diff --git a/ros2_ws/.vscode/c_cpp_properties.json b/ros2_ws/.vscode/c_cpp_properties.json
deleted file mode 100644
index d3a36710a1e87bb47ec34f667fa85c20bb7a8a70..0000000000000000000000000000000000000000
--- a/ros2_ws/.vscode/c_cpp_properties.json
+++ /dev/null
@@ -1,26 +0,0 @@
-{
- "configurations": [
- {
- "browse": {
- "databaseFilename": "${default}",
- "limitSymbolsToIncludedHeaders": false
- },
- "includePath": [
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/impedance_controller/include/**",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_hardware/include/**",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/external_torque_sensor_broadcaster/include/**",
- "/opt/ros/humble/include/**",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/external_torque_sensor_broadcaster/include/**",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_controllers/impedance_controller/include/**",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/src/iiwa/iiwa_hardware/include/**",
- "/usr/include/**"
- ],
- "name": "ROS",
- "intelliSenseMode": "gcc-x64",
- "compilerPath": "/usr/bin/gcc",
- "cStandard": "gnu11",
- "cppStandard": "c++14"
- }
- ],
- "version": 4
-}
\ No newline at end of file
diff --git a/ros2_ws/.vscode/settings.json b/ros2_ws/.vscode/settings.json
deleted file mode 100644
index a5d34f69e2c3fc582fa248ffed8483f5c492df4c..0000000000000000000000000000000000000000
--- a/ros2_ws/.vscode/settings.json
+++ /dev/null
@@ -1,18 +0,0 @@
-{
- "python.autoComplete.extraPaths": [
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
- "/opt/ros/humble/lib/python3.10/site-packages",
- "/opt/ros/humble/local/lib/python3.10/dist-packages"
- ],
- "python.analysis.extraPaths": [
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_3dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_2dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/simple_robot_1dof/lib/python3.10/site-packages",
- "/home/ventsi/trajektorien-des-menschlichen-aufstehens-fuer-die-entwicklung-eines-kooperativen-assistenzsystems/ros2_ws/install/iiwa_inverse_kinematics/lib/python3.10/site-packages",
- "/opt/ros/humble/lib/python3.10/site-packages",
- "/opt/ros/humble/local/lib/python3.10/dist-packages"
- ]
-}
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
index 405da311ebb1eebcb116246589a1bf88fbd2d652..c27d1ea7e46e9dcba98e86baa503e634d05b2f18 100644
--- a/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
+++ b/ros2_ws/src/simple_robot_1dof/launch/kuka_rviz_simulation_1dof_launch.py
@@ -122,7 +122,9 @@ def generate_launch_description():
package='joint_state_publisher',
executable='joint_state_publisher',
output = 'both',
- # parameters=[params]
+ parameters=[
+ {'robot_description': robot_desc}
+ ]
)
joint_state_publisher_gui = Node(
package='joint_state_publisher_gui',
@@ -138,7 +140,7 @@ def generate_launch_description():
inverse_kinematics_node,
robot_state_publisher,
joint_state_publisher,
- joint_state_publisher_gui
+ # joint_state_publisher_gui
]
return LaunchDescription(declared_arguments + nodes)
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_1dof/setup.py b/ros2_ws/src/simple_robot_1dof/setup.py
index dee6002c5e4a68aa17ccc99b18725e77ce6e450d..860d6d7d9faa340a524d6026f1f75709b17dd3e4 100644
--- a/ros2_ws/src/simple_robot_1dof/setup.py
+++ b/ros2_ws/src/simple_robot_1dof/setup.py
@@ -29,7 +29,6 @@ setup(
'console_scripts': [
'forward_kinematics_node_1dof = simple_robot_1dof.forward_kinematics_node_1dof:main',
'reference_node_1dof = simple_robot_1dof.reference_node_1dof:main',
- 'reference_node_1dof_velocity = simple_robot_1dof.reference_node_1dof_velocity:main',
],
},
)
diff --git a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
index 44c4fff8699bf3cc9aaa001b5cc425ed278c68c5..3331c8bfeb16f8a76e42b202201e5f28c98a9b77 100644
--- a/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
+++ b/ros2_ws/src/simple_robot_1dof/simple_robot_1dof/forward_kinematics_node_1dof.py
@@ -51,7 +51,7 @@ class Forward_Kinematics_Node_1Dof(Node):
# create a publisher for the plotjuggler angles
self.angle_publisher_ = self.create_publisher(Float64, '/simple_robot/angles_1dof/plotjuggler', 10)
# create a publisher for the pose
- self.pose_publisher_simple_robot_ = self.create_publisher(PoseStamped, '/simple_robot/target_pose', 10)
+ self.pose_publisher_simple_robot_ = self.create_publisher(Pose, '/simple_robot/target_pose', 10)
self.pose_publisher_kuka_robot_ = self.create_publisher(Pose, '/kuka_iiwa/target_pose', 10)
#RViz
self.path = Path()
@@ -189,17 +189,17 @@ class Forward_Kinematics_Node_1Dof(Node):
def publish_pose_simple_robot(self, vector, quaternion):
- pose_msg = PoseStamped()
- pose_msg.header.frame_id = "map"
