Nacho/fix flake8 remaining tests

nav2_bringup/launch/bringup_launch.py

@@ -17,8 +17,12 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, GroupAction,
-                            IncludeLaunchDescription, SetEnvironmentVariable)
+from launch.actions import (
+    DeclareLaunchArgument,
+    GroupAction,
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+)
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
@@ -51,8 +55,7 @@ def generate_launch_description():
     # /~https://github.com/ros/robot_state_publisher/pull/30
     # TODO(orduno) Substitute with `PushNodeRemapping`
     #              /~https://github.com/ros2/launch_ros/issues/56
-    remappings = [('/tf', 'tf'),
-                  ('/tf_static', 'tf_static')]
+    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
     # Only it applys when `use_namespace` is True.
     # '<robot_namespace>' keyword shall be replaced by 'namespace' launch argument
@@ -61,113 +64,134 @@ def generate_launch_description():
     params_file = ReplaceString(
         source_file=params_file,
         replacements={'<robot_namespace>': ('/', namespace)},
-        condition=IfCondition(use_namespace))
+        condition=IfCondition(use_namespace),
+    )
 
     configured_params = ParameterFile(
         RewrittenYaml(
             source_file=params_file,
             root_key=namespace,
             param_rewrites={},
-            convert_types=True),
-        allow_substs=True)
+            convert_types=True,
+        ),
+        allow_substs=True,
+    )
 
     stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_LOGGING_BUFFERED_STREAM', '1')
+        'RCUTILS_LOGGING_BUFFERED_STREAM', '1'
+    )
 
     declare_namespace_cmd = DeclareLaunchArgument(
-        'namespace',
-        default_value='',
-        description='Top-level namespace')
+        'namespace', default_value='', description='Top-level namespace'
+    )
 
     declare_use_namespace_cmd = DeclareLaunchArgument(
         'use_namespace',
         default_value='false',
-        description='Whether to apply a namespace to the navigation stack')
+        description='Whether to apply a namespace to the navigation stack',
+    )
 
     declare_slam_cmd = DeclareLaunchArgument(
-        'slam',
-        default_value='False',
-        description='Whether run a SLAM')
+        'slam', default_value='False', description='Whether run a SLAM'
+    )
 
     declare_map_yaml_cmd = DeclareLaunchArgument(
-        'map',
-        default_value='',
-        description='Full path to map yaml file to load')
+        'map', default_value='', description='Full path to map yaml file to load'
+    )
 
     declare_use_sim_time_cmd = DeclareLaunchArgument(
         'use_sim_time',
         default_value='false',
-        description='Use simulation (Gazebo) clock if true')
+        description='Use simulation (Gazebo) clock if true',
+    )
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
         default_value=os.path.join(bringup_dir, 'params', 'nav2_params.yaml'),
-        description='Full path to the ROS2 parameters file to use for all launched nodes')
+        description='Full path to the ROS2 parameters file to use for all launched nodes',
+    )
 
     declare_autostart_cmd = DeclareLaunchArgument(
-        'autostart', default_value='true',
-        description='Automatically startup the nav2 stack')
+        'autostart',
+        default_value='true',
+        description='Automatically startup the nav2 stack',
+    )
 
     declare_use_composition_cmd = DeclareLaunchArgument(
-        'use_composition', default_value='True',
-        description='Whether to use composed bringup')
+        'use_composition',
+        default_value='True',
+        description='Whether to use composed bringup',
+    )
 
     declare_use_respawn_cmd = DeclareLaunchArgument(
-        'use_respawn', default_value='False',
-        description='Whether to respawn if a node crashes. Applied when composition is disabled.')
+        'use_respawn',
+        default_value='False',
+        description='Whether to respawn if a node crashes. Applied when composition is disabled.',
+    )
 
     declare_log_level_cmd = DeclareLaunchArgument(
-        'log_level', default_value='info',
-        description='log level')
+        'log_level', default_value='info', description='log level'
+    )
 
     # Specify the actions
-    bringup_cmd_group = GroupAction([
-        PushROSNamespace(
-            condition=IfCondition(use_namespace),
-            namespace=namespace),
-
-        Node(
-            condition=IfCondition(use_composition),
-            name='nav2_container',
-            package='rclcpp_components',
-            executable='component_container_isolated',
-            parameters=[configured_params, {'autostart': autostart}],
-            arguments=['--ros-args', '--log-level', log_level],
-            remappings=remappings,
-            output='screen'),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'slam_launch.py')),
-            condition=IfCondition(slam),
-            launch_arguments={'namespace': namespace,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'use_respawn': use_respawn,
-                              'params_file': params_file}.items()),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir,
-                                                       'localization_launch.py')),
-            condition=IfCondition(PythonExpression(['not ', slam])),
-            launch_arguments={'namespace': namespace,
-                              'map': map_yaml_file,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file,
-                              'use_composition': use_composition,
-                              'use_respawn': use_respawn,
-                              'container_name': 'nav2_container'}.items()),
-
-        IncludeLaunchDescription(
-            PythonLaunchDescriptionSource(os.path.join(launch_dir, 'navigation_launch.py')),
-            launch_arguments={'namespace': namespace,
-                              'use_sim_time': use_sim_time,
-                              'autostart': autostart,
-                              'params_file': params_file,
-                              'use_composition': use_composition,
-                              'use_respawn': use_respawn,
-                              'container_name': 'nav2_container'}.items()),
-    ])
+    bringup_cmd_group = GroupAction(
+        [
+            PushROSNamespace(condition=IfCondition(use_namespace), namespace=namespace),
+            Node(
+                condition=IfCondition(use_composition),
+                name='nav2_container',
+                package='rclcpp_components',
+                executable='component_container_isolated',
+                parameters=[configured_params, {'autostart': autostart}],
+                arguments=['--ros-args', '--log-level', log_level],
+                remappings=remappings,
+                output='screen',
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_dir, 'slam_launch.py')
+                ),
+                condition=IfCondition(slam),
+                launch_arguments={
+                    'namespace': namespace,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'use_respawn': use_respawn,
+                    'params_file': params_file,
+                }.items(),
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_dir, 'localization_launch.py')
+                ),
+                condition=IfCondition(PythonExpression(['not ', slam])),
+                launch_arguments={
+                    'namespace': namespace,
+                    'map': map_yaml_file,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'params_file': params_file,
+                    'use_composition': use_composition,
+                    'use_respawn': use_respawn,
+                    'container_name': 'nav2_container',
+                }.items(),
+            ),
+            IncludeLaunchDescription(
+                PythonLaunchDescriptionSource(
+                    os.path.join(launch_dir, 'navigation_launch.py')
+                ),
+                launch_arguments={
+                    'namespace': namespace,
+                    'use_sim_time': use_sim_time,
+                    'autostart': autostart,
+                    'params_file': params_file,
+                    'use_composition': use_composition,
+                    'use_respawn': use_respawn,
+                    'container_name': 'nav2_container',
+                }.items(),
+            ),
+        ]
+    )
 
     # Create the launch description and populate
     ld = LaunchDescription()