from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
 
+
 def generate_launch_description():
     ld = LaunchDescription()
     config = os.path.join(
-        get_package_share_directory('camera_object_detection'),
-        'config',
-        'deeepracer.yaml'
+        get_package_share_directory("camera_object_detection"),
+        "config",
+        "deeepracer.yaml",
     )
 
     # nodes
     camera_object_detection_node = Node(
-        package='camera_object_detection',
-        executable='camera_object_detection_node',
-        name='camera_object_detection_node',
-        parameters=[config]
+        package="camera_object_detection",
+        executable="camera_object_detection_node",
+        name="camera_object_detection_node",
+        parameters=[config],
     )
 
     # finalize
     ld.add_action(camera_object_detection_node)
 

 from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
 
+
 def generate_launch_description():
     ld = LaunchDescription()
     config = os.path.join(
-        get_package_share_directory('camera_object_detection'),
-        'config',
-        'sim_config.yaml'
+        get_package_share_directory("camera_object_detection"),
+        "config",
+        "sim_config.yaml",
     )
 
     # nodes
     camera_object_detection_node = Node(
-        package='camera_object_detection',
-        executable='camera_object_detection_node',
-        name='camera_object_detection_node',
-        parameters=[config]
+        package="camera_object_detection",
+        executable="camera_object_detection_node",
+        name="camera_object_detection_node",
+        parameters=[config],
     )
 
     # finalize
     ld.add_action(camera_object_detection_node)
 

 from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
 
+
 def generate_launch_description():
     ld = LaunchDescription()
     config = os.path.join(
-        get_package_share_directory('camera_object_detection'),
-        'config',
-        'nuscenes_config.yaml'
+        get_package_share_directory("camera_object_detection"),
+        "config",
+        "nuscenes_config.yaml",
     )
 
     # nodes
     camera_object_detection_node = Node(
-        package='camera_object_detection',
-        executable='camera_object_detection_node',
-        name='camera_object_detection_node',
+        package="camera_object_detection",
+        executable="camera_object_detection_node",
+        name="camera_object_detection_node",
         parameters=[config],
-        arguments=['--ros-args', '--log-level', 'info']
+        arguments=["--ros-args", "--log-level", "info"],
     )
 
     # finalize
     ld.add_action(camera_object_detection_node)
 

 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)

 from ament_copyright.main import main
 import pytest
 
 
 # Remove the `skip` decorator once the source file(s) have a copyright header
[email protected](reason='No copyright header has been placed in the generated source file.')
[email protected](
+    reason="No copyright header has been placed in the generated source file."
+)
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

 from setuptools import setup
 import os
 from glob import glob
 
-package_name = 'camera_object_detection'
+package_name = "camera_object_detection"
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version="0.0.0",
     packages=[package_name],
     data_files=[
-        ('share/ament_index/resource_index/packages',
-            ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
-        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
-        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob("launch/*.py")),
+        (os.path.join("share", package_name, "config"), glob("config/*.yaml")),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='Steven',
-    maintainer_email='[email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    maintainer="Steven",
+    maintainer_email="[email protected]",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': [
-            'camera_object_detection_node = camera_object_detection.yolov8_detection:main'
+        "console_scripts": [
+            "camera_object_detection_node = camera_object_detection.yolov8_detection:main"
         ],
     },
 )

 
 
 def generate_launch_description():
     """Launch Radar object detection system."""
     radar_vis_node = Node(
-        package='radar_vis',
-        executable='radar_vis_node',
+        package="radar_vis",
+        executable="radar_vis_node",
     )
 
-    return LaunchDescription([
-        radar_vis_node
-    ])
+    return LaunchDescription([radar_vis_node])

 
 
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"

 
 
 def generate_launch_description():
     """Launch aggregator node."""
     aggregator_node = Node(
-        package='aggregator',
-        executable='aggregator_node',
+        package="aggregator",
+        executable="aggregator_node",
     )
 
-    return LaunchDescription([
-        aggregator_node
-    ])
+    return LaunchDescription([aggregator_node])

 import os
 
 
 def generate_launch_description():
     """Launch producer node."""
-    producer_pkg_prefix = get_package_share_directory('producer')
-    producer_param_file = os.path.join(
-        producer_pkg_prefix, 'config', 'params.yaml')
+    producer_pkg_prefix = get_package_share_directory("producer")
+    producer_param_file = os.path.join(producer_pkg_prefix, "config", "params.yaml")
 
     producer_param = DeclareLaunchArgument(
-        'producer_param_file',
+        "producer_param_file",
         default_value=producer_param_file,
-        description='Path to config file for producer node'
+        description="Path to config file for producer node",
     )
 
     producer_node = Node(
-        package='producer',
-        name='producer_node',
-        executable='producer_node',
-        parameters=[LaunchConfiguration('producer_param_file')],
+        package="producer",
+        name="producer_node",
+        executable="producer_node",
+        parameters=[LaunchConfiguration("producer_param_file")],
     )
 