- pose_msg.header.stamp = self.get_clock().now().to_msg()
- pose_msg.pose.position.x = vector[0]
- pose_msg.pose.position.y = vector[1]
- pose_msg.pose.position.z = vector[2]
- pose_msg.pose.orientation.x = quaternion[0]
- pose_msg.pose.orientation.y = quaternion[1]
- pose_msg.pose.orientation.z = quaternion[2]
- pose_msg.pose.orientation.w = quaternion[3]
- self.pose_publisher_simple_robot_.publish(pose_msg)
+ pose_msg_sr = Pose()
+ # pose_msg.header.frame_id = "map"
+ # pose_msg.header.stamp = self.get_clock().now().to_msg()
+ pose_msg_sr.position.x = vector[0]
+ pose_msg_sr.position.y = vector[1]
+ pose_msg_sr.position.z = vector[2]
+ pose_msg_sr.orientation.x = quaternion[0]
+ pose_msg_sr.orientation.y = quaternion[1]
+ pose_msg_sr.orientation.z = quaternion[2]
+ pose_msg_sr.orientation.w = quaternion[3]
+ self.pose_publisher_simple_robot_.publish(pose_msg_sr)
def publish_pose_target_pose(self, vector, quaternion):
# Create a Pose message for the target pose
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE b/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..d645695673349e3947e8e5ae42332d0ac3164cd7
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/LICENSE
@@ -0,0 +1,202 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
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+ 2. Grant of Copyright License. Subject to the terms and conditions of
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+ 5. Submission of Contributions. Unless You explicitly state otherwise,
+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
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+ 6. Trademarks. This License does not grant permission to use the trade
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+ 7. Disclaimer of Warranty. Unless required by applicable law or
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+ Contributor provides its Contributions) on an "AS IS" BASIS,
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+ risks associated with Your exercise of permissions under this License.
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+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
+ negligent acts) or agreed to in writing, shall any Contributor be
+ liable to You for damages, including any direct, indirect, special,
+ incidental, or consequential damages of any character arising as a
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+ has been advised of the possibility of such damages.
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+ 9. Accepting Warranty or Additional Liability. While redistributing
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+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
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+ APPENDIX: How to apply the Apache License to your work.
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+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
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+ the brackets!) The text should be enclosed in the appropriate
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+ Copyright [yyyy] [name of copyright owner]
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+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
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+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/package.xml b/ros2_ws/src/simple_robot_inverse_kinematik/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..da002a7528997ba7ffd8843caa4ac10a402bb098
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/package.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>simple_robot_inverse_kinematik</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="uquzq@student.kit.edu">ventsi</maintainer>
+ <license>Apache-2.0</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+
+ <depend>rclpy</depend>
+ <depend>robot_state_publisher</depend>
+ <depend>rviz2</depend>
+ <depend>joint_state_publisher_gui</depend>
+
+ <depend>builtin_interfaces</depend>
+ <depend>geometry_msgs</depend>
+ <depend>kdl_parser</depend>
+ <depend>orocos_kdl_vendor</depend>
+ <depend>rcl_interfaces</depend>
+ <depend>rclcpp</depend>
+ <depend>rclcpp_components</depend>
+ <depend>sensor_msgs</depend>
+ <depend>std_msgs</depend>
+ <depend>tf2_ros</depend>
+ <depend>urdf</depend>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/resource/simple_robot_inverse_kinematik b/ros2_ws/src/simple_robot_inverse_kinematik/resource/simple_robot_inverse_kinematik
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg b/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1682a5ac4c91be175ab79c05b39dacc4fcdf6556
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/simple_robot_inverse_kinematik
