oomwoo_bringup: reformat launch files to this repo's lint style

The launch files came over in kaiaai style (2-space indent, double quotes)
and failed this repo's ament_flake8 / ament_pep257 (colcon test). Reformat
all nine to match the oomwoo packages here -- 4-space indent, single quotes,
sorted/grouped imports, no unused imports -- with no behavior change, plus a
few small cleanups surfaced along the way:

- drop dead code: an unused `re` import in every file, an unused
  robot_description in cartographer, an unused urdf_path_str in publish_urdf,
  and physical's four no-op LogInfo() statements (never added to the launch
  description, so they logged nothing; the print()s above them remain).
- physical: build the telemetry parameter list before the node instead of an
  inline ternary; rename the local `lidar_model` to `lidar_model_name` to not
  reuse the argument name.
- navigation: rename the `map` OpaqueFunction arg to `map_arg` (avoids
  shadowing the builtin); the launch argument is still `map`.
- inspect_urdf: the joints-arg description was `don''t` (two adjacent string
  literals -> "dont"); reworded to avoid the apostrophe.

Verified with the real ament_flake8 + ament_pep257 in the jazzy container:
9 files, no problems; colcon test oomwoo_bringup = 16 tests, 0 failures.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>

Author: kaiaai

src/oomwoo_bringup/launch/cartographer.launch.py

@@ -14,36 +14,37 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os, re
+import os
+
 from ament_index_python.packages import get_package_share_path
-from launch import LaunchDescription, LaunchContext
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.actions import IncludeLaunchDescription
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import Command, LaunchConfiguration, ThisLaunchFileDir
+
+from kaiaai import config
+
+from launch import LaunchContext, LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import LaunchConfiguration, ThisLaunchFileDir
+
 from launch_ros.actions import Node
-from kaiaai import config
 
 
-def make_nodes(context: LaunchContext, robot_model, use_sim_time, configuration_basename):
+def make_nodes(context: LaunchContext, robot_model, use_sim_time,
+               configuration_basename):
     robot_model_str = context.perform_substitution(robot_model)
     use_sim_time_str = context.perform_substitution(use_sim_time)
-    configuration_basename_str = context.perform_substitution(configuration_basename)
+    configuration_basename_str = context.perform_substitution(
+        configuration_basename)
 
     if len(robot_model_str) == 0:
-      robot_model_str = config.get_var('robot.model')
+        robot_model_str = config.get_var('robot.model')
 
     description_package_path = get_package_share_path(robot_model_str)
 
-    #model_name = re.sub(r'_description$', '', description_str)
     urdf_path_name = os.path.join(
-      description_package_path,
-      'urdf',
-      'robot.urdf.xacro')
-
-    robot_description = ParameterValue(Command(['xacro ', urdf_path_name]), value_type=str)
+        description_package_path,
+        'urdf',
+        'robot.urdf.xacro')
 
     cartographer_config_path = os.path.join(
         description_package_path,
@@ -55,7 +56,8 @@ def make_nodes(context: LaunchContext, robot_model, use_sim_time, configuration_
         'cartographer.rviz')
 
     print('URDF file           : {}'.format(urdf_path_name))
-    print('Cartographer config : {}/{}'.format(cartographer_config_path, configuration_basename_str))
+    print('Cartographer config : {}/{}'.format(
+        cartographer_config_path, configuration_basename_str))
     print('Rviz2 config        : {}'.format(rviz_config_path))
 
     return [
@@ -80,7 +82,6 @@ def make_nodes(context: LaunchContext, robot_model, use_sim_time, configuration_
 
 
 def generate_launch_description():
-
     return LaunchDescription([
         DeclareLaunchArgument(
             name='robot_model',
@@ -101,15 +102,17 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'resolution',
             default_value='0.05',
-            description='Resolution of a grid cell in the published occupancy grid'
+            description='Resolution of a grid cell in the published occupancy '
+                        'grid'
         ),
         DeclareLaunchArgument(
             'publish_period_sec',
             default_value='1.0',
             description='OccupancyGrid publishing period'
         ),
         IncludeLaunchDescription(
-            PythonLaunchDescriptionSource([ThisLaunchFileDir(), '/occupancy_grid.launch.py']),
+            PythonLaunchDescriptionSource(
+                [ThisLaunchFileDir(), '/occupancy_grid.launch.py']),
             launch_arguments={
                 'use_sim_time': LaunchConfiguration('use_sim_time'),
                 'resolution': LaunchConfiguration('resolution'),