-    return LaunchDescription([
-        producer_param,
-        producer_node
-    ])
+    return LaunchDescription([producer_param, producer_node])

 import os
 
 
 def generate_launch_description():
     """Launch transformer node."""
-    transformer_pkg_prefix = get_package_share_directory('transformer')
+    transformer_pkg_prefix = get_package_share_directory("transformer")
     transformer_param_file = os.path.join(
-        transformer_pkg_prefix, 'config', 'params.yaml')
+        transformer_pkg_prefix, "config", "params.yaml"
+    )
 
     transformer_param = DeclareLaunchArgument(
-        'transformer_param_file',
+        "transformer_param_file",
         default_value=transformer_param_file,
-        description='Path to config file for transformer node'
+        description="Path to config file for transformer node",
     )
 
     transformer_node = Node(
-        package='transformer',
-        executable='transformer_node',
-        parameters=[LaunchConfiguration('transformer_param_file')],
+        package="transformer",
+        executable="transformer_node",
+        parameters=[LaunchConfiguration("transformer_param_file")],
     )
 
-    return LaunchDescription([
-        transformer_param,
-        transformer_node
-    ])
+    return LaunchDescription([transformer_param, transformer_node])

 # limitations under the License.
 
 import time
 
 
-class AggregatorCore():
+class AggregatorCore:
 
     def __init__(self, start_time):
         # Init member variables to calculate msg frequency
         self.num_unfiltered_msgs = 0
         self.num_filtered_msgs = 0

 from launch import LaunchDescription
 import launch_ros.actions
 
 
 def generate_launch_description():
-    return LaunchDescription([
-        launch_ros.actions.Node(
-            name='aggregator_node',
-            package='aggregator',
-            executable='aggregator_node',
-            output='screen',
-            emulate_tty=True),
-    ])
+    return LaunchDescription(
+        [
+            launch_ros.actions.Node(
+                name="aggregator_node",
+                package="aggregator",
+                executable="aggregator_node",
+                output="screen",
+                emulate_tty=True,
+            ),
+        ]
+    )

 
 
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

 import os
 from glob import glob
 from setuptools import setup
 
-package_name = 'aggregator'
+package_name = "aggregator"
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version="0.0.0",
     packages=[package_name],
     data_files=[
         # Install marker file in the package index
-        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         # Include our package.xml file
-        (os.path.join('share', package_name), ['package.xml']),
+        (os.path.join("share", package_name), ["package.xml"]),
         # Include all launch files.
-        (os.path.join('share', package_name, 'launch'), \
-         glob(os.path.join('launch', '*.launch.py'))),
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*.launch.py")),
+        ),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='eddyzhou, aryanafrouzi',
-    maintainer_email='[email protected], [email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    maintainer="eddyzhou, aryanafrouzi",
+    maintainer_email="[email protected], [email protected]",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': [
-            'aggregator_node = aggregator.aggregator_node:main'
-        ],
+        "console_scripts": ["aggregator_node = aggregator.aggregator_node:main"],
     },
 )

 
 
 class Aggregator(Node):
 
     def __init__(self):
-        super().__init__('python_aggregator')
+        super().__init__("python_aggregator")
 
         # Initialize Core Aggregator Logic (freq updates)
         node_start_time = time.time()
         self.__aggregator = AggregatorCore(node_start_time)
 
         # Initialize ROS2 Constructs
-        self.unfiltered_subcriber = self.create_subscription(Unfiltered,
-                                                             '/unfiltered_topic',
-                                                             self.unfiltered_callback,
-                                                             10)
-        self.filtered_subscriber = self.create_subscription(FilteredArray,
-                                                            '/filtered_topic',
-                                                            self.filtered_callback,
-                                                            10)
+        self.unfiltered_subcriber = self.create_subscription(
+            Unfiltered, "/unfiltered_topic", self.unfiltered_callback, 10
+        )
+        self.filtered_subscriber = self.create_subscription(
+            FilteredArray, "/filtered_topic", self.filtered_callback, 10
+        )
 
     def unfiltered_callback(self, msg):
         self.__aggregator.update_raw_freq()
         self.print_freqs()
 
     def filtered_callback(self, msg):
         self.__aggregator.update_filtered_freq()
         self.print_freqs()
 
     def print_freqs(self):
-        self.get_logger().info('Number of unfiltered messages:' +
-                               str(self.__aggregator.num_unfiltered_msgs))
-        self.get_logger().info('Number of filtered messages:' +
-                               str(self.__aggregator.num_filtered_msgs))
+        self.get_logger().info(
+            "Number of unfiltered messages:"
+            + str(self.__aggregator.num_unfiltered_msgs)
+        )
+        self.get_logger().info(
+            "Number of filtered messages:" + str(self.__aggregator.num_filtered_msgs)
+        )
 
