Pass colcon test

david-dorf · Feb 10, 2024 · 830929b · 830929b
1 parent 9a3922f
commit 830929b
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/multidim_rrt_planner/rrt2D.py b/multidim_rrt_planner/rrt2D.py
@@ -129,7 +129,6 @@ def __init__(self):
 
     def rrt_callback(self, request, response):
         """Service callback for running the RRT."""
-
         # Clear the markers and path
         self.marker_array = MarkerArray()
         clear_marker = Marker()
@@ -142,9 +141,11 @@ def rrt_callback(self, request, response):
 
         # Publish the start and goal markers
         self.marker_array.markers.append(create_marker(Marker.SPHERE, 0, [
-            1.0, 0.0, 0.0, 1.0], [0.2, 0.2, 0.2], [self.start_position[0], self.start_position[1], 0.0]))
+            1.0, 0.0, 0.0, 1.0], [0.2, 0.2, 0.2], [self.start_position[0],
+                                                   self.start_position[1], 0.0]))
         self.marker_array.markers.append(create_marker(Marker.SPHERE, 1, [
-            0.0, 0.0, 1.0, 1.0], [0.2, 0.2, 0.2], [self.goal_position[0], self.goal_position[1], 0.0]))
+            0.0, 0.0, 1.0, 1.0], [0.2, 0.2, 0.2], [self.goal_position[0],
+                                                   self.goal_position[1], 0.0]))
 
         # Run the RRT
         self.node_list = [self.start_node]

diff --git a/multidim_rrt_planner/rrt3D.py b/multidim_rrt_planner/rrt3D.py
@@ -113,7 +113,6 @@ def __init__(self):
 
     def rrt_callback(self, request, response):
         """Service callback for running the RRT."""
-
         # Clear the markers and path
         self.marker_array = MarkerArray()
         clear_marker = Marker()
@@ -126,9 +125,11 @@ def rrt_callback(self, request, response):
 
         # Publish the start and goal markers
         self.marker_array.markers.append(create_marker(Marker.SPHERE, 0, [
-            1.0, 0.0, 0.0, 1.0], [0.2, 0.2, 0.2], [self.start_position[0], self.start_position[1], self.start_position[2]]))
+            1.0, 0.0, 0.0, 1.0], [0.2, 0.2, 0.2], [self.start_position[0], self.start_position[1],
+                                                   self.start_position[2]]))
         self.marker_array.markers.append(create_marker(Marker.SPHERE, 1, [
-            0.0, 0.0, 1.0, 1.0], [0.2, 0.2, 0.2], [self.goal_position[0], self.goal_position[1], self.goal_position[2]]))
+            0.0, 0.0, 1.0, 1.0], [0.2, 0.2, 0.2], [self.goal_position[0], self.goal_position[1],
+                                                   self.goal_position[2]]))
 
         # Run the RRT
         self.node_list = [self.start_node]
@@ -201,7 +202,8 @@ def run_rrt_3D(self):
                 min_node.add_child(new_node)
                 self.node_list.append(new_node)
                 marker = create_marker(Marker.SPHERE, self.node_list.index(new_node) + 2, [
-                    0.0, 1.0, 0.0, 1.0], [0.1, 0.1, 0.1], [new_node.val[0], new_node.val[1], new_node.val[2]])
+                    0.0, 1.0, 0.0, 1.0], [0.1, 0.1, 0.1], [new_node.val[0], new_node.val[1],
+                                                           new_node.val[2]])
                 self.marker_array.markers.append(marker)
                 self.marker_publisher.publish(self.marker_array)
         self.get_logger().info('Path not found')