Format launchers

javizqh · javizqh · commit 0a93002b2198 · 2026-03-16T10:15:17.000+01:00
diff --git a/Launchers/3d_reconstruction.launch.py b/Launchers/3d_reconstruction.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/autopark_battery.launch.py b/Launchers/autopark_battery.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/autopark_line.launch.py b/Launchers/autopark_line.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/autopark_line_lidar.launch.py b/Launchers/autopark_line_lidar.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/autopark_sideways.launch.py b/Launchers/autopark_sideways.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/car_junction.launch.py b/Launchers/car_junction.launch.py
@@ -87,7 +87,9 @@ def generate_launch_description():
 
     # Create the launch description and populate
     ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
-    ld.add_action(SetEnvironmentVariable("GZ_SIM_SYSTEM_PLUGIN_PATH", gazebo_scripts_path))
+    ld.add_action(
+        SetEnvironmentVariable("GZ_SIM_SYSTEM_PLUGIN_PATH", gazebo_scripts_path)
+    )
     set_env_vars_resources = AppendEnvironmentVariable(
         "GZ_SIM_RESOURCE_PATH", os.path.join(package_dir, "models")
     )
diff --git a/Launchers/monaco_circuit.launch.py b/Launchers/monaco_circuit.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/monaco_circuit_ackermann.launch.py b/Launchers/monaco_circuit_ackermann.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/montecarlo_visual_loc.launch.py b/Launchers/montecarlo_visual_loc.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/montmelo_circuit.launch.py b/Launchers/montmelo_circuit.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/montmelo_circuit_ackermann.launch.py b/Launchers/montmelo_circuit_ackermann.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/montreal_circuit.launch.py b/Launchers/montreal_circuit.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/montreal_circuit_ackermann.launch.py b/Launchers/montreal_circuit_ackermann.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/nurburgring_circuit.launch.py b/Launchers/nurburgring_circuit.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/nurburgring_circuit_ackermann.launch.py b/Launchers/nurburgring_circuit_ackermann.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/simple_circuit.launch.py b/Launchers/simple_circuit.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/simple_circuit_ackermann.launch.py b/Launchers/simple_circuit_ackermann.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/taxi_navigator.launch.py b/Launchers/taxi_navigator.launch.py
@@ -102,4 +102,4 @@ def generate_launch_description():
     # ld.add_action(robot_state_publisher_cmd)
     ld.add_action(spawn_robot_cmd)
 
-    return ld
+    return ld
diff --git a/Launchers/warehouse1_ackermann_logistic_robot_harmonic.launch.py b/Launchers/warehouse1_ackermann_logistic_robot_harmonic.launch.py
@@ -9,14 +9,20 @@
 
 Extends GZ_SIM_RESOURCE_PATH with custom_robots models.
 """
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, AppendEnvironmentVariable
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
 
     package_dir = get_package_share_directory("custom_robots")
@@ -25,25 +31,31 @@ def generate_launch_description():
     gazebo_models_path = os.path.join(package_dir, "models")
 
     robot_launch_dir = "/opt/jderobot/Launchers/ackermann_logistic_robot_harmonic"
-    gui_config_path = "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    gui_config_path = (
+        "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    )
 
     world_path = os.path.join("/opt/jderobot/Worlds", "warehouse1_ackerman.world")
 
     gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")),
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
         launch_arguments={
             "gz_args": [f"-r -s -v4 --gui-config {gui_config_path} {world_path}"],
             "on_exit_shutdown": "true",
         }.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(robot_launch_dir, "spawn_robot.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        )
     )
 
     ld = LaunchDescription()
     ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(AppendEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(gazebo_server)
     ld.add_action(spawn_robot_cmd)
-    return ld
+    return ld
diff --git a/Launchers/warehouse1_amazon_robot_harmonic.launch.py b/Launchers/warehouse1_amazon_robot_harmonic.launch.py
@@ -9,14 +9,20 @@
 
