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feat: cicd format error #5

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Merged
PythonToGo merged 1 commit into from
Jul 14, 2026
Merged

feat: cicd format error #5

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26 changes: 12 additions & 14 deletions src/rosmac/assets/presets/nav2-diffbot/nav2-diffbot.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -32,9 +32,7 @@ def generate_launch_description():
pkg_nav2 = get_package_share_directory("nav2_bringup")

gz_sim = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")
),
PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")),
launch_arguments={"gz_args": f"-s --headless-rendering -r {WORLD}"}.items(),
)

Expand All @@ -54,36 +52,36 @@ def generate_launch_description():
("/model/vehicle_blue/odometry", "/odom"),
("/model/vehicle_blue/tf", "/tf"),
],
parameters=[
{"qos_overrides./model/vehicle_blue.subscriber.reliability": "reliable"}
],
parameters=[{"qos_overrides./model/vehicle_blue.subscriber.reliability": "reliable"}],
output="screen",
)

static_tf = Node(
package="tf2_ros",
executable="static_transform_publisher",
arguments=[
"--x", "0.648573", "--z", "0.675",
"--frame-id", "base_link", "--child-frame-id", "lidar_link",
"--x",
"0.648573",
"--z",
"0.675",
"--frame-id",
"base_link",
"--child-frame-id",
"lidar_link",
],
parameters=[{"use_sim_time": True}],
)

slam = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_slam, "launch", "online_async_launch.py")
),
PythonLaunchDescriptionSource(os.path.join(pkg_slam, "launch", "online_async_launch.py")),
launch_arguments={
"use_sim_time": "true",
"slam_params_file": SLAM_PARAMS,
}.items(),
)

nav2 = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_nav2, "launch", "navigation_launch.py")
),
PythonLaunchDescriptionSource(os.path.join(pkg_nav2, "launch", "navigation_launch.py")),
launch_arguments={"use_sim_time": "true"}.items(),
)

Expand Down
4 changes: 3 additions & 1 deletion src/rosmac/cli.py
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Original file line number Diff line number Diff line change
Expand Up @@ -197,7 +197,9 @@ def _start_viz(cfg: Config) -> None:

@app.command()
def viz(
layout: str | None = typer.Option(None, "--layout", help="Preset layout name (panda|diffbot|nav2)"),
layout: str | None = typer.Option(
None, "--layout", help="Preset layout name (panda|diffbot|nav2)"
),
) -> None:
"""Connect Foxglove visualization (start VM foxglove_bridge + open app)."""
cfg = load()
Expand Down
8 changes: 6 additions & 2 deletions tests/unit/test_deps.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,9 @@ def test_ensure_installed_only_missing(monkeypatch) -> None:
cfg = Config()
monkeypatch.setattr(deps, "installed_packages", lambda _cfg: {"ros-humble-nav2-msgs"})
called: list[list[str]] = []
monkeypatch.setattr(deps, "install_missing", lambda _cfg, pkgs, timeout=1800: called.append(pkgs))
monkeypatch.setattr(
deps, "install_missing", lambda _cfg, pkgs, timeout=1800: called.append(pkgs)
)
# 이미 있는 것 + 없는 것 → 없는 것만 설치, 반환
out = deps.ensure_installed(cfg, ["ros-humble-nav2-msgs", "ros-humble-moveit-msgs"])
assert out == ["ros-humble-moveit-msgs"]
Expand All @@ -38,7 +40,9 @@ def test_ensure_installed_noop_when_all_present(monkeypatch) -> None:
cfg = Config()
monkeypatch.setattr(deps, "installed_packages", lambda _cfg: {"ros-humble-nav2-msgs"})
called: list[list[str]] = []
monkeypatch.setattr(deps, "install_missing", lambda _cfg, pkgs, timeout=1800: called.append(pkgs))
monkeypatch.setattr(
deps, "install_missing", lambda _cfg, pkgs, timeout=1800: called.append(pkgs)
)
assert deps.ensure_installed(cfg, ["ros-humble-nav2-msgs"]) == []
assert deps.ensure_installed(cfg, []) == []
assert called == [] # 전부 있으면 micromamba install 호출 안 함 (멱등)
Expand Down
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