lint

Author: jgeaso1266

components/gantry/fake/gantry.go

@@ -71,7 +71,7 @@ type Gantry struct {
 	resource.TriviallyCloseable
 	positionsMm    []float64
 	speedsMmPerSec []float64
-	lengthsMm        []float64
+	lengthsMm      []float64
 	model          referenceframe.Model
 	logger         logging.Logger
 }
@@ -99,7 +99,7 @@ func (g *Gantry) MoveToPosition(ctx context.Context, positionsMm, speedsMmPerSec
 			return fmt.Errorf("position %v out of range [0, %v]", position, g.lengthsMm[i])
 		}
 	}
-	
+
 	g.positionsMm = positionsMm
 	g.speedsMmPerSec = speedsMmPerSec
 	return nil

components/gantry/server.go

@@ -156,6 +156,9 @@ func (s *serviceServer) GetGeometries(ctx context.Context, req *commonpb.GetGeom
 			}
 
 			posResp, err := s.GetPosition(ctx, &pb.GetPositionRequest{Name: req.GetName()})
+			if err != nil {
+				return nil, err
+			}
 			gifs, err := model.Geometries(posResp.PositionsMm)
 			if err != nil {
 				return nil, err

components/gantry/test_gantry_model.json

@@ -2,28 +2,9 @@
     "name": "single_axis_gantry",
     "kinematic_param_type": "SVA",
     "links": [
-      {
-        "id": "base_rail",
-        "parent": "world",
-        "translation": {
-          "x": 0,
-          "y": 0,
-          "z": 0
-        },
-        "geometry": {
-          "x": 500,
-          "y": 100,
-          "z": 100,
-          "translation": {
-            "x": 0,
-            "y": 0,
-            "z": 0
-          }
-        }
-      },
       {
         "id": "carriage",
-        "parent": "gantry_joint",
+        "parent": "world",
         "translation": {
           "x": 0,
           "y": 0,
@@ -45,7 +26,7 @@
       {
         "id": "gantry_joint",
         "type": "prismatic",
-        "parent": "base_rail",
+        "parent": "carriage",
         "axis": {
           "x": 1,
           "y": 0,