Readme update + Code Cleanup (#161)

* Changed print((...)) -> print(...)

* Added Noetic to sopported Distros

Co-authored-by: Pazarci, Utku <[email protected]>

Author: UtQ67

README.rst

@@ -12,6 +12,7 @@ Supported ROS Versions
 - Indigo
 - Kinetic
 - Melodic
+- Noetic
 
 Installation
 ------------

intera_examples/scripts/gripper_joystick.py

@@ -60,17 +60,17 @@ def print_help(bindings_list):
             for (test, _cmd, doc) in bindings:
                 if callable(doc):
                     doc = doc()
-                print(("%s: %s" % (str(test[1]), doc)))
+                print("%s: %s" % (str(test[1]), doc))
 
     def offset_position(offset_pos):
         cmd_pos = max(min(gripper.get_position() + offset_pos, gripper.MAX_POSITION), gripper.MIN_POSITION)
         gripper.set_position(cmd_pos)
-        print(("commanded position set to {0} m".format(cmd_pos)))
+        print("commanded position set to {0} m".format(cmd_pos))
 
     def update_velocity(offset_vel):
         cmd_speed = max(min(gripper.get_cmd_velocity() + offset_vel, gripper.MAX_VELOCITY), gripper.MIN_VELOCITY)
         gripper.set_cmd_velocity(cmd_speed)
-        print(("commanded velocity set to {0} m/s".format(cmd_speed)))
+        print("commanded velocity set to {0} m/s".format(cmd_speed))
 
 
     # decrease position dead_zone

intera_examples/scripts/gripper_keyboard.py

@@ -46,12 +46,12 @@ def clean_shutdown():
     def offset_position(offset_pos):
         cmd_pos = max(min(gripper.get_position() + offset_pos, gripper.MAX_POSITION), gripper.MIN_POSITION)
         gripper.set_position(cmd_pos)
-        print(("commanded position set to {0} m".format(cmd_pos)))
+        print("commanded position set to {0} m".format(cmd_pos))
 
     def update_velocity(offset_vel):
         cmd_speed = max(min(gripper.get_cmd_velocity() + offset_vel, gripper.MAX_VELOCITY), gripper.MIN_VELOCITY)
         gripper.set_cmd_velocity(cmd_speed)
-        print(("commanded velocity set to {0} m/s".format(cmd_speed)))
+        print("commanded velocity set to {0} m/s".format(cmd_speed))
 
 
     original_deadzone = gripper.get_dead_zone()
@@ -88,15 +88,15 @@ def update_velocity(offset_vel):
                 done = True
             elif c in bindings:
                 cmd = bindings[c]
-                print(("command: {0}".format(cmd[2])))
+                print("command: {0}".format(cmd[2]))
                 cmd[0](*cmd[1])
             else:
                 print("key bindings: ")
                 print("  Esc: Quit")
                 print("  ?: Help")
                 for key, val in sorted(list(bindings.items()),
                                        key=lambda x: x[1][2]):
-                    print(("  %s: %s" % (key, val[2])))
+                    print("  %s: %s" % (key, val[2]))
     # force shutdown call if caught by key handler
     rospy.signal_shutdown("Example finished.")
 

intera_examples/scripts/joint_position_file_playback.py

@@ -77,7 +77,7 @@ def map_file(filename, limb, loops=1):
         if not gripper.is_calibrated():
             gripper.calibrate()
 
-    print(("Playing back: %s" % (filename,)))
+    print("Playing back: %s" % (filename,))
     with open(filename, 'r') as f:
         lines = f.readlines()
     keys = lines[0].rstrip().split(',')

intera_examples/scripts/joint_position_joystick.py

@@ -91,7 +91,7 @@ def print_help(bindings_list):
             for (test, _cmd, doc) in bindings:
                 if callable(doc):
                     doc = doc()
-                print(("%s: %s" % (str(test[1][0]), doc)))
+                print("%s: %s" % (str(test[1][0]), doc))
 
     bindings_list = []
     bindings = [
@@ -131,7 +131,7 @@ def print_help(bindings_list):
             if test[0](*test[1]):
                 cmd[0](*cmd[1])
                 if callable(doc):
-                    print((doc()))
+                    print(doc())
                 else:
                     print(doc)
         if len(limb_cmd):

intera_examples/scripts/joint_position_keyboard.py

@@ -88,18 +88,18 @@ def set_g(action):
                 cmd = bindings[c]
                 if c == '8' or c == 'i' or c == '9':
                     cmd[0](cmd[1])
-                    print(("command: %s" % (cmd[2],)))
+                    print("command: %s" % (cmd[2],))
                 else:
                     #expand binding to something like "set_j(right, 'j0', 0.1)"
                     cmd[0](*cmd[1])
-                    print(("command: %s" % (cmd[2],)))
+                    print("command: %s" % (cmd[2],))
             else:
                 print("key bindings: ")
                 print("  Esc: Quit")
                 print("  ?: Help")
                 for key, val in sorted(list(bindings.items()),
                                        key=lambda x: x[1][2]):
-                    print(("  %s: %s" % (key, val[2])))
+                    print("  %s: %s" % (key, val[2]))
 
 def main():
     """RSDK Joint Position Example: Keyboard Control

intera_examples/scripts/joint_position_waypoints.py

@@ -115,7 +115,7 @@ def playback(self):
         loop = 0
         while not rospy.is_shutdown():
             loop += 1
-            print(("Waypoint playback loop #%d " % (loop,)))
+            print("Waypoint playback loop #%d " % (loop,))
             for waypoint in self._waypoints:
                 if rospy.is_shutdown():
                     break

intera_examples/scripts/joint_trajectory_file_playback.py

@@ -350,7 +350,7 @@ def main():
         loopstr = "forever"
     while (result == True and loop_cnt <= args.number_loops
            and not rospy.is_shutdown()):
-        print(("Playback loop %d of %s" % (loop_cnt, loopstr,)))
+        print("Playback loop %d of %s" % (loop_cnt, loopstr,))
         traj.start()
         result = traj.wait()
         loop_cnt = loop_cnt + 1

intera_interface/scripts/enable_robot.py

@@ -51,7 +51,7 @@ def main():
     try:
         for act in args.actions:
             if act == 'state':
-                print((rs.state()))
+                print(rs.state())
             elif act == 'enable':
                 rs.enable()
             elif act == 'disable':

intera_interface/src/intera_interface/robot_params.py

@@ -143,6 +143,6 @@ def log_message(self, msg, level="INFO"):
         @param level: Level to color the text. Valid levels:
                       ["INFO", "WARN", "ERROR"]
         """
-        print((("{0}[{1}] {2}{3}").format(
+        print(("{0}[{1}] {2}{3}").format(
                         self._color_prefix.format(self._color_dict[level]),
-                        level, msg, self._color_suffix)))
+                        level, msg, self._color_suffix))