Automated autoyapf fixes

guidance/guidance_pkg/guidance_pkg/guidance.py

@@ -6,30 +6,46 @@
 import math
 from transforms3d.euler import quat2euler
 
+
 class GuidanceNode(Node):
+
     def __init__(self):
         super().__init__('guidance_pkg')
 
         # Publisher to output the surge velocity, pitch angle, and heading angle
-        self.output_pub = self.create_publisher(Float32MultiArray, '/guidance/waypoints', 10)
+        self.output_pub = self.create_publisher(Float32MultiArray,
+                                                '/guidance/waypoints', 10)
 
         # Subscriber to receive odometry data from '/nucleus/odom'
-        self.create_subscription(Odometry, '/nucleus/odom', self.odom_callback, 10)
+        self.create_subscription(Odometry, '/nucleus/odom', self.odom_callback,
+                                 10)
 
         # Initialize variables
         self.current_position = None
         self.current_velocity = None
         self.current_orientation = None
 
         # Parameters for the guidance algorithm
-        self.U = 1.0    # Desired speed
+        self.U = 1.0  # Desired speed
         self.delta = 1.2  # Lookahead distance
 
         # Define waypoints as a list of dictionaries with x, y, z coordinates
         self.waypoints = [
-            {'x': 5.0, 'y': -5.0, 'z': -8.0},
-            {'x': 10.0, 'y': 5.0, 'z': -5.0},
-            {'x': 15.0, 'y': 0.0, 'z': 0.0},
+            {
+                'x': 5.0,
+                'y': -5.0,
+                'z': -8.0
+            },
+            {
+                'x': 10.0,
+                'y': 5.0,
+                'z': -5.0
+            },
+            {
+                'x': 15.0,
+                'y': 0.0,
+                'z': 0.0
+            },
             # Add more waypoints as needed
         ]
         self.current_waypoint_index = 0
@@ -47,7 +63,9 @@ def odom_callback(self, msg):
 
         # Convert quaternion to Euler angles
         # ROS quaternion format: (x, y, z, w)
-        quaternion = [orientation_q.w, orientation_q.x, orientation_q.y, orientation_q.z]
+        quaternion = [
+            orientation_q.w, orientation_q.x, orientation_q.y, orientation_q.z
+        ]
         roll, pitch, yaw = quat2euler(quaternion)
         self.current_orientation = {'roll': roll, 'pitch': pitch, 'yaw': yaw}
 
@@ -73,7 +91,7 @@ def timer_callback(self):
         current_z = self.current_position.z
 
         # Extract current orientation
-        psi = self.current_orientation['yaw']    # Heading angle
+        psi = self.current_orientation['yaw']  # Heading angle
         theta = self.current_orientation['pitch']  # Pitch angle
 
         # Extract target waypoint position
@@ -82,15 +100,14 @@ def timer_callback(self):
         target_z = waypoint['z']
 
         # Compute distance to the waypoint
-        distance = math.sqrt(
-            (target_x - current_x) ** 2 +
-            (target_y - current_y) ** 2 +
-            (target_z - current_z) ** 2
-        )
+        distance = math.sqrt((target_x - current_x)**2 +
+                             (target_y - current_y)**2 +
+                             (target_z - current_z)**2)
 
         # Check if the waypoint is reached
         if distance < 0.5:
-            self.get_logger().info(f'Reached waypoint {self.current_waypoint_index}')
+            self.get_logger().info(
+                f'Reached waypoint {self.current_waypoint_index}')
             self.current_waypoint_index += 1
             if self.current_waypoint_index >= len(self.waypoints):
                 self.get_logger().info('All waypoints reached.')
@@ -115,7 +132,8 @@ def timer_callback(self):
         gamma = math.atan2(-dz, math.hypot(dx, dy))
 
         # Compute cross-track error
-        e_ct = -(dx * (current_y - ref_y) - dy * (current_x - ref_x)) / math.hypot(dx, dy)
+        e_ct = -(dx * (current_y - ref_y) - dy *
+                 (current_x - ref_x)) / math.hypot(dx, dy)
 
         # Compute desired course angle
         course_d = pi_p - math.atan(e_ct / self.delta)
@@ -133,18 +151,21 @@ def timer_callback(self):
         output_msg.data = [surge_velocity, pitch_angle, heading_angle]
         self.output_pub.publish(output_msg)
 
+
 def normalize_angle(angle):
     """
     Normalize an angle to the range [-π, π].
     """
     return (angle + np.pi) % (2 * np.pi) - np.pi
 
+
 def main(args=None):
     rclpy.init(args=args)
     node = GuidanceNode()
     rclpy.spin(node)
     node.destroy_node()
     rclpy.shutdown()
 
+
 if __name__ == '__main__':
     main()

guidance/guidance_pkg/setup.py

@@ -8,7 +8,7 @@
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
+         ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
     ],
     install_requires=['setuptools'],

guidance/guidance_pkg/test/test_copyright.py

@@ -17,7 +17,8 @@
 
 
 # Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.skip(
+    reason='No copyright header has been placed in the generated source file.')
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():