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)