style(pre-commit): autofix

README.md

@@ -1,2 +1,3 @@
 # autoware_tools
-This is a repository for keeping packages that are not needed at runtime, including packages for benchmarking, debugging, tuning, calibrating, etc.  
+
+This is a repository for keeping packages that are not needed at runtime, including packages for benchmarking, debugging, tuning, calibrating, etc.

bag2lanelet/README.md

@@ -9,24 +9,18 @@ The provided functionalities are as follows:
 
 ## Example
 
-
 As an example, the process of lanelet generation based on driving trajectories from the planning simulator is performed as follows. Typically, the expectation is to use rosbag data from manual driving, rather than from the planning simulator.
 
-
 Firstly, you need to run the planning_simulator following the [planning_simulator tutorial in Autoware Documentation](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/). The process would be, install Autoawre, download the maps, run the planning_simulator, and start autonomous driving. Make sure to save the rosbag during this driving session using the following command:
 
 ```sh
 ros2 bag record /tf -o /tmp/bag2lanelet_sample.bag
 ```
 
-
-
 <p align="center">
   <img src="./image/psim-kashiwanoha-sample-map.png" alt="kashiwa" width="800">
 </p>
 
-
-
 After completing the drive, you can run the `bag2lanelet.py` script. This requires specifying the output directory, lane width and MGRS coordinates:
 
 ```sh
@@ -35,16 +29,14 @@ After completing the drive, you can run the `bag2lanelet.py` script. This requir
 
 The map will be saved in the specified directory, following the naming convention `<date>-lanelet2_map.osm`. The map generated will appear like this. You can see the example result in [./example/lanelet2_map.osm](./example/lanelet2_map.osm).
 
-When you relaunch the planning_simulator with the new lanelet2 map, you will see the following. 
+When you relaunch the planning_simulator with the new lanelet2 map, you will see the following.
 
 <p align="center">
   <img src="./image/psim-kashiwanoha-bag2lanelet-original-map.png" alt="kashiwa" width="800">
 </p>
 
-
 Please note that at this stage, although this map works with Autoware, the shape of the lanes will appear jagged. (Refer to the 'Limitations' section for more details.) While this is an issue that should be addressed in the future, it can currently be resolved by loading it in [Vector Map Builder](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/#vector-map-builder) as follows.
 
-
 Following the documentation of the [Vector Map Builder](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-maps/creating-vector-map/#vector-map-builder), import the generated Lanelet2 map. You can see the refined lane on the application.
 
 <p align="center">
@@ -57,7 +49,6 @@ Then, Export the map. You can run the planning_simulator with the refined lanele
   <img src="./image/psim-kashiwanoha-bag2lanelet-vmb-map.png" alt="kashiwa" width="800">
 </p>
 
-
 ## Requirements
 
 ```
@@ -75,10 +66,11 @@ Check `./bag2lanelet.py --help`
 ```
 ./bag2lanelet.py /home/autoware/rosbag/sample . --width=3.0
 ```
+
 or with MGRS code at Monza Track
 
 ```
-./bag2lanelet.py /home/autoware/rosbag/sample . --width=3.0 --mgrs 32TNR219517 
+./bag2lanelet.py /home/autoware/rosbag/sample . --width=3.0 --mgrs 32TNR219517
 ```
 
