Fixed IndentiationError.

src/avoider.py

@@ -18,9 +18,9 @@ class Avoider:
     """
     def __init__(self):
         """
-		Function that initializes the subscriber, publisher, and marker features.
-		:param self: The self reference.
-		"""
+        Function that initializes the subscriber, publisher, and marker features.
+        :param self: The self reference.
+        """
         # Set up a publisher and a subscriber.  We're going to call the subscriber
         # "scan", and filter the ranges similar to what we did in example 2.
         # For the publisher, we're going to use the topic name /stretch/cmd_vel.
@@ -47,15 +47,16 @@ class Avoider:
         self.twist.angular.y = 0.0
         self.twist.angular.z = 0.0
 
+
     # Called every time we get a LaserScan message from ROS.
     def set_speed(self,msg):
         """
-		Callback function to deal with incoming laserscan messages.
-		:param self: The self reference.
-		:param msg: The subscribed laserscan message.
+        Callback function to deal with incoming laserscan messages.
+        :param self: The self reference.
+        :param msg: The subscribed laserscan message.
 
-		:publishes self.twist: Twist message.
-		"""
+        :publishes self.twist: Twist message.
+        """
         # Figure out the angles of the scan.  We're going to do this each time, in case we're subscribing to more than one
         # laser, with different numbers of beams.
         angles = linspace(msg.angle_min, msg.angle_max, len(msg.ranges))
@@ -66,7 +67,7 @@ class Avoider:
         # If we're close to the x axis, keep the range, otherwise use inf, which means "no return".
         new_ranges = [r if abs(y) < self.extent else inf for r,y in zip(msg.ranges, points)]
 
-		# Calculate the difference of the closest measured scan and where we want the robot to stop.
+        # Calculate the difference of the closest measured scan and where we want the robot to stop.
         error = min(new_ranges) - self.distance
 
         # Using hyperbolic tanget for speed regulation, with a threshold to stop

src/joint_state_printer.py

@@ -21,6 +21,7 @@ class JointStatePublisher():
 		# Set up a subscriber. We're going to subscribe to the topic "joint_states"
 		self.sub = rospy.Subscriber('joint_states', JointState, self.callback)
 
+
 	def callback(self, msg):
 		"""
 		Callback function to deal with the incoming JointState messages.

src/marker.py

@@ -58,6 +58,7 @@ class Balloon():
 		self.marker.pose.position.y = 0.0
 		self.marker.pose.position.z = 2.0
 
+
 	def publish_marker(self):
 		"""
 		Function that publishes the sphere marker

src/move.py

@@ -19,6 +19,7 @@ class Move:
 		# This will publish on a topic called "/stretch/cmd_vel" with a message type Twist.
 		self.pub = rospy.Publisher('/stretch/cmd_vel', Twist, queue_size=1) #/stretch_diff_drive_controller/cmd_vel for gazebo
 
+
 	def move_forward(self):
 		"""
 		Function that publishes Twist messages

src/multipoint_command.py

@@ -20,83 +20,83 @@ class MultiPointCommand(hm.HelloNode):
 	A class that sends multiple joint trajectory goals to the stretch robot.
 	"""
 
-    # Initialize the inhereