Format launch files (#228)

* Format launch files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Format launch.py

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

control_launch/launch/control.launch.py

@@ -13,15 +13,19 @@
 # limitations under the License.
 
 import launch
-from launch.actions import DeclareLaunchArgument, GroupAction,\
-    OpaqueFunction, SetLaunchConfiguration
-from launch.conditions import IfCondition, LaunchConfigurationEquals, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import LaunchConfigurationEquals
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes, PushRosNamespace
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
 from launch_ros.substitutions import FindPackageShare
-
 import yaml
 
 
@@ -388,10 +392,12 @@ def add_launch_arg(name: str, default_value=None):
         condition=IfCondition(LaunchConfiguration('use_multithread'))
     )
     return launch.LaunchDescription(
-            launch_arguments +
-            [set_container_executable,
-            set_container_mt_executable] +
-            [
-                OpaqueFunction(function=launch_setup)
-            ]
+        launch_arguments +
+        [
+            set_container_executable,
+            set_container_mt_executable,
+        ] +
+        [
+            OpaqueFunction(function=launch_setup)
+        ]
     )

integration_launch/launch/release.launch.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-<!-- TODO: add the appropriate vehicle and sensor model below. -->
+  <!-- TODO: add the appropriate vehicle and sensor model below. -->
   <arg name="vehicle_model" default="" />
   <arg name="sensor_model" default="" />
   <arg name="map_path" default="/opt/autoware/maps/" />

localization_launch/launch/util/util.launch.xml

@@ -21,6 +21,6 @@
     <arg name="ndt_align_server_name" value="/localization/pose_estimator/ndt_align_srv" />
   </include>
 
-  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py"  />
+  <include file="$(find-pkg-share localization_launch)/launch/util/util.launch.py" />
 
 </launch>

map_launch/launch/map.launch.py

@@ -13,11 +13,14 @@
 # limitations under the License.
 
 import launch
-from launch.actions import DeclareLaunchArgument, GroupAction, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import ComposableNodeContainer, PushRosNamespace
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
 
 

perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py

@@ -15,12 +15,12 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-
 import launch
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 
 

planning_launch/launch/mission_planning/mission_planning.launch.py

@@ -11,6 +11,7 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import launch
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
@@ -63,6 +64,6 @@ def generate_launch_description():
         ],
     )
     return launch.LaunchDescription([
-        DeclareLaunchArgument("use_intra_process", default_value='false'),
+        DeclareLaunchArgument('use_intra_process', default_value='false'),
         container
     ])

planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py

@@ -12,16 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from ament_index_python.packages import get_package_share_directory
 import launch
-from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration, ExecuteProcess
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import ExecuteProcess
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-
 from launch_ros.actions import ComposableNodeContainer
 from launch_ros.descriptions import ComposableNode
-
-import os
 import yaml
 
 
@@ -65,11 +67,11 @@ def generate_launch_description():
         parameters=[
             lane_change_planner_param,
             {
-                "enable_abort_lane_change": False,
-                "enable_collision_check_at_prepare_phase": False,
-                "use_predicted_path_outside_lanelet": False,
-                "use_all_predicted_path": False,
-                "enable_blocked_by_obstacle": False,
+                'enable_abort_lane_change': False,
+                'enable_collision_check_at_prepare_phase': False,
+                'use_predicted_path_outside_lanelet': False,
+                'use_all_predicted_path': False,
+                'enable_blocked_by_obstacle': False,
             }
         ],
         extra_arguments=[

planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py

@@ -12,16 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
+
 from ament_index_python.packages import get_package_share_directory
 import launch
-from launch.actions import DeclareLaunchArgument, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-
-import os
 import yaml
 
 

planning_launch/launch/scenario_planning/parking.launch.py

@@ -11,11 +11,16 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
 import launch
-from launch.actions import DeclareLaunchArgument, GroupAction, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer, PushRosNamespace
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import PushRosNamespace
 from launch_ros.descriptions import ComposableNode
 
 
@@ -123,8 +128,8 @@ def generate_launch_description():
     )
 
     return launch.LaunchDescription([
-        DeclareLaunchArgument("use_intra_process", default_value='false'),
-        DeclareLaunchArgument("use_multithread", default_value='false'),
+        DeclareLaunchArgument('use_intra_process', default_value='false'),
+        DeclareLaunchArgument('use_multithread', default_value='false'),
         set_container_executable,
         set_container_mt_executable,
         GroupAction([

sensing_launch/launch/aip_customized/pointcloud_preprocessor.launch.py

@@ -13,16 +13,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-import yaml
 
 import launch
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-from launch.substitutions import EnvironmentVariable
+import yaml
+
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -38,6 +41,7 @@ def get_vehicle_info(context):
     p['max_height_offset'] = p['vehicle_height']
     return p
 
+
 def get_vehicle_mirror_info(context):
     path = LaunchConfiguration('vehicle_mirror_param_file').perform(context)
     with open(path, 'r') as f:
@@ -120,9 +124,9 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'no_ground/pointcloud')
         ],
         parameters=[{
-            "general_max_slope": 10.0,
-            "local_max_slope": 10.0,
-            "min_height_threshold": 0.2,
+            'general_max_slope': 10.0,
+            'local_max_slope': 10.0,
+            'min_height_threshold': 0.2,
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -157,6 +161,7 @@ def launch_setup(context, *args, **kwargs):
 
     return [container, concat_loader, passthrough_loader]
 
+
 def generate_launch_description():
 
     launch_arguments = []

sensing_launch/launch/aip_s1/pointcloud_preprocessor.launch.py

@@ -12,16 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os
-import yaml
-
 import launch
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
 from launch.substitutions import LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
-from launch.substitutions import EnvironmentVariable
+import yaml
+
 
 def get_vehicle_info(context):
     path = LaunchConfiguration('vehicle_param_file').perform(context)
@@ -37,6 +39,7 @@ def get_vehicle_info(context):
     p['max_height_offset'] = p['vehicle_height']
     return p
 
+
 def get_vehicle_mirror_info(context):
     path = LaunchConfiguration('vehicle_mirror_param_file').perform(context)
     with open(path, 'r') as f:
@@ -119,9 +122,9 @@ def launch_setup(context, *args, **kwargs):
             ('output', 'no_ground/pointcloud')
         ],
         parameters=[{
-            "general_max_slope": 10.0,
-            "local_max_slope": 10.0,
-            "min_height_threshold": 0.2,
+            'general_max_slope': 10.0,
+            'local_max_slope': 10.0,
+            'min_height_threshold': 0.2,
         }],
         extra_arguments=[{
             'use_intra_process_comms': LaunchConfiguration('use_intra_process')
@@ -156,6 +159,7 @@ def launch_setup(context, *args, **kwargs):
 
     return [container, concat_loader, passthrough_loader]
 
+
 def generate_launch_description():
 
     launch_arguments = []

sensing_launch/launch/aip_x1/pointcloud_preprocessor.launch.py

@@ -14,10 +14,14 @@
 # limitations under the License.
 
 import launch
-from launch.actions import DeclareLaunchArgument, OpaqueFunction, SetLaunchConfiguration
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import EnvironmentVariable, LaunchConfiguration
-from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
 from launch_ros.descriptions import ComposableNode
 import yaml