+[install]
+install_scripts=$base/lib/simple_robot_inverse_kinematik
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/setup.py b/ros2_ws/src/simple_robot_inverse_kinematik/setup.py
new file mode 100644
index 0000000000000000000000000000000000000000..6112391abb8bdea92a88de327645862d493ed989
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'simple_robot_inverse_kinematik'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='ventsi',
+ maintainer_email='uquzq@student.kit.edu',
+ description='TODO: Package description',
+ license='Apache-2.0',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'simple_robot_inverse = simple_robot_inverse_kinematik.inverse_kinematik:main',
+ ],
+ },
+)
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/__init__.py b/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py b/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py
new file mode 100644
index 0000000000000000000000000000000000000000..4abe7a90aa7795ffae9f6fd5e2f4531e13aeeba2
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/simple_robot_inverse_kinematik/inverse_kinematik.py
@@ -0,0 +1,92 @@
+import os
+import re
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Pose
+from sensor_msgs.msg import JointState
+from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
+from modern_robotics import IKinBody, RpToTrans, FKinBody
+import numpy as np
+from ament_index_python.packages import get_package_share_directory
+from mr_urdf_loader import loadURDF
+from scipy.spatial.transform import Rotation
+from rclpy.clock import Clock
+
+class InverseKinematicsSimpleRobot(Node):
+ def __init__(self):
+ super().__init__('inverse_kinematics_simple_robot')
+ self.subscription = self.create_subscription(
+ Pose,
+ '/simple_robot/target_pose',
+ self.pose_callback,
+ 10)
+ self.publisher = self.create_publisher(JointState, '/joint_states', 10)
+
+ urdf_file_path = os.path.join(
+ get_package_share_directory('simple_robot_1dof'), 'urdf', 'simple_robot.urdf')
+ self.get_logger().info(f'Loading URDF from: {urdf_file_path}')
+ self.simple_robot = loadURDF(urdf_file_path)
+
+ self.M = self.simple_robot["M"]
+ self.Slist = self.simple_robot["Slist"]
+ self.Mlist = self.simple_robot["Mlist"]
+ self.Glist = self.simple_robot["Glist"]
+ self.Blist = self.simple_robot["Blist"]
+
+ self.joint_names = [f'joint{i+1}' for i in range(len(self.Slist[0]))]
+
+ self.joint_angles = np.zeros(len(self.Slist[0]))
+
+ T = FKinBody(self.M, self.Blist, self.joint_angles)
+ rotation_matrix = T[:3, :3]
+ quat = Rotation.from_matrix(rotation_matrix).as_quat()
+ position = T[:3, 3]
+ self.get_logger().info('T: "%s":' %T)
+
+ self.get_logger().info(f'Calculated Forward Kinematics Quaternion: {quat}')
+ self.get_logger().info(f'Calculated Forward Kinematics Position: {position}')
+
+ def pose_callback(self, pose: Pose):
+ quat = [pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w]
+ r = Rotation.from_quat(quat)
+ rotation_matrix = r.as_matrix()
+ T_sd = RpToTrans(rotation_matrix, np.array([pose.position.x, pose.position.y, pose.position.z]))
+ eomg = 1e-4 # Fehlergrenze für Winkel
+ ev = 1e-4 # Fehlergrenze für Translation
+
+ joint_angles, success = IKinBody(self.Blist, self.M, T_sd, self.joint_angles, eomg, ev)
+
+
+ if success:
+ # self.joint_angles = joint_angles
+
+
+ joint_state_msg = JointState()
+ joint_state_msg.header.stamp = Clock().now().to_msg()
+ joint_state_msg.name = self.joint_names
+ joint_state_msg.position = joint_angles.tolist()
+
+ # joint_trajectory_msg = JointTrajectory()
+ # joint_trajectory_msg.joint_names = self.joint_names
+ # point = JointTrajectoryPoint()
+ # point.positions = joint_angles.tolist()
+ # point.time_from_start.sec = 1 # Example time, adjust as needed
+ # point.time_from_start.nanosec = 450000000 # Balint fragen, ob das verbessert werden kann
+ # joint_trajectory_msg.points.append(point)
+
+ # self.publisher.publish(joint_trajectory_msg)
+ self.publisher.publish(joint_state_msg)
+ else:
+ self.get_logger().error("Inverse Kinematics failed to find a solution.")
+
+
+def main(args=None):
+ rclpy.init(args=args)
+ node = InverseKinematicsSimpleRobot()
+ rclpy.spin(node)
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
\ No newline at end of file
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py
new file mode 100644
index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py
new file mode 100644
index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py
new file mode 100644
index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185
--- /dev/null
+++ b/ros2_ws/src/simple_robot_inverse_kinematik/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'