style(pre-commit): autofix

common/component_interface_tools/launch/service_log_checker.launch.xml

@@ -1,5 +1,5 @@
 <launch>
   <arg name="log_level" default="WARN"/>
 
-  <node pkg="component_interface_tools" exec="service_log_checker_node"   ros_args="--log-level $(var log_level)"/>
+  <node pkg="component_interface_tools" exec="service_log_checker_node" ros_args="--log-level $(var log_level)"/>
 </launch>

launch/tier4_control_launch/launch/control.launch.py

@@ -336,16 +336,30 @@ def launch_setup(context, *args, **kwargs):
         plugin="GlogComponent",
         name="glog_component",
     )
-
-    log_args = ["--log-level", ["control.control_container:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.obstacle_collision_checker:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.autoware_operation_mode_transition_manager:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.vehicle_cmd_gate:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.predicted_path_checker:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.autonomous_emergency_braking:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.autoware_shift_decider:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.trajectory_follower.lane_departure_checker_node:=", LaunchConfiguration("log_level")],
-                "--log-level", ["control.trajectory_follower.controller_node_exe:=", LaunchConfiguration("log_level")],]
+
+    log_args = [
+        "--log-level",
+        ["control.control_container:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.obstacle_collision_checker:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.autoware_operation_mode_transition_manager:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.vehicle_cmd_gate:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.predicted_path_checker:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.autonomous_emergency_braking:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        ["control.autoware_shift_decider:=", LaunchConfiguration("log_level")],
+        "--log-level",
+        [
+            "control.trajectory_follower.lane_departure_checker_node:=",
+            LaunchConfiguration("log_level"),
+        ],
+        "--log-level",
+        ["control.trajectory_follower.controller_node_exe:=", LaunchConfiguration("log_level")],
+    ]
 
     # set container to run all required components in the same process
     if trajectory_follower_mode == "trajectory_follower_node":
@@ -449,8 +463,12 @@ def launch_setup(context, *args, **kwargs):
                         name="glog_validator_component",
                     ),
                 ],
-                ros_arguments=["--log-level", ["control.control_validator_container:=", LaunchConfiguration("log_level")],
-                               "--log-level", ["control.control_validator:=", LaunchConfiguration("log_level")]],
+                ros_arguments=[
+                    "--log-level",
+                    ["control.control_validator_container:=", LaunchConfiguration("log_level")],
+                    "--log-level",
+                    ["control.control_validator:=", LaunchConfiguration("log_level")],
+                ],
             ),
         ]
     )
@@ -459,7 +477,7 @@ def launch_setup(context, *args, **kwargs):
         package="autoware_smart_mpc_trajectory_follower",
         executable="pympc_trajectory_follower.py",
         name="pympc_trajectory_follower",
-        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")]
+        arguments=["--ros-args", "--log-level", LaunchConfiguration("log_level")],
     )
     if trajectory_follower_mode == "trajectory_follower_node":
         return [group, control_validator_group]

launch/tier4_map_launch/launch/map.launch.xml

@@ -24,12 +24,18 @@
   <group>
     <push-ros-namespace namespace="map"/>
 
-    <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="both"
+    <node_container
+      pkg="rclcpp_components"
+      exec="$(var container_type)"
+      name="map_container"
+      namespace=""
+      output="both"
       ros_args="--log-level map.map_container:=$(var log_level) \
                 --log-level map.pointcloud_map_loader:=$(var log_level) \
                 --log-level map.lanelet2_map_loader:=$(var log_level) \
                 --log-level map.lanelet2_map_visualization:=$(var log_level) \
-                --log-level map.vector_map_tf_generator:=$(var log_level)">
+                --log-level map.vector_map_tf_generator:=$(var log_level)"
+    >
       <composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
         <param from="$(var pointcloud_map_loader_param_path)"/>
         <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -162,7 +162,13 @@
   </group>
 
   <group if="$(var use_crosswalk_traffic_light_estimator)">
-    <node pkg="autoware_crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen" ros_args="--log-level $(var log_level)">
+    <node
+      pkg="autoware_crosswalk_traffic_light_estimator"
+      exec="crosswalk_traffic_light_estimator_node"
+      name="crosswalk_traffic_light_estimator"
+      output="screen"
+      ros_args="--log-level $(var log_level)"
+    >
       <remap from="~/input/vector_map" to="/map/vector_map"/>
       <remap from="~/input/route" to="/planning/mission_planning/route"/>
       <remap from="~/input/classified/traffic_signals" to="$(var judged/traffic_signals)"/>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.xml