src/oomwoo_bringup/launch/edit_urdf.launch.py

@@ -14,39 +14,40 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os, re
+import os
+
 from ament_index_python.packages import get_package_share_path
-from launch import LaunchDescription, LaunchContext
-from launch.actions import DeclareLaunchArgument, OpaqueFunction
-from launch.actions import ExecuteProcess
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import Command, LaunchConfiguration
-from launch_ros.actions import Node
-from launch_ros.parameter_descriptions import ParameterValue
+
 from kaiaai import config
 
+from launch import LaunchContext, LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, OpaqueFunction
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+
+
 def make_nodes(context: LaunchContext, robot_model, gui):
     robot_model_str = context.perform_substitution(robot_model)
     gui_str = context.perform_substitution(gui)
 
     if len(robot_model_str) == 0:
-      robot_model_str = config.get_var('robot.model')
+        robot_model_str = config.get_var('robot.model')
 
     description_package_path = get_package_share_path(robot_model_str)
 
     urdf_path_name = os.path.join(
-      description_package_path,
-      'urdf',
-#      robot_model_str + '.urdf.xacro')
-      'robot.urdf.xacro')
+        description_package_path,
+        'urdf',
+        'robot.urdf.xacro')
 
     rviz_config_path = os.path.join(
         description_package_path,
         'rviz',
         'inspect_urdf.rviz')
 
-    print("Rviz2 config : {}".format(rviz_config_path))
-    print("URDF  config : {}".format(urdf_path_name))
+    print('Rviz2 config : {}'.format(rviz_config_path))
+    print('URDF  config : {}'.format(urdf_path_name))
 
     return [
         ExecuteProcess(
@@ -70,7 +71,6 @@ def make_nodes(context: LaunchContext, robot_model, gui):
 
 
 def generate_launch_description():
-
     return LaunchDescription([
         DeclareLaunchArgument(
             name='robot_model',

src/oomwoo_bringup/launch/explore.launch.py

@@ -3,43 +3,46 @@
 import os
 
 from ament_index_python.packages import get_package_share_directory
-from launch_ros.actions import Node
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 
+from launch_ros.actions import Node
+
 
 def generate_launch_description():
     ld = LaunchDescription()
     config = os.path.join(
-        get_package_share_directory("explore_lite"), "config", "params.yaml"
+        get_package_share_directory('explore_lite'), 'config', 'params.yaml'
     )
-    use_sim_time = LaunchConfiguration("use_sim_time")
-    namespace = LaunchConfiguration("namespace")
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    namespace = LaunchConfiguration('namespace')
 
     declare_use_sim_time_argument = DeclareLaunchArgument(
-        "use_sim_time", default_value="true", description="Use simulation/Gazebo clock"
+        'use_sim_time', default_value='true',
+        description='Use simulation/Gazebo clock'
     )
     declare_namespace_argument = DeclareLaunchArgument(
-        "namespace",
-        default_value="",
-        description="Namespace for the explore node",
+        'namespace',
+        default_value='',
+        description='Namespace for the explore node',
     )
 
-    # Map fully qualified names to relative ones so the node's namespace can be prepended.
-    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
+    # Map fully qualified names to relative ones so the node's namespace can be
+    # prepended. For the transforms (tf), currently, there doesn't seem to be a
+    # better alternative:
     # https://github.com/ros/geometry2/issues/32
     # https://github.com/ros/robot_state_publisher/pull/30
-    remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
+    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]
 
     node = Node(
-        package="explore_lite",
-        name="explore_node",
+        package='explore_lite',
+        name='explore_node',
         namespace=namespace,
-        executable="explore",
-        parameters=[config, {"use_sim_time": use_sim_time}],
-        output="screen",
+        executable='explore',
+        parameters=[config, {'use_sim_time': use_sim_time}],
+        output='screen',
         remappings=remappings,
     )
     ld.add_action(declare_use_sim_time_argument)

