reformat files

src/compass/compass/compass_listener.py

@@ -4,7 +4,6 @@
 from constants import COMPASS_TOPIC, QOS
 
 
-
 class CompassListener(Node):
     def __init__(self):
         super().__init__("compass_listener")

src/compass/compass/quaternion_publisher.py

@@ -5,35 +5,37 @@
 from constants import COMPASS_TOPIC, QOS
 import math
 
+
 class QuaternionPublisher(Node):
     def __init__(self):
-        super().__init__('quaternion_publisher')
+        super().__init__("quaternion_publisher")
 
         self.create_subscription(Float64, COMPASS_TOPIC, self.float_callback, 10)
-        
-        self.publisher_ = self.create_publisher(Quaternion, 'quaternion_topic', 10)
+
+        self.publisher_ = self.create_publisher(Quaternion, "quaternion_topic", 10)
         self.timer = self.create_timer(1.0, self.timer_callback)
-    
+
     def float_callback(self, msg):
-        #convert the float to a quaternion
+        # convert the float to a quaternion
         quaternion = self.convert_float_to_quaternion(msg.data)
 
         self.publisher_.publish(quaternion)
 
         self.get_logger().info(f'Publishing Quaternion: "{quaternion}"')
-    
+
     def convert_float_to_quaternion(self, angle):
         angle = math.radians(angle)
         q = Quaternion()
         q.x = 0.0
         q.y = 0.0
-        q.z = math.sin(angle/2.0)
-        q.w = 1-(q.z*q.z)
+        q.z = math.sin(angle / 2.0)
+        q.w = 1 - (q.z * q.z)
         return q
-
+
+
 def main(args=None):
     rclpy.init(args=args)
     try:
         rclpy.spin(QuaternionPublisher())
     except KeyboardInterrupt:
-        print("Shutting down")
+        print("Shutting down")

src/compass/setup.py

@@ -21,7 +21,6 @@
         "console_scripts": [
             "compass = compass.main:main",
             "compass_listener = compass.compass_listener:main",
-
             "quaternion_publisher = compass.quaternion_publisher:main",
         ],
     },

src/urc_intelsys_2024/launch/sensor_launch.py

@@ -13,7 +13,9 @@ def generate_launch_description():  # all launch files need a function with this
     # can't use the value in the parameter until we return the launch description.
     # thus, the lists, allow us to say "substitute `compass_type` with the actual value at runtime"
     compass_node = Node(package="compass", executable="compass", parameters=[config])
-    quaternion_compass_node = Node(package="compass", executable="quaternion_compass", parameters=[config])
+    quaternion_compass_node = Node(
+        package="compass", executable="quaternion_compass", parameters=[config]
+    )
     gps_node = Node(package="gps", executable="gps", parameters=[config])
 
     # create launch description for the luxonis depthai ros driver
@@ -24,4 +26,6 @@ def generate_launch_description():  # all launch files need a function with this
         ),
     )
 
-    return LaunchDescription([gps_node, compass_node, quaternion_compass_node, camera_launch])
+    return LaunchDescription(
+        [gps_node, compass_node, quaternion_compass_node, camera_launch]
+    )