From 07c662749aebee15ab8d63861f076145a31ad01c Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Tue, 11 Feb 2025 18:43:55 -0800 Subject: [PATCH] finish linting Signed-off-by: Steve Macenski --- launch_ros/launch_ros/descriptions/__init__.py | 2 +- .../descriptions/composable_lifecycle_node.py | 5 +---- .../launch_ros/event_handlers/on_state_transition.py | 12 ++++++------ 3 files changed, 8 insertions(+), 11 deletions(-) diff --git a/launch_ros/launch_ros/descriptions/__init__.py b/launch_ros/launch_ros/descriptions/__init__.py index b961a38d..1d693013 100644 --- a/launch_ros/launch_ros/descriptions/__init__.py +++ b/launch_ros/launch_ros/descriptions/__init__.py @@ -14,8 +14,8 @@ """descriptions Module.""" -from .composable_node import ComposableNode from .composable_lifecycle_node import ComposableLifecycleNode +from .composable_node import ComposableNode from ..parameter_descriptions import Parameter from ..parameter_descriptions import ParameterFile from ..parameter_descriptions import ParameterValue diff --git a/launch_ros/launch_ros/descriptions/composable_lifecycle_node.py b/launch_ros/launch_ros/descriptions/composable_lifecycle_node.py index e5d60cb1..cca531ca 100644 --- a/launch_ros/launch_ros/descriptions/composable_lifecycle_node.py +++ b/launch_ros/launch_ros/descriptions/composable_lifecycle_node.py @@ -18,15 +18,11 @@ from typing import Optional import launch -from launch.condition import Condition -from launch.some_substitutions_type import SomeSubstitutionsType from launch.substitution import Substitution # from launch.utilities import ensure_argument_type from launch.utilities import perform_substitutions from launch_ros.parameters_type import Parameters -from launch_ros.parameters_type import SomeParameters from launch_ros.remap_rule_type import RemapRules -from launch_ros.remap_rule_type import SomeRemapRules from launch_ros.utilities import LifecycleEventManager from .composable_node import ComposableNode @@ -34,6 +30,7 @@ class ComposableLifecycleNode(ComposableNode): """Describes a lifecycle node that can be loaded into a container with other nodes.""" + def __init__( self, *, autostart: bool = False, diff --git a/launch_ros/launch_ros/event_handlers/on_state_transition.py b/launch_ros/launch_ros/event_handlers/on_state_transition.py index 6ecb09b4..a4d57e74 100644 --- a/launch_ros/launch_ros/event_handlers/on_state_transition.py +++ b/launch_ros/launch_ros/event_handlers/on_state_transition.py @@ -33,7 +33,7 @@ def __init__( self, *, entities: SomeEntitiesType, - target_lifecycle_node: Optional['LifecycleNode'] = None, + target_lifecycle_node: Optional['LifecycleNode'] = None, # noqa: F821 transition: Optional[SomeSubstitutionsType] = None, start_state: Optional[SomeSubstitutionsType] = None, goal_state: Optional[SomeSubstitutionsType] = None, @@ -51,17 +51,17 @@ def __init__( If matcher is given, the other conditions are not considered. """ lifecycle_property = type(target_lifecycle_node).__dict__.get('is_lifecycle_node', None) - if not isinstance(lifecycle_property, (property, type(None))): - raise RuntimeError('OnStateTransition requires a "LifecycleNode" action as the target,' - ' target_lifecycle_node is not a node type.') + if target_lifecycle_node and not isinstance(lifecycle_property, (property)): + raise RuntimeError('OnStateTransition requires a lifecycle enabled node as the target,' + ' target_lifecycle_node is not a lifecycle-enabled node type.') if ( target_lifecycle_node and hasattr(target_lifecycle_node, 'is_lifecycle_node') and not target_lifecycle_node.is_lifecycle_node ): - raise RuntimeError('OnStateTransition requires a "LifecycleNode" action as the target,' - ' target_lifecycle_node is not a lifecycle-enabled node.') + raise RuntimeError('OnStateTransition requires a lifecycle enabled node as the target,' + ' target_lifecycle_node is not lifecycle-enabled.') # Handle optional matcher argument. self.__custom_matcher = matcher