new CI actions

.github/workflows/humble-docker-build.yml

@@ -0,0 +1,19 @@
+name: Humble Docker Build
+
+on: [push, pull_request]
+
+jobs:
+  humble_docker_build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and push
+        uses: docker/build-push-action@v6
+        with:
+          build-args: ROS_DISTRO=humble
+          push: false

.github/workflows/python_formatter.yml

@@ -0,0 +1,15 @@
+name: Python Formatting Check
+
+on: [push, pull_request]
+
+jobs:
+  python_formatter:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Black Formatter
+        uses: lgeiger/black-action@master
+        with:
+          args: ". --check --diff --line-length 90"

yolo_ros/test/test_flake8.py

@@ -20,6 +20,6 @@
 @pytest.mark.linter
 def test_flake8():
     rc, errors = main_with_errors(argv=[])
-    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
+    assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(
         errors
-    ) + "\n".join(errors)
+    )

yolo_ros/yolo_ros/detect_3d_node.py

@@ -54,9 +54,7 @@ def __init__(self) -> None:
         self.declare_parameter(
             "depth_image_reliability", QoSReliabilityPolicy.BEST_EFFORT
         )
-        self.declare_parameter(
-            "depth_info_reliability", QoSReliabilityPolicy.BEST_EFFORT
-        )
+        self.declare_parameter("depth_info_reliability", QoSReliabilityPolicy.BEST_EFFORT)
 
         # aux
         self.tf_buffer = Buffer()
@@ -206,9 +204,7 @@ def process_detections(
             if bbox3d is not None:
                 new_detections.append(detection)
 
-                bbox3d = Detect3DNode.transform_3d_box(
-                    bbox3d, transform[0], transform[1]
-                )
+                bbox3d = Detect3DNode.transform_3d_box(bbox3d, transform[0], transform[1])
                 bbox3d.frame_id = self.target_frame
                 new_detections[-1].bbox3d = bbox3d
 
@@ -262,8 +258,7 @@ def convert_bb_to_3d(
 
         else:
             bb_center_z_coord = (
-                depth_image[int(center_y)][int(center_x)]
-                / self.depth_image_units_divisor
+                depth_image[int(center_y)][int(center_x)] / self.depth_image_units_divisor
             )
 
         z_diff = np.abs(roi - bb_center_z_coord)

yolo_ros/yolo_ros/tracking_node.py

@@ -169,15 +169,13 @@ def detections_cb(self, img_msg: Image, detections_msg: DetectionArray) -> None:
         if len(detection_list) > 0:
 
             det = Boxes(np.array(detection_list), (img_msg.height, img_msg.width))
-
             tracks = self.tracker.update(det, cv_image)
 
             if len(tracks) > 0:
 
                 for t in tracks:
 
                     tracked_box = Boxes(t[:-1], (img_msg.height, img_msg.width))
-
                     tracked_detection: Detection = detections_msg.detections[int(t[-1])]
 
                     # get boxes values