Fixed the linter errors (#263)

* Fixed the linter errors

* Fixed linter errors

.circleci/config.yml

@@ -5,7 +5,7 @@ jobs:
     docker:
       - image: public.ecr.aws/shadowrobot/build-tools:focal-noetic
         environment:
-          toolset_branch: master
+          toolset_branch: lint
           server_type: circle
           ros_release_name: noetic
           ubuntu_version_name: focal

aws.yml

@@ -9,7 +9,7 @@ settings:
     tag: focal-noetic
   template_project_name: template_unit_tests_and_code_coverage
   toolset:
-    branch: master
+    branch: lint
     modules:
       - check_cache
       - code_coverage

sr_edc_muscle_tools/bin/example_move_joint.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Copyright 2019 Shadow Robot Company Ltd.
+# Copyright 2019, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -14,11 +14,9 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import absolute_import
-import roslib
+import math
 import rospy
 from std_msgs.msg import Float64
-import math
 
 rospy.init_node('example1')
 

sr_edc_muscle_tools/bin/example_reading_sensors.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Copyright 2019 Shadow Robot Company Ltd.
+# Copyright 2019, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -14,19 +14,15 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import absolute_import
-import roslib
 import rospy
-from std_msgs.msg import Float64
 from sr_robot_msgs.msg import JointMusclePositionControllerState
-import math
 
 # A callback function for the state messages we are reading.
 status = None
 
 
 def state_cb(data):
-    global status
+    global status  # pylint: disable=W0603
     status = data
 
 
@@ -38,10 +34,11 @@ def state_cb(data):
                  JointMusclePositionControllerState, state_cb)
 
 print("Try moving ffj3")
-r = rospy.Rate(1)  # hz
+rate_speed = rospy.Rate(1)  # hz
 while not rospy.is_shutdown():
     if status:
-        print("ffj3 position:%s radians  pressure0:%s pressure1:%s" % (status.process_value,
-                                                                       status.muscle_pressure_0,
-                                                                       status.muscle_pressure_1))
-    r.sleep()
+        status_string = (f"ffj3 position:{status.process_value} radians"
+                         f" pressure0:{status.muscle_pressure_0}"
+                         f" pressure1:{status.muscle_pressure_1}")
+        print(status_string)
+    rate_speed.sleep()

sr_edc_muscle_tools/bin/example_sendupdate.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Copyright 2019 Shadow Robot Company Ltd.
+# Copyright 2019, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -14,17 +14,13 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import absolute_import
-import roslib
+import math
 import rospy
-from sr_robot_msgs.msg import sendupdate, joint
+from sr_robot_msgs.msg import sendupdate
 from std_msgs.msg import Float64
-import math
 
-#
 # Small demo of moving a number of joints together.
 # Flexes the 2 fingers and then waves the wrist.
-#
 
 
 # We set up all the publishers needed for all joints in a dict and create a simple
@@ -40,16 +36,16 @@
     joint_pubs[jname] = rospy.Publisher(topic, Float64, latch=True)
 
 
-def sendupdate(joints):
+def sendupdate(joints):  # pylint: disable=E0102
     print("Sending:")
-    for jname in joints:
-        if jname not in joint_pubs:
-            print("\tJoint %s not found" % jname)
+    for jointname in joints:
+        if jointname not in joint_pubs:
+            print(f"\tJoint {jointname} not found")
             return
         msg = Float64()
-        msg.data = math.radians(float(joints[jname]))
-        print("\t" + jname + ": " + str(joints[jname]))
-        joint_pubs[jname].publish(msg)
+        msg.data = math.radians(float(joints[jointname]))
+        print(f"\t{jointname}: {str(joints[jointname])}")
+        joint_pubs[jointname].publish(msg)
 
 
 rospy.init_node('example_sendupdate')

sr_robot_lib/examples/compute_joint_0_target.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 #
-# Copyright 2019 Shadow Robot Company Ltd.
+# Copyright 2019, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -14,15 +14,13 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import absolute_import
-import roslib
 import rospy
 
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Float64
 
 
-class Merger(object):
+class Merger:
 
     def __init__(self):
         self.subscriber = rospy.Subscriber(

sr_robot_lib/python_lib/sr_robot_lib/etherCAT_hand_lib.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
+# pylint: disable=C0103 # Needed for name of class and file.
 #
-# Copyright 2011 Shadow Robot Company Ltd.
+# Copyright 2011, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -15,12 +16,10 @@
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 #
 
-from __future__ import absolute_import
-import rospy
-
 import time
 import math
 import re
+import rospy
 
 from std_msgs.msg import Float64
 from sensor_msgs.msg import JointState
@@ -29,7 +28,7 @@
 from sr_utilities.hand_finder import HandFinder
 
 
-class EtherCAT_Hand_Lib(object):
+class EtherCAT_Hand_Lib:
 