 ### generate trajectory file for Vector Map Builder
@@ -87,9 +79,8 @@ or with MGRS code at Monza Track
 ./bag2trajectory.py /home/autoware/rosbag/sample sample.csv
 ```
 
-
 ## Limitations
 
 Here is the limitations of this package. Contributions to further improvements are more than welcome.
 
-- Due to the low conversion accuracy from MGRS to latitude and longitude in this script, the lanes in the output lanelet.osm appear jagged. Importing and then exporting through vector_map_builder corrects these values with high accuracy. 
+- Due to the low conversion accuracy from MGRS to latitude and longitude in this script, the lanes in the output lanelet.osm appear jagged. Importing and then exporting through vector_map_builder corrects these values with high accuracy.

bag2lanelet/bag2lanelet.py

@@ -1,10 +1,11 @@
 #!/bin/env python3
 import argparse
+from datetime import datetime
 import os
 import pathlib
-from datetime import datetime
 
-from bag2way import bag2pose, pose2line
+from bag2way import bag2pose
+from bag2way import pose2line
 from lanelet_xml import LaneletMap
 
 
@@ -36,7 +37,12 @@ def main():
     parser.add_argument("-l", "--width", type=float, default=2.0, help="lane width[m]")
     parser.add_argument("-m", "--mgrs", default="54SUE", help="MGRS code")
     parser.add_argument(
-        "--interval", type=float, nargs=2, default=[0.1, 2.0], help="min and max interval between tf position")
+        "--interval",
+        type=float,
+        nargs=2,
+        default=[0.1, 2.0],
+        help="min and max interval between tf position",
+    )
     parser.add_argument(
         "--offset", type=float, nargs=3, default=[0.0, 0.0, 0.0], help="offset[m] from base_link"
     )
@@ -49,7 +55,9 @@ def main():
     output_path = pathlib.Path(args.output_lanelet)
 
     print(args)
-    genarate(input_path, output_path, args.width, args.mgrs, args.interval, args.offset, args.center)
+    genarate(
+        input_path, output_path, args.width, args.mgrs, args.interval, args.offset, args.center
+    )
 
 
 if __name__ == "__main__":

bag2lanelet/bag2map.py

@@ -1,18 +1,23 @@
 #!/bin/env python3
 import argparse
+from datetime import datetime
 import os
 import pathlib
-from datetime import datetime
 
+from bag2way import bag2point_stamped
+from bag2way import bag2pose
+from bag2way import pose2line
 import folium
-from bag2way import bag2point_stamped, bag2pose, pose2line
 from lanelet_xml import LaneletMap
 
 
 def genarate(input_path, output, mgrs):
     point_array = bag2point_stamped(input_path, 40.0, 500.0)
     m = LaneletMap(mgrs=mgrs)
-    latlon = [{'lat': lat, 'lon': lon} for lat, lon in [m.get_latlon(*node) for node in point_array[:, 1:4]]]
+    latlon = [
+        {"lat": lat, "lon": lon}
+        for lat, lon in [m.get_latlon(*node) for node in point_array[:, 1:4]]
+    ]
     t = point_array[:, 0]
 
     f = folium.Figure(width=800, height=500)

bag2lanelet/bag2trajectory.py

@@ -2,9 +2,9 @@
 import argparse
 import pathlib
 
+from bag2way import bag2pose
 import numpy as np
 import tf_transformations
-from bag2way import bag2pose
 
 
 def genarate(input_path, output_path):

bag2lanelet/bag2way.py

@@ -2,10 +2,12 @@
 from typing import Text
 
 import numpy as np
-import tf_transformations
 from rclpy.serialization import deserialize_message
-from rosbag2_py import ConverterOptions, SequentialReader, StorageOptions
+from rosbag2_py import ConverterOptions
+from rosbag2_py import SequentialReader
+from rosbag2_py import StorageOptions
 from rosidl_runtime_py.utilities import get_message
+import tf_transformations
 
 
 def create_reader(bag_dir: str) -> SequentialReader:
@@ -22,6 +24,7 @@ def create_reader(bag_dir: str) -> SequentialReader:
     reader.open(storage_options, converter_options)
     return reader
 
+
 # too close & outlier pose filter
 def is_close_pose(p0, p1, eps, thresh):
     dist = ((p0.x - p1.x) ** 2 + (p0.y - p1.y) ** 2 + (p0.z - p1.z) ** 2) ** 0.5

bag2lanelet/lanelet_xml.py

@@ -1,5 +1,6 @@
-import xml.etree.ElementTree as ET
 from xml.dom.minidom import parseString
+import xml.etree.ElementTree as ET
+
 from mgrspy import mgrs
 
 
@@ -27,7 +28,11 @@ def add_node(self, x, y, z):
         print(mgrs_code)
         latlon = mgrs.toWgs(mgrs_code)
         mgrs_code = self.mgrs + ("%05d" % x)[:3] + ("%05d" % y)[:3]
-        node = ET.SubElement(self.root, 'node', {'id': str(self.element_num), 'lat': str(latlon[0]), 'lon': str(latlon[1])})
+        node = ET.SubElement(
+            self.root,
+            "node",
+            {"id": str(self.element_num), "lat": str(latlon[0]), "lon": str(latlon[1])},
+        )
         tag = [
             {"k": "type", "v": ""},
             {"k": "subtype", "v": ""},

bag2lanelet/requirements.txt

@@ -1,2 +1,2 @@
 transforms3d
-mgrspy
+mgrspy

build_depends.repos

@@ -20,4 +20,3 @@ repositories:
     type: git
     url: https://github.com/tier4/autoware_auto_msgs.git
     version: tier4/main
-