src/oomwoo_bringup/launch/inspect_urdf.launch.py

@@ -14,40 +14,44 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os, re
+import os
+
 from ament_index_python.packages import get_package_share_path
-from launch import LaunchDescription, LaunchContext
+
+from kaiaai import config
+
+from launch import LaunchContext, LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import LaunchConfigurationEquals
 from launch.substitutions import Command, LaunchConfiguration
+
 from launch_ros.actions import Node
 from launch_ros.parameter_descriptions import ParameterValue
-from kaiaai import config
 
 
 def make_nodes(context: LaunchContext, robot_model):
     robot_model_str = context.perform_substitution(robot_model)
 
     if len(robot_model_str) == 0:
-      robot_model_str = config.get_var('robot.model')
+        robot_model_str = config.get_var('robot.model')
 
     description_package_path = get_package_share_path(robot_model_str)
 
     urdf_path_name = os.path.join(
-      description_package_path,
-      'urdf',
-#      robot_model_str + '.urdf.xacro')
-      'robot.urdf.xacro')
+        description_package_path,
+        'urdf',
+        'robot.urdf.xacro')
 
-    robot_description = ParameterValue(Command(['xacro ', urdf_path_name]), value_type=str)
+    robot_description = ParameterValue(
+        Command(['xacro ', urdf_path_name]), value_type=str)
 
     rviz_config_path = os.path.join(
         description_package_path,
         'rviz',
         'inspect_urdf.rviz')
 
-    print("URDF file    : {}".format(urdf_path_name))
-    print("Rviz2 config : {}".format(rviz_config_path))
+    print('URDF file    : {}'.format(urdf_path_name))
+    print('Rviz2 config : {}'.format(rviz_config_path))
 
     return [
         Node(
@@ -66,13 +70,13 @@ def make_nodes(context: LaunchContext, robot_model):
 
 
 def generate_launch_description():
-
     return LaunchDescription([
         DeclareLaunchArgument(
             name='joints',
             default_value='gui',
             choices=['gui', 'nogui', 'none'],
-            description='Control joints using GUI, no GUI or don''t launch joint_state_publisher at all'
+            description='Control joints with the GUI, without the GUI, or do '
+                        'not launch joint_state_publisher at all'
         ),
         DeclareLaunchArgument(
             name='robot_model',
@@ -85,13 +89,11 @@ def generate_launch_description():
         Node(
             package='joint_state_publisher',
             executable='joint_state_publisher',
-#            condition=UnlessCondition(LaunchConfiguration('gui'))
             condition=LaunchConfigurationEquals('joints', 'nogui')
         ),
         Node(
             package='joint_state_publisher_gui',
             executable='joint_state_publisher_gui',
-#            condition=IfCondition(LaunchConfiguration('gui'))
             condition=LaunchConfigurationEquals('joints', 'gui')
         )
     ])

src/oomwoo_bringup/launch/monitor_robot.launch.py

@@ -14,27 +14,31 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import os, re
+import os
+
 from ament_index_python.packages import get_package_share_path
-from launch import LaunchDescription, LaunchContext
-from launch_ros.actions import Node
+
+from kaiaai import config
+
+from launch import LaunchContext, LaunchDescription
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.substitutions import LaunchConfiguration
-from kaiaai import config
+
+from launch_ros.actions import Node
 
 
 def make_rviz2_node(context: LaunchContext, robot_model, use_sim_time):
     robot_model_str = context.perform_substitution(robot_model)
     use_sim_time_str = context.perform_substitution(use_sim_time)
 
     if len(robot_model_str) == 0:
-      robot_model_str = config.get_var('robot.model')
+        robot_model_str = config.get_var('robot.model')
 
     rviz_config_path = os.path.join(
         get_package_share_path(robot_model_str),
         'rviz',
         'monitor_robot.rviz')
-    print("Rviz2 config : {}".format(rviz_config_path))
+    print('Rviz2 config : {}'.format(rviz_config_path))
 
     return [
         Node(
@@ -47,8 +51,8 @@ def make_rviz2_node(context: LaunchContext, robot_model, use_sim_time):
         )
     ]
 
-def generate_launch_description():
 
+def generate_launch_description():
     return LaunchDescription([
         DeclareLaunchArgument(
             name='robot_model',