     """
     Useful python library to communicate with the etherCAT hand.
@@ -51,7 +50,7 @@ def __init__(self):
         self.hand_finder = HandFinder()
         self.hand_params = self.hand_finder.get_hand_parameters()
         self.hand_id = ''
-        if len(self.hand_params.mapping) is not 0:
+        if len(self.hand_params.mapping) != 0:
             self.hand_id = next(iter(self.hand_params.mapping.values()))
         self.debug_subscriber = None
         self.joint_state_subscriber = None
@@ -84,7 +83,7 @@ def __init__(self):
             pass
 
         for mapping in joint_to_sensor_mapping:
-            if mapping[0] is 1:
+            if mapping[0] == 1:
                 if "THJ5" in mapping[1][0]:
                     self.compounds["THJ5"] = [["THJ5A", mapping[1][1]],
                                               ["THJ5B", mapping[2][1]]]
@@ -148,11 +147,11 @@ def get_effort(self, joint_name):
                 raise
         return value
 
-    def start_record(self, joint_name, callback):
+    def start_record(self, callback):
         self.record_js_callback = callback
 
-    def stop_record(self, joint_name):
-        self.callback = None
+    def stop_record(self):
+        self.record_js_callback = None
 
     def set_pid(self, joint_name, pid_parameters):
         """
@@ -174,7 +173,7 @@ def set_pid(self, joint_name, pid_parameters):
                                       pid_parameters["sign"])
 
     def debug_callback(self, msg):
-        if not(all(v == 0 for v in msg.sensors)):
+        if not all(v == 0 for v in msg.sensors):
             self.raw_values = msg.sensors
 
     def joint_state_callback(self, msg):
@@ -209,29 +208,33 @@ def get_raw_value(self, sensor_name):
 
     def get_raw_value_index(self, sensor_name):
         try:
+            return_value = None
             if sensor_name in list(self.compounds.keys()):
                 indices = []
                 for sub_compound in self.compounds[sensor_name]:
                     indices.append(self.sensors.index(sub_compound[0]))
-                return indices
+                return_value = indices
             else:
-                return self.sensors.index(sensor_name)
-        except Exception as e:
-            rospy.logerr("Error while getting the raw value index of sensor '{}': \n{}".format(sensor_name, e))
+                return_value = self.sensors.index(sensor_name)
+            return return_value
+        except Exception as exception:
+            rospy.logerr(f"Error while getting the raw value index of sensor '{sensor_name}': \n{exception}")
             return None
 
     def get_compound_names(self, sensor_name):
         try:
+            return_value = None
             if sensor_name in list(self.compounds.keys()):
                 names = []
                 for sub_compound in self.compounds[sensor_name]:
                     names.append(sub_compound[0])
-                return names
+                return_value = names
             else:
-                rospy.logwarn("{} is not a multi-sensor joint, returning joint name.".format(sensor_name))
-                return sensor_name
-        except Exception as e:
-            rospy.logerr("Error while getting the sensor names of compound sensor '{}': \n{}".format(sensor_name, e))
+                rospy.logwarn(f"{sensor_name} is not a multi-sensor joint, returning joint name.")
+                return_value = sensor_name
+            return return_value
+        except Exception as exception:
+            rospy.logerr(f"Error while getting the sensor names of compound sensor '{sensor_name}': \n{exception}")
             return None
 
     def get_average_raw_value(self, sensor_name, number_of_samples=10, accept_zeros=True):

sr_tactile_sensor_controller/scripts/biotac_republisher

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2015 Shadow Robot Company Ltd.
+# Copyright 2015, 2022 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -14,13 +14,12 @@
 # You should have received a copy of the GNU General Public License along
 # with this program. If not, see <http://www.gnu.org/licenses/>.
 
-from __future__ import absolute_import
 import rospy
 from sr_robot_msgs.msg import BiotacAll, Biotac
 from sr_utilities.hand_finder import HandFinder
 
 
-class BiotacRepublisher(object):
+class BiotacRepublisher:
     """
     Listens to BiotacAll and republished 5 Biotac
     """
@@ -36,8 +35,8 @@ class BiotacRepublisher(object):
         for hand in self._hand_mapping.values():
             self._publishers[hand] = []
             for i in range(self._nb_fingers):
-                self._publishers[hand].append(rospy.Publisher(hand + "/biotac_" + str(i), Biotac, queue_size=10))
-            self._subscribers[hand] = rospy.Subscriber(hand + "/tactile", BiotacAll, self._tactile_cb, hand)
+                self._publishers[hand].append(rospy.Publisher(f"{hand}/biotac_{str(i)}", Biotac, queue_size=10))
+            self._subscribers[hand] = rospy.Subscriber(f"{hand}/tactile", BiotacAll, self._tactile_cb, hand)
 
     def _tactile_cb(self, msg, hand):
         for i in range(self._nb_fingers):