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']),
         # Include all launch files
         (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'],
     zip_safe=True,

         pos_x = self.get_parameter('pos_x').get_parameter_value().double_value
         pos_y = self.get_parameter('pos_y').get_parameter_value().double_value
         pos_z = self.get_parameter('pos_z').get_parameter_value().double_value
-        velocity = self.get_parameter('velocity').get_parameter_value().double_value
+        velocity = self.get_parameter(
+            'velocity').get_parameter_value().double_value
 
         # Initialize producer core logic for serialization
         self.__producer = ProducerCore(pos_x, pos_y, pos_z, velocity)
 
         # Initialize ROS2 constructs
         queue_size = 10
-        self.publisher_ = self.create_publisher(Unfiltered, '/unfiltered_topic', queue_size)
+        self.publisher_ = self.create_publisher(
+            Unfiltered, '/unfiltered_topic', queue_size)
 
         timer_period = 0.5
         self.timer = self.create_timer(timer_period, self.__publish_position)

     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']),
         # Include all launch files.

                                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('Transformer Frequency:' +
+                               str(self.__aggregator.filtered_freq))
 
 
 def main(args=None):

     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']),
         # Include all launch files.
         (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'],
     zip_safe=True,

         self.__transformer = TransformerCore()
 
         # Initialize ROS2 Constructs
-        self.publisher_ = self.create_publisher(FilteredArray, '/filtered_topic', 10)
+        self.publisher_ = self.create_publisher(
+            FilteredArray, '/filtered_topic', 10)
         self.subscription = self.create_subscription(Unfiltered, '/unfiltered_topic',
                                                      self.unfiltered_callback, 10)
 

 import time
 
 import torch
+
 
 class CameraDetectionNode(Node):
 

         self.declare_parameter('model_path', '/perception_models/yolov8s.pt')
         self.declare_parameter('image_size', 480)
         self.declare_parameter('compressed', False)
-        
+
         self.camera_topic = self.get_parameter('camera_topic').value
         self.publish_vis_topic = self.get_parameter('publish_vis_topic').value
-        self.publish_detection_topic = self.get_parameter('publish_detection_topic').value
+        self.publish_detection_topic = self.get_parameter(
+            'publish_detection_topic').value
         self.model_path = self.get_parameter('model_path').value
         self.image_size = self.get_parameter('image_size').value
         self.compressed = self.get_parameter('compressed').value

         self.stride = int(self.model.stride)
 
         # setup vis publishers
-        self.vis_publisher = self.create_publisher(Image, self.publish_vis_topic, 10)
-        self.detection_publisher = self.create_publisher(Detection2DArray, self.publish_detection_topic, 10)
-
-        self.get_logger().info(f"Successfully created node listening on camera topic: {self.camera_topic}...")
+        self.vis_publisher = self.create_publisher(
+            Image, self.publish_vis_topic, 10)
+        self.detection_publisher = self.create_publisher(
+            Detection2DArray, self.publish_detection_topic, 10)
+
+        self.get_logger().info(
+            f"Successfully created node listening on camera topic: {self.camera_topic}...")
 
     def preprocess_image(self, cv_image):
         """

 
             # preprocess image and run through prediction
             img = self.preprocess_image(cv_image)
-            processed_cv_image = LetterBox(self.image_size, stride=self.stride)(image=cv_image)
+            processed_cv_image = LetterBox(
+                self.image_size, stride=self.stride)(image=cv_image)
             pred = self.model(img)
 
             # nms function used same as yolov8 detect.py

             self.publish_vis(annotated_img, feed)
             self.publish_detections(detections, msg, feed)
 
-        self.get_logger().info(f"Finished in: {time.time() - startTime}, {1/(time.time() - startTime)} Hz")
-
+        self.get_logger().info(
+            f"Finished in: {time.time() - startTime}, {1/(time.time() - startTime)} Hz")
 
 
 def main(args=None):

     camera_object_detection_node.destroy_node()
     rclpy.shutdown()
 
+
 if __name__ == '__main__':
     main()

 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
+
 
 def generate_launch_description():
     ld = LaunchDescription()

 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
+
 
 def generate_launch_description():
     ld = LaunchDescription()

 from ament_index_python.packages import get_package_share_directory
 import os
 import yaml
+
 
 def generate_launch_description():
     ld = LaunchDescription()