,16 @@ def __init__(self, lim_vel_linear, lim_vel_angular, lim_acc_linear, lim_acc_angu
         self._last_vel_linear = 0.0
         self._last_vel_angular = 0.0
         self._velocity_updated_timestamp = rospy.Time()
-        self._left_wheel_motor_velocity_publisher = rospy.Publisher('/left_wheel_motor_velocity_controller/command', Float64, queue_size=1)
-        self._right_wheel_motor_velocity_publisher = rospy.Publisher('/right_wheel_motor_velocity_controller/command', Float64, queue_size=1)
+        self._left_wheel_motor_velocity_publisher = rospy.Publisher(
+            '/left_wheel_motor_velocity_controller/command',
+            Float64,
+            queue_size=1
+        )
+        self._right_wheel_motor_velocity_publisher = rospy.Publisher(
+            '/right_wheel_motor_velocity_controller/command',
+            Float64,
+            queue_size=1
+        )
         self._lim_vel_linear = lim_vel_linear
         self._lim_vel_angular = lim_vel_angular
         self._lim_acc_linear = lim_acc_linear
@@ -56,17 +64,28 @@ def proc(self, dt: float):
         vel_linear = self._vel_linear
         vel_angular = self._vel_angular
 
-        if (rospy.Time.now() - self._velocity_updated_timestamp >= rospy.Duration.from_sec(TIMEOUT_CMD_VEL_SEC)):
+        if (
+            rospy.Time.now() - self._velocity_updated_timestamp
+            >= rospy.Duration.from_sec(TIMEOUT_CMD_VEL_SEC)
+        ):
             self._vel_linear = 0.0
             self._vel_angular = 0.0
             vel_linear = 0.0
             vel_angular = 0.0
 
-        vel_linear = clamp(vel_linear, self._last_vel_linear - self._lim_acc_linear * dt, self._last_vel_linear + self._lim_acc_linear * dt)
-        vel_angular = clamp(vel_angular, self._last_vel_angular - self._lim_acc_angular * dt, self._last_vel_angular + self._lim_acc_angular * dt)
-
-        vel_left = vel_linear - vel_angular * TREAD_WIDTH / 2;
-        vel_right = vel_linear + vel_angular * TREAD_WIDTH / 2;
+        vel_linear = clamp(
+            vel_linear,
+            self._last_vel_linear - self._lim_acc_linear * dt,
+            self._last_vel_linear + self._lim_acc_linear * dt
+        )
+        vel_angular = clamp(
+            vel_angular,
+            self._last_vel_angular - self._lim_acc_angular * dt,
+            self._last_vel_angular + self._lim_acc_angular * dt
+        )
+
+        vel_left = vel_linear - vel_angular * TREAD_WIDTH / 2
+        vel_right = vel_linear + vel_angular * TREAD_WIDTH / 2
         self._left_wheel_motor_velocity_publisher.publish(Float64(vel_left / WHEEL_RADIUS))
         self._right_wheel_motor_velocity_publisher.publish(Float64(-vel_right / WHEEL_RADIUS))
 
@@ -89,7 +108,13 @@ def __init__(self):
         self._pos_y = 0.0
         self._orientation_yaw = 0.0
 
-    def update_state(self, dist_left: float, dist_right: float, vel_left: float, vel_right: float):
+    def update_state(
+            self,
+            dist_left: float,
+            dist_right: float,
+            vel_left: float,
+            vel_right: float
+        ):
         self._dist_left = dist_left
         self._dist_right = dist_right
         self._vel_left = vel_left
@@ -115,18 +140,26 @@ def _send_transform(self):
         self._tf_broadcaster.sendTransform(tf)
 
 def clamp(n, smallest, largest):
-        return max(smallest, min(n, largest))
+    return max(smallest, min(n, largest))
 
 if __name__ == '__main__':
     rospy.init_node('controller')
 
     rate_hz = float(rospy.get_param(PARAM_NAME_RATE, DEFAULT_RATE))
 
-    lim_vel_linear = float(rospy.get_param(PARAM_NAME_VEL_LIMIT_LINEAR, DEFAULT_VEL_LIMIT_LINEAR))
-    lim_vel_angular = float(rospy.get_param(PARAM_NAME_VEL_LIMIT_ANGULAR, DEFAULT_VEL_LIMIT_ANGULAR))
+    lim_vel_linear = float(
+        rospy.get_param(PARAM_NAME_VEL_LIMIT_LINEAR, DEFAULT_VEL_LIMIT_LINEAR)
+    )
+    lim_vel_angular = float(
+        rospy.get_param(PARAM_NAME_VEL_LIMIT_ANGULAR, DEFAULT_VEL_LIMIT_ANGULAR)
+    )
 
-    lim_acc_linear = float(rospy.get_param(PARAM_NAME_ACC_LIMIT_LINEAR, DEFAULT_ACC_LIMIT_LINEAR))
-    lim_acc_angular = float(rospy.get_param(PARAM_NAME_ACC_LIMIT_ANGULAR, DEFAULT_ACC_LIMIT_ANGULAR))
+    lim_acc_linear = float(
+        rospy.get_param(PARAM_NAME_ACC_LIMIT_LINEAR, DEFAULT_ACC_LIMIT_LINEAR)
+    )
+    lim_acc_angular = float(
+        rospy.get_param(PARAM_NAME_ACC_LIMIT_ANGULAR, DEFAULT_ACC_LIMIT_ANGULAR)
+    )
 
     base = BaseController(lim_vel_linear, lim_vel_angular, lim_acc_linear, lim_acc_angular)
     odom = Odometry()
@@ -137,7 +170,13 @@ def clamp(n, smallest, largest):
 
     joint_states_subscriber = rospy.Subscriber(
         TOPIC_NAME_JOINT_STATES, JointState,
-        lambda joint_state: odom.update_state(joint_state.position[0], joint_state.position[1], joint_state.velocity[0], joint_state.velocity[1]))
+        lambda joint_state: odom.update_state(
+            joint_state.position[0],
+            joint_state.position[1],
+            joint_state.velocity[0],
+            joint_state.velocity[1]
+        )
+    )
 
     rate = rospy.Rate(rate_hz)
     while not rospy.is_shutdown():

haruna/tools/dcf_converter.py

@@ -14,9 +14,9 @@ class PropertyValueFilter:
     def __init__(self, rule):
         self._rule = rule
 
-    def filter(self, property, value):
-        if property in self._rule:
-            return self._rule[property]
+    def filter(self, _property, value):
+        if _property in self._rule:
+            return self._rule[_property]
         else:
             return value