pylint fixes

more pylint fixes

pylint fixes for 2d sim and other existing modules

pylint fixes yet again

pylint fixes yet again #2

rb_ws/src/buggy/scripts/2d_sim/engine.py

@@ -1,14 +1,16 @@
 #! /usr/bin/env python3
+
+import sys
+import threading
+
 import rospy
 from geometry_msgs.msg import Pose, Twist, PoseWithCovariance, TwistWithCovariance
 from std_msgs.msg import Float64
 from sensor_msgs.msg import NavSatFix
 from nav_msgs.msg import Odometry
-import threading
 import numpy as np
 import utm
-import time
-import sys
+
 
 
 class Simulator:
@@ -70,7 +72,7 @@ def __init__(self, starting_pose, velocity, buggy_name):
         # self.e_utm = utm_coords[0]
         # self.n_utm = utm_coords[1]
 
-        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]        
+        self.e_utm, self.n_utm, self.heading = self.starting_poses[starting_pose]
         self.velocity = velocity # m/s
 
         self.steering_angle = 0  # degrees
@@ -122,7 +124,7 @@ def dynamics(self, state, v):
             dstate (np.Array): time derivative of state from dynamics
         """
         l = Simulator.WHEELBASE
-        x, y, theta, delta = state
+        _, _, theta, delta = state
 
         return np.array([v * np.cos(theta),
                          v * np.sin(theta),

rb_ws/src/buggy/scripts/auton/autonsystem.py

@@ -1,14 +1,16 @@
 #!/usr/bin/env python3
 
+import argparse
+import cProfile
+from threading import Lock
+
 import rospy
-import sys
 
 # ROS Message Imports
 from std_msgs.msg import Float32, Float64, Bool
 from nav_msgs.msg import Odometry
 
 import numpy as np
-from threading import Lock
 
 from trajectory import Trajectory
 from world import World
@@ -21,9 +23,6 @@
 from path_planner import PathPlanner
 from pose import Pose
 
-import argparse
-import cProfile
-
 class AutonSystem:
     """
     Top-level class for the RoboBuggy autonomous system
@@ -45,13 +44,13 @@ class AutonSystem:
     ticks = 0
 
     def __init__(self,
-            global_trajectory, 
+            global_trajectory,
             local_controller,
-            brake_controller, 
-            self_name, 
+            brake_controller,
+            self_name,
             other_name,
             profile) -> None:
-        
+
 
         self.global_trajectory = global_trajectory
 
@@ -70,7 +69,7 @@ def __init__(self,
         self.ticks = 0
         self.self_odom_msg = None
         self.other_odom_msg = None
-        
+
         rospy.Subscriber(self_name + "/nav/odom", Odometry, self.update_self_odom)
         if self.has_other_buggy:
             rospy.Subscriber(other_name + "/nav/odom", Odometry, self.update_other_odom)
@@ -112,17 +111,17 @@ def update_self_odom(self, msg):
     def update_other_odom(self, msg):
         with self.lock:
             self.other_odom_msg = msg
-    
+
     def update_other_steering_angle(self, msg):
         with self.lock:
             self.other_steering = msg.data
 
     def tick_caller(self):
         while ((not rospy.is_shutdown()) and
-            (self.self_odom_msg == None or 
+            (self.self_odom_msg == None or
             (self.has_other_buggy and self.other_odom_msg == None))): # with no message, we wait
             rospy.sleep(0.001)
-        
+
         # wait for covariance matrix to be better
         while ((not rospy.is_shutdown()) and
                (self.self_odom_msg.pose.covariance[0] ** 2 + self.self_odom_msg.pose.covariance[7] ** 2 > 1**2)):
@@ -141,7 +140,7 @@ def tick_caller(self):
             # run the planner every 10 ticks
             # thr main cycle runs at 100hz, the planner runs at 10hz, but looks 1 second ahead
 
-            if not self.other_odom_msg is None and self.ticks % 10 == 0:         
+            if not self.other_odom_msg is None and self.ticks % 10 == 0:
 
                 # for debugging, publish distance to other buggy
                 with self.lock:
@@ -156,12 +155,12 @@ def tick_caller(self):
                     cProfile.runctx('self.planner_tick()', globals(), locals(), sort="cumtime")
                 else:
                     self.planner_tick()
-            
+
             self.local_controller_tick()
             self.ticks += 1
-            self.rosrate.sleep() 
+            self.rosrate.sleep()
+
 
