From 73814cac273778f5a2aa4e22982cd4475f1a82f6 Mon Sep 17 00:00:00 2001
From: "Alan G. Sanchez" <asanchez@hello-robot.com>
Date: Thu, 23 Jun 2022 16:22:22 -0700
Subject: [PATCH] Fixed indentation error.

---
 src/single_joint_actuator.py | 104 +++++++++++++++++------------------
 1 file changed, 52 insertions(+), 52 deletions(-)

diff --git a/src/single_joint_actuator.py b/src/single_joint_actuator.py
index 423ac0e..7b45b1b 100644
--- a/src/single_joint_actuator.py
+++ b/src/single_joint_actuator.py
@@ -23,14 +23,14 @@ class SingleJointActuator(hm.HelloNode):
 	def __init__(self):
 		hm.HelloNode.__init__(self)
 
-	def issue_command(self):
-		"""
-		Function that makes an action call and sends multiple joint trajectory goals
-		to a single joint
-		:param self: The self reference.
-		"""
+    def issue_command(self):
+        """
+        Function that makes an action call and sends multiple joint trajectory goals
+        to a single joint
+        :param self: The self reference.
+        """
         # Set trajectory_goal as a FollowJointTrajectoryGoal and define
-		# the joint name. Here is a list of joints and their position
+        # the joint name. Here is a list of joints and their position
         # limits:
         ############################# Joint limits #############################
         # joint_lift:      lower_limit =  0.00,  upper_limit =  1.10   # in meters
@@ -41,54 +41,54 @@ class SingleJointActuator(hm.HelloNode):
         # joint_head_pan:  lower_limit = -3.90, upper_limit =  1.50  # in radians
         # joint_head_tilt: lower_limit = -1.53, upper_limit =  0.79  # in radians
         ########################################################################
-		trajectory_goal = FollowJointTrajectoryGoal()
-		trajectory_goal.trajectory.joint_names = ['wrist_extension']
+        trajectory_goal = FollowJointTrajectoryGoal()
+        trajectory_goal.trajectory.joint_names = ['wrist_extension']
 
-		# Provide desired positions for joint name.
+        # Provide desired positions for joint name.
         # Set positions for the following 5 trajectory points.
         point0 = JointTrajectoryPoint()
-		point0.positions = [0.0]
-
-		point1 = JointTrajectoryPoint()
-		point1.positions = [0.1]
-
-		point2 = JointTrajectoryPoint()
-		point2.positions = [0.2]
-
-		point3 = JointTrajectoryPoint()
-		point3.positions = [0.3]
-
-		point4 = JointTrajectoryPoint()
-		point4.positions = [0.2]
-
-		point5 = JointTrajectoryPoint()
-		point5.positions = [0.1]
-
-		# Then trajectory_goal.trajectory.points is set as a list of the joint
-		# trajectory points
-		trajectory_goal.trajectory.points = [point0, point1, point2, point3, point4, point5]
-
-		# Specify the coordinate frame that we want (base_link) and set the time to be now.
-		trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
-		trajectory_goal.trajectory.header.frame_id = 'base_link'
-
-		# Make the action call and send the goal. The last line of code waits
-		# for the result before it exits the python script.
-		self.trajectory_client.send_goal(trajectory_goal)
-		rospy.loginfo('Sent stow goal = {0}'.format(trajectory_goal))
-		self.trajectory_client.wait_for_result()
-
-	def main(self):
-		"""
-		Function that initiates the issue_command function.
-		:param self: The self reference.
-		"""
-		# The arguments of the main function of the hm.HelloNode class are the
-		# node_name, node topic namespace, and boolean (default value is true).
-		hm.HelloNode.main(self, 'issue_command', 'issue_command', wait_for_first_pointcloud=False)
-		rospy.loginfo('issuing command...')
-		self.issue_command()
-		time.sleep(2)
+        point0.positions = [0.0]
+
+        point1 = JointTrajectoryPoint()
+        point1.positions = [0.1]
+
+        point2 = JointTrajectoryPoint()
+        point2.positions = [0.2]
+
+        point3 = JointTrajectoryPoint()
+        point3.positions = [0.3]
+
+        point4 = JointTrajectoryPoint()
+        point4.positions = [0.2]
+
+        point5 = JointTrajectoryPoint()
+        point5.positions = [0.1]
+
+        # Then trajectory_goal.trajectory.points is set as a list of the joint
+        # trajectory points
+        trajectory_goal.trajectory.points = [point0, point1, point2, point3, point4, point5]
+
+        # Specify the coordinate frame that we want (base_link) and set the time to be now.
+        trajectory_goal.trajectory.header.stamp = rospy.Time(0.0)
+        trajectory_goal.trajectory.header.frame_id = 'base_link'
+
+        # Make the action call and send the goal. The last line of code waits
+        # for the result before it exits the python script.
+        self.trajectory_client.send_goal(trajectory_goal)
+        rospy.loginfo('Sent stow goal = {0}'.format(trajectory_goal))
+        self.trajectory_client.wait_for_result()
+
+    def main(self):
+        """
+        Function that initiates the issue_command function.
+        :param self: The self reference.
+        """
+        # The arguments of the main function of the hm.HelloNode class are the
+        # node_name, node topic namespace, and boolean (default value is true).
+        hm.HelloNode.main(self, 'issue_command', 'issue_command', wait_for_first_pointcloud=False)
+        rospy.loginfo('issuing command...')
+        self.issue_command()
+        time.sleep(2)
 
 
 if __name__ == '__main__':