@@ -171,12 +171,19 @@
   />
   <let name="behavior_velocity_planner_launch_modules" value="$(eval &quot;'$(var behavior_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
-  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="behavior_planning_container" namespace="" args="" output="both"
+  <node_container
+    pkg="rclcpp_components"
+    exec="$(var container_type)"
+    name="behavior_planning_container"
+    namespace=""
+    args=""
+    output="both"
     ros_args="--log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_planning_container:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.behavior_planning.voxel_distance_based_compare_map_filter_node:=$(var log_level) \
-              --log-level planning.scenario_planning.lane_driving.behavior_planning.vector_map_inside_area_filter_node:=$(var log_level)">
+              --log-level planning.scenario_planning.lane_driving.behavior_planning.vector_map_inside_area_filter_node:=$(var log_level)"
+  >
     <composable_node pkg="autoware_behavior_path_planner" plugin="autoware::behavior_path_planner::BehaviorPathPlannerNode" name="behavior_path_planner" namespace="">
       <!-- topic remap -->
       <remap from="~/input/route" to="$(var input_route_topic_name)"/>

launch/tier4_planning_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml

@@ -28,7 +28,13 @@
   />
   <let name="motion_velocity_planner_launch_modules" value="$(eval &quot;'$(var motion_velocity_planner_launch_modules)' + '$(var launch_module_list_end)'&quot;)"/>
 
-  <node_container pkg="rclcpp_components" exec="$(var container_type)" name="motion_planning_container" namespace="" args="" output="screen"
+  <node_container
+    pkg="rclcpp_components"
+    exec="$(var container_type)"
+    name="motion_planning_container"
+    namespace=""
+    args=""
+    output="screen"
     ros_args="--log-level planning.scenario_planning.lane_driving.motion_planning.motion_planning_container:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.motion_planning.elastic_band_smoother:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.motion_planning.path_smoother_relay:=$(var log_level) \
@@ -37,7 +43,8 @@
               --log-level planning.scenario_planning.lane_driving.motion_planning.path_to_trajectory_converter:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_cruise_planner:=$(var log_level) \
               --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_planner:=$(var log_level) \
-              --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_relay:=$(var log_level)">
+              --log-level planning.scenario_planning.lane_driving.motion_planning.obstacle_stop_relay:=$(var log_level)"
+  >
     <composable_node pkg="glog_component" plugin="GlogComponent" name="glog_component" namespace=""/>
   </node_container>
 

launch/tier4_planning_launch/launch/scenario_planning/parking.launch.xml

@@ -5,10 +5,16 @@
   <group if="$(var launch_parking_module)">
     <push-ros-namespace namespace="parking"/>
 
-    <node_container pkg="rclcpp_components" exec="$(var container_type)" name="parking_container" namespace="" output="screen"
+    <node_container
+      pkg="rclcpp_components"
+      exec="$(var container_type)"
+      name="parking_container"
+      namespace=""
+      output="screen"
       ros_args="--log-level planning.scenario_planning.parking.parking_container:=$(var log_level) \
                 --log-level planning.scenario_planning.parking.costmap_generator:=$(var log_level) \
-                --log-level planning.scenario_planning.parking.freespace_planner:=$(var log_level)">
+                --log-level planning.scenario_planning.parking.freespace_planner:=$(var log_level)"
+    >
       <composable_node pkg="autoware_costmap_generator" plugin="autoware::costmap_generator::CostmapGenerator" name="costmap_generator" namespace="">
         <!-- topic remap -->
         <remap from="~/input/objects" to="/perception/object_recognition/objects"/>

launch/tier4_planning_launch/launch/scenario_planning/scenario_planning.launch.xml

@@ -28,9 +28,14 @@
     </group>
     <!-- motion velocity smoother -->
     <group>
-      <node_container pkg="rclcpp_components" exec="component_container" name="velocity_smoother_container" namespace=""
+      <node_container
+        pkg="rclcpp_components"
+        exec="component_container"
+        name="velocity_smoother_container"
+        namespace=""
         ros_args="--log-level planning.scenario_planning.velocity_smoother_container:=$(var log_level) \
-                  --log-level planning.scenario_planning.velocity_smoother:=$(var log_level)">
+                  --log-level planning.scenario_planning.velocity_smoother:=$(var log_level)"
+      >
         <composable_node pkg="autoware_velocity_smoother" plugin="autoware::velocity_smoother::VelocitySmootherNode" name="velocity_smoother" namespace="">
           <param name="algorithm_type" value="$(var velocity_smoother_type)"/>
           <param from="$(var common_param_path)"/>

perception/probabilistic_occupancy_grid_map/launch/laserscan_based_occupancy_grid_map.launch.py

@@ -122,9 +122,14 @@ def launch_setup(context, *args, **kwargs):
         composable_node_descriptions=composable_nodes,
         condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
         output="screen",
-        ros_arguments=["--log-level", ["occupancy_grid_map.occupancy_grid_map_container:=", LaunchConfiguration("log_level")],
-                       "--log-level", ["occupancy_grid_map.occupancy_grid_map_node:=", LaunchConfiguration("log_level")],
-                       "--log-level", ["occupancy_grid_map.pointcloud_to_laserscan_node:=", LaunchConfiguration("log_level")],]
+        ros_arguments=[
+            "--log-level",
+            ["occupancy_grid_map.occupancy_grid_map_container:=", LaunchConfiguration("log_level")],
+            "--log-level",
+            ["occupancy_grid_map.occupancy_grid_map_node:=", LaunchConfiguration("log_level")],
+            "--log-level",
+            ["occupancy_grid_map.pointcloud_to_laserscan_node:=", LaunchConfiguration("log_level")],
+        ],
     )
 