-        self.get_logger().info('Producer Frequency:' + str(self.__aggregator.raw_freq))
-        self.get_logger().info('Transformer Frequency:' + str(self.__aggregator.filtered_freq))
+        self.get_logger().info("Producer Frequency:" + str(self.__aggregator.raw_freq))
+        self.get_logger().info(
+            "Transformer Frequency:" + str(self.__aggregator.filtered_freq)
+        )
 
 
 def main(args=None):
     rclpy.init(args=args)
 

     # when the garbage collector destroys the node object)
     python_aggregator.destroy_node()
     rclpy.shutdown()
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     main()

 
 
 @pytest.mark.linter
 @pytest.mark.pep257
 def test_pep257():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found code style errors / warnings'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found code style errors / warnings"

 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)

 def generate_launch_description():
     # To load the yaml file, we are searching for its
     # path is the share directory. Check setup.py for how
     # the param file got there
     param_file_path = os.path.join(
-        get_package_share_directory('producer'),
-        'config',
-        'params.yaml'
+        get_package_share_directory("producer"), "config", "params.yaml"
     )
 
-    return LaunchDescription([
-        Node(
-            package='producer',
-            name='producer_node',
-            executable='producer_node',
-            parameters=[param_file_path]
-        )
-    ])
+    return LaunchDescription(
+        [
+            Node(
+                package="producer",
+                name="producer_node",
+                executable="producer_node",
+                parameters=[param_file_path],
+            )
+        ]
+    )

 # limitations under the License.
 
 import math
 
 
-class ProducerCore():
+class ProducerCore:
 
     def __init__(self, pos_x, pos_y, pos_z, vel):
         # Init member variables for serialization
         self.__pos_x = pos_x
         self.__pos_y = pos_y

         self.__pos_x += self.__velocity / math.sqrt(3)
         self.__pos_y += self.__velocity / math.sqrt(3)
         self.__pos_z += self.__velocity / math.sqrt(3)
 
     def serialize_data(self):
-        return "x:" + str(self.__pos_x) + ";y:" + \
-            str(self.__pos_y) + ";z:" + str(self.__pos_z) + ";"
+        return (
+            "x:"
+            + str(self.__pos_x)
+            + ";y:"
+            + str(self.__pos_y)
+            + ";z:"
+            + str(self.__pos_z)
+            + ";"
+        )

 
 
 @pytest.mark.copyright
 @pytest.mark.linter
 def test_copyright():
-    rc = main(argv=['.', 'test'])
-    assert rc == 0, 'Found errors'
+    rc = main(argv=[".", "test"])
+    assert rc == 0, "Found errors"

 import os
 from glob import glob
 from setuptools import setup
 
-package_name = 'producer'
+package_name = "producer"
 
 setup(
     name=package_name,
-    version='0.0.0',
+    version="0.0.0",
     packages=[package_name],
     data_files=[
         # Install marker file in the package index
-        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
         # Include our package.xml file
-        (os.path.join('share', package_name), ['package.xml']),
+        (os.path.join("share", package_name), ["package.xml"]),
         # Include all launch files
-        (os.path.join('share', package_name, 'launch'),
-         glob(os.path.join('launch', '*.launch.py'))),
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*.launch.py")),
+        ),
         # Include config files for parameters
-        (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yaml'))),
+        (
+            os.path.join("share", package_name, "config"),
+            glob(os.path.join("config", "*.yaml")),
+        ),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='eddyzhou, aryanafrouzi',
-    maintainer_email='[email protected], [email protected]',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    maintainer="eddyzhou, aryanafrouzi",
+    maintainer_email="[email protected], [email protected]",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': [
-            'producer_node = producer.producer_node:main'
-        ],
+        "console_scripts": ["producer_node = producer.producer_node:main"],
     },
 )

 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, \
-        'Found %d code style errors / warnings:\n' % len(errors) + \
-        '\n'.join(errors)
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+        errors
+    ) + "\n".join(errors)