Fix some warnings from tests.

clalancette · bmagyar · commit 087eaf140cfa · 2021-03-22T16:33:22.000Z
In here are some flake8 fixes and fixes to the joy_teleop tests
now that some of the error messages have changed.

Signed-off-by: Chris Lalancette &lt;clalancette@openrobotics.org&gt;
diff --git a/joy_teleop/joy_teleop/joy_teleop.py b/joy_teleop/joy_teleop/joy_teleop.py
@@ -155,8 +155,8 @@ def __init__(self, name: str, config: typing.Dict[str, typing.Any], node: Node)
             # Now check that the mappings have all of the required configuration.
             for mapping, values in self.axis_mappings.items():
                 if 'axis' not in values and 'button' not in values and 'value' not in values:
-                    raise JoyTeleopException("Axis mapping for '{}' must have an axis, button, or value"
-                                             .format(name))
+                    raise JoyTeleopException("Axis mapping for '{}' must have an axis, button, "
+                                             'or value'.format(name))
 
                 if 'axis' in values:
                     if 'offset' not in values:
diff --git a/joy_teleop/test/test_parameter_failures.py b/joy_teleop/test/test_parameter_failures.py
@@ -150,7 +150,7 @@ def test_teleop_axis_mappings_missing_axis_or_button(self):
             self.assertTrue(joy_teleop_process.wait_for_shutdown(timeout=10))
 
         self.assertEqual(joy_teleop_process.exit_code, 1)
-        self.assertTrue('must have an axis or button' in joy_teleop_process.output)
+        self.assertTrue('must have an axis, button, or value' in joy_teleop_process.output)
 
     def test_teleop_axis_mappings_missing_offset(self):
         parameters = {}
diff --git a/key_teleop/key_teleop/key_teleop.py b/key_teleop/key_teleop/key_teleop.py
@@ -45,12 +45,12 @@
 import signal
 import time
 
-from std_msgs.msg import Header
 from geometry_msgs.msg import Twist, TwistStamped
 import rclpy
 from rclpy.duration import Duration
 from rclpy.node import Node
 from rclpy.qos import qos_profile_system_default
+from std_msgs.msg import Header
 
 
 class Velocity(object):
@@ -130,7 +130,8 @@ def __init__(self, interface):
         self._publish_stamped_twist = self.declare_parameter('twist_stamped_enabled', False).value
 
         if self._publish_stamped_twist:
-            self._pub_cmd = self.create_publisher(TwistStamped, 'key_vel', qos_profile_system_default)
+            self._pub_cmd = self.create_publisher(TwistStamped, 'key_vel',
+                                                  qos_profile_system_default)
         else:
             self._pub_cmd = self.create_publisher(Twist, 'key_vel', qos_profile_system_default)
 
@@ -173,7 +174,7 @@ def _make_twist_stamped(self, linear, angular):
         twist_stamped = TwistStamped()
         header = Header()
         header.stamp = rclpy.clock.Clock().now().to_msg()
-        header.frame_id = "key_teleop"
+        header.frame_id = 'key_teleop'
 
         twist_stamped.header = header
         twist_stamped.twist.linear.x = linear