-
     def get_world_pose_and_speed(self, msg):
         current_rospose = msg.pose.pose
         # Check if the pose covariance is a sane value. Publish a warning if insane
@@ -177,7 +176,7 @@ def get_world_pose_and_speed(self, msg):
         # Get data from message
         pose_gps = Pose.rospose_to_pose(current_rospose)
         return World.gps_to_world_pose(pose_gps), current_speed
-    
+
     def local_controller_tick(self):
         with self.lock:
             self_pose, self_speed = self.get_world_pose_and_speed(self.self_odom_msg)
@@ -198,40 +197,40 @@ def planner_tick(self):
 if __name__ == "__main__":
     rospy.init_node("auton_system")
     parser = argparse.ArgumentParser()
-    parser.add_argument("--controller", 
+    parser.add_argument("--controller",
         type=str,
         help="set controller type",
         required=True)
-    
+
     parser.add_argument(
-        "--dist", 
+        "--dist",
         type=float,
         help="start buggy at meters distance along the path",
         required=True)
-    
+
     parser.add_argument(
-        "--traj", 
-        type=str, 
-        help="path to the trajectory file, relative to /rb_ws/src/buggy/paths/", 
+        "--traj",
+        type=str,
+        help="path to the trajectory file, relative to /rb_ws/src/buggy/paths/",
         required=True)
-    
+
     parser.add_argument(
         "--self_name",
         type=str,
-        help="name of ego-buggy", 
+        help="name of ego-buggy",
         required=True)
-    
+
     parser.add_argument(
-        "--other_name", 
+        "--other_name",
         type=str,
-        help="name of other buggy, if left unspecified, the autonsystem assumes it is the only buggy on the course",         
+        help="name of other buggy, if left unspecified, the autonsystem assumes it is the only buggy on the course",
         required=False)
-    
+
     parser.add_argument(
         "--profile",
         action='store_true',
         help="turn on profiling for the path planner")
-    
+
     args, _ = parser.parse_known_args()
     ctrl = args.controller
     start_dist = args.dist
@@ -253,22 +252,22 @@ def planner_tick(self):
     local_ctrller = None
     if (ctrl == "stanley"):
         local_ctrller = StanleyController(
-            self_name, 
+            self_name,
             start_index=start_index)
-        
+
     elif (ctrl == "pure_pursuit"):
         local_ctrller = PurePursuitController(
-            self_name, 
+            self_name,
             start_index=start_index)
-        
+
     elif (ctrl == "mpc"):
         local_ctrller = ModelPredictiveController(
-            self_name, 
+            self_name,
             start_index=start_index)
 
     if (local_ctrller == None):
         raise Exception("Invalid Controller Argument")
-    
+
     auton_system = AutonSystem(
         trajectory,
         local_ctrller,

rb_ws/src/buggy/scripts/auton/controller.py

@@ -1,9 +1,7 @@
 from abc import ABC, abstractmethod
 
-import numpy as np
 from trajectory import Trajectory
 from pose import Pose
-import rospy
 from sensor_msgs.msg import NavSatFix
 from world import World
 
@@ -59,7 +57,7 @@ def compute_control(
             float (desired steering angle)
         """
         raise NotImplementedError
-    
+
     def plot_trajectory(
         self, current_pose: Pose, trajectory: Trajectory, current_speed: float
     ):

rb_ws/src/buggy/scripts/auton/model_predictive_controller.py

@@ -1,29 +1,25 @@
 #!/usr/bin/env python3
-from abc import ABC, abstractmethod
 
 import time
+from threading import Lock
 
 from numba import njit
 
 import numpy as np
 import osqp
-import scipy
 from scipy import sparse
 
 import rospy
-from std_msgs.msg import Float32, Float64, Float64MultiArray, MultiArrayDimension, Bool
-from nav_msgs.msg import Odometry
+from std_msgs.msg import Float64, Float64MultiArray, MultiArrayDimension, Bool
 from sensor_msgs.msg import NavSatFix
 from geometry_msgs.msg import Pose as ROSPose
 from geometry_msgs.msg import Pose2D
-from rospy.numpy_msg import numpy_msg
 
 from pose import Pose
 from trajectory import Trajectory
 from controller import Controller
 from world import World
 
-from threading import Lock
 
 import matplotlib.pyplot as plt
 
@@ -437,7 +433,7 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
         #      0  0  0  A2 B2 ... 0    0    0
         #      0  0  0  0  0  ... 0    0    0
         #      0  0  0  0  0  ... AN-1 BN-1 -I]
-        # 
+        #
         # D = [C; X; U]
         # X selects all the states from z
         # U selects all the controls from z
@@ -601,17 +597,17 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
         if self.TIME:
             t = time.time()
         results = self.solver.solve()
-        
+
         steer_angle = results.x[self.N_CONTROLS + self.N_STATES - 1]
         solution_trajectory = np.reshape(results.x, (self.MPC_HORIZON, self.N_STATES + self.N_CONTROLS))
         state_trajectory = solution_trajectory[:, self.N_CONTROLS:(self.N_CONTROLS + self.N_STATES)]
 
         print("status", results.info.status, results.info.status_val)
         if not (results.info.status == "solved" or results.info.status == "solved inaccurate"):
             return reference_trajectory
-        
+
         state_trajectory += reference_trajectory
-        steer_rate_trajectory = solution_trajectory[:, :self.N_CONTROLS]
+        # steer_rate_trajectory = solution_trajectory[:, :self.N_CONTROLS]
 
         if self.TIME:
             solve_time = 1000 * (time.time() - t)
@@ -627,7 +623,7 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
 
         if self.PLOT:
             # Plot the results
-            fig, [[ax1, ax2], [ax3, ax4]] = plt.subplots(2, 2)
+            _, [[ax1, ax2], [ax3, ax4]] = plt.subplots(2, 2)
 
             # Extract the states
             states = np.zeros((self.MPC_HORIZON, self.N_STATES))