     load_composable_nodes = LoadComposableNodes(

perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml

@@ -6,9 +6,14 @@
   <arg name="log_level" default="WARN"/>
 
   <push-ros-namespace namespace="traffic_light_arbiter"/>
-  <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace=""
+  <node_container
+    pkg="rclcpp_components"
+    exec="component_container"
+    name="container"
+    namespace=""
     ros_args="--log-level perception.traffic_light_recognition.traffic_light_arbiter.container:=$(var log_level) \
-              --log-level perception.traffic_light_recognition.traffic_light_arbiter.arbiter:=$(var log_level)">
+              --log-level perception.traffic_light_recognition.traffic_light_arbiter.arbiter:=$(var log_level)"
+  >
     <composable_node pkg="traffic_light_arbiter" plugin="TrafficLightArbiter" name="arbiter">
       <remap from="~/sub/vector_map" to="/map/vector_map"/>
       <remap from="~/sub/perception_traffic_signals" to="$(var perception_traffic_signals)"/>

planning/autoware_mission_planner/launch/mission_planner.launch.xml

@@ -5,10 +5,15 @@
   <arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
   <arg name="log_level" default="WARN"/>
 
-  <node_container pkg="rclcpp_components" exec="component_container_mt" name="mission_planner_container" namespace=""
+  <node_container
+    pkg="rclcpp_components"
+    exec="component_container_mt"
+    name="mission_planner_container"
+    namespace=""
     ros_args="--log-level planning.mission_planning.mission_planner_container:=$(var log_level) \
               --log-level planning.mission_planning.mission_planner:=$(var log_level) \
-              --log-level planning.mission_planning.route_selector:=$(var log_level)">
+              --log-level planning.mission_planning.route_selector:=$(var log_level)"
+  >
     <composable_node pkg="autoware_mission_planner" plugin="autoware::mission_planner::MissionPlanner" name="mission_planner" namespace="">
       <param from="$(var mission_planner_param_path)"/>
       <remap from="~/input/modified_goal" to="$(var modified_goal_topic_name)"/>

planning/autoware_remaining_distance_time_calculator/launch/remaining_distance_time_calculator.launch.xml

@@ -6,7 +6,13 @@
   <arg name="input_route" default="/planning/mission_planning/route"/>
   <arg name="log_level" default="WARN"/>
 
-  <node pkg="autoware_remaining_distance_time_calculator" exec="autoware_remaining_distance_time_calculator_node" name="remaining_distance_time_calculator" output="screen" ros_args="--log-level $(var log_level)">
+  <node
+    pkg="autoware_remaining_distance_time_calculator"
+    exec="autoware_remaining_distance_time_calculator_node"
+    name="remaining_distance_time_calculator"
+    output="screen"
+    ros_args="--log-level $(var log_level)"
+  >
     <!-- param -->
     <param from="$(var remaining_distance_time_calculator_param_path)"/>
 

simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml

@@ -31,7 +31,7 @@
       </include>
     </group>
     <group unless="$(var real)">
-      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen"  ros_args="--log-level $(var log_level)">
+      <node pkg="dummy_perception_publisher" exec="dummy_perception_publisher_node" name="dummy_perception_publisher" output="screen" ros_args="--log-level $(var log_level)">
         <remap from="output/dynamic_object" to="/perception/object_recognition/detection/objects_with_feature"/>
         <remap from="output/objects_pose" to="debug/object_pose"/>
         <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>

simulator/vehicle_door_simulator/launch/vehicle_door_simulator.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="log_level" default="WARN"/>
 
-  <node pkg="vehicle_door_simulator" exec="dummy_doors" name="dummy_doors"  ros_args="--log-level $(var log_level)">
+  <node pkg="vehicle_door_simulator" exec="dummy_doors" name="dummy_doors" ros_args="--log-level $(var log_level)">
     <remap from="~/doors/command" to="/vehicle/doors/command"/>
     <remap from="~/doors/layout" to="/vehicle/doors/layout"/>
     <remap from="~/doors/status" to="/vehicle/doors/status"/>

system/component_state_monitor/launch/component_state_monitor.launch.py

@@ -72,8 +72,12 @@ def launch_setup(context, *args, **kwargs):
         package="rclcpp_components",
         executable="component_container",
         composable_node_descriptions=[component],
-        ros_arguments=["--log-level", ["system.component_state_monitor.container:=" , LaunchConfiguration("log_level")],
-                       "--log-level", ["system.component_state_monitor.component:=" , LaunchConfiguration("log_level")],],
+        ros_arguments=[
+            "--log-level",
+            ["system.component_state_monitor.container:=", LaunchConfiguration("log_level")],
+            "--log-level",
+            ["system.component_state_monitor.component:=", LaunchConfiguration("log_level")],
+        ],
     )
     return [container, *topic_monitor_nodes]