minor reformatting

src/csv_creator.py

@@ -1,15 +1,13 @@
 #! /usr/bin/env python
 # coding=utf-8
 
-import csv
-
 import rospy
 from gtec_msgs.msg import Ranging
 from nav_msgs.msg import Odometry
-from tf.transformations import euler_from_quaternion, euler_from_quaternion
+from tf.transformations import euler_from_quaternion
 from visualization_msgs.msg import MarkerArray
 
-from ukf.datapoint import DataType, DataPoint
+from ukf.datapoint import DataType
 
 
 class Recorder(object):

src/jackal.py

@@ -335,7 +335,7 @@ def step(self):
         will, thus transforming its odometry data from a local reference field to a global field. Once that is done it
         toggles its tag and defines itself as being localized and uses an UKF to continue refining the measurement noise.
         """
-        
+
         if self.is_localized or self.time_override:
             self.loc.step()
             self.start_time = None

src/jackal_motion.py

@@ -9,6 +9,7 @@ class JackalMotion(object):
     """
     Class meant to publish to the Jackal motion commands
     """
+
     def __init__(self, namespace):
         """
         Setups publisher helper. Publishes to <namespace>jackal_velocity_controller/cmd_vel

src/live_plotter.py

@@ -10,7 +10,8 @@ class LivePlotter(object):
     A helper class for creating live plotting matplotlib windows
     """
 
-    def __init__(self, update_interval=1000, alpha=1.0, window_name=None, time_removal=None, lengend_loc='best', font_size=None):
+    def __init__(self, update_interval=1000, alpha=1.0, window_name=None, time_removal=None, lengend_loc='best',
+                 font_size=None):
         """
         Setups the live plotting window
         @param update_interval: How fast the animated window updates its values

src/location_drawer.py

@@ -59,6 +59,7 @@ def create_position_subscriber_func(self, name):
         @param name: Name of the topic name
         @return: return the custom pose addition software
         """
+
         def add_pose(msg):
             # type: (Odometry) -> None
             """

src/range_drawer.py

@@ -6,7 +6,6 @@
 matplotlib.use('Qt5Agg')
 
 import rospy
-import matplotlib.pyplot as plt
 from gtec_msgs.msg import Ranging
 from live_plotter import LivePlotter
 import sys
@@ -16,6 +15,7 @@ class RangePlotter(object):
     """
     A class to help plot the UWB range data
     """
+
     def __init__(self, tags=None, n=-1):
         """
         Setups the RangePLotter class

src/rsme_plotter.py

@@ -17,6 +17,7 @@ class RSMEPlotter(object):
     Do not use as it is not finished.
     Class is meant to plot the RSME of the robot estimate position in live
     """
+
     def __init__(self, target, actual):
         """
         Setups the RMSE live plotter

src/ukf/datapoint.py

@@ -14,6 +14,7 @@ class DataPoint(object):
     """
     A class meant to represent a data point to pass into the position estimation system
     """
+
     def __init__(self, data_type, measurement_data, timestamp, extra=None):
         """
         Setups the DataPoint object

src/ukf_uwb_localization.py

@@ -175,7 +175,7 @@ def is_localized(self, robot_name):
         parameter_name = robot_name + "is_localized"
 
         if rospy.has_param(parameter_name):
-            return  rospy.get_param(parameter_name)
+            return rospy.get_param(parameter_name)
         else:
             return True