 Extends GZ_SIM_RESOURCE_PATH with custom_robots models.
 """
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, AppendEnvironmentVariable
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
 
     package_dir = get_package_share_directory("custom_robots")
@@ -25,25 +31,31 @@ def generate_launch_description():
     gazebo_models_path = os.path.join(package_dir, "models")
 
     robot_launch_dir = "/opt/jderobot/Launchers/amazon_robot_harmonic"
-    gui_config_path = "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    gui_config_path = (
+        "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    )
 
     world_path = os.path.join("/opt/jderobot/Worlds", "warehouse1_harmonic.world")
 
     gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")),
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
         launch_arguments={
             "gz_args": [f"-r -s -v4 --gui-config {gui_config_path} {world_path}"],
             "on_exit_shutdown": "true",
         }.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(robot_launch_dir, "spawn_robot.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        )
     )
 
     ld = LaunchDescription()
     ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(AppendEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(gazebo_server)
     ld.add_action(spawn_robot_cmd)
-    return ld
+    return ld
diff --git a/Launchers/warehouse2_ackermann_logistic_robot_harmonic.launch.py b/Launchers/warehouse2_ackermann_logistic_robot_harmonic.launch.py
@@ -9,14 +9,20 @@
 
 Extends GZ_SIM_RESOURCE_PATH with custom_robots models.
 """
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, AppendEnvironmentVariable
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
 
     package_dir = get_package_share_directory("custom_robots")
@@ -25,25 +31,31 @@ def generate_launch_description():
     gazebo_models_path = os.path.join(package_dir, "models")
 
     robot_launch_dir = "/opt/jderobot/Launchers/ackermann_logistic_robot_harmonic"
-    gui_config_path = "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    gui_config_path = (
+        "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    )
 
     world_path = os.path.join("/opt/jderobot/Worlds", "warehouse2_ackerman.world")
 
     gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")),
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
         launch_arguments={
             "gz_args": [f"-r -s -v4 --gui-config {gui_config_path} {world_path}"],
             "on_exit_shutdown": "true",
         }.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(robot_launch_dir, "spawn_robot.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        )
     )
 
     ld = LaunchDescription()
     ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(AppendEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(gazebo_server)
     ld.add_action(spawn_robot_cmd)
-    return ld
+    return ld
diff --git a/Launchers/warehouse2_amazon_robot_harmonic.launch.py b/Launchers/warehouse2_amazon_robot_harmonic.launch.py
@@ -9,14 +9,20 @@
 
 Extends GZ_SIM_RESOURCE_PATH with custom_robots models.
 """
+
 import os
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription, SetEnvironmentVariable, AppendEnvironmentVariable
+from launch.actions import (
+    IncludeLaunchDescription,
+    SetEnvironmentVariable,
+    AppendEnvironmentVariable,
+)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration
 
+
 def generate_launch_description():
 
     package_dir = get_package_share_directory("custom_robots")
@@ -25,25 +31,31 @@ def generate_launch_description():
     gazebo_models_path = os.path.join(package_dir, "models")
 
     robot_launch_dir = "/opt/jderobot/Launchers/amazon_robot_harmonic"
-    gui_config_path = "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    gui_config_path = (
+        "/opt/jderobot/Launchers/visualization/amazon_robot_harmonic.config"
+    )
 
     world_path = os.path.join("/opt/jderobot/Worlds", "warehouse2_harmonic.world")
 
     gazebo_server = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")),
+        PythonLaunchDescriptionSource(
+            os.path.join(ros_gz_sim, "launch", "gz_sim.launch.py")
+        ),
         launch_arguments={
             "gz_args": [f"-r -s -v4 --gui-config {gui_config_path} {world_path}"],
             "on_exit_shutdown": "true",
         }.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(robot_launch_dir, "spawn_robot.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(robot_launch_dir, "spawn_robot.launch.py")
+        )
     )
 
     ld = LaunchDescription()
     ld.add_action(SetEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(AppendEnvironmentVariable("GZ_SIM_RESOURCE_PATH", gazebo_models_path))
     ld.add_action(gazebo_server)
     ld.add_action(spawn_robot_cmd)
-    return ld
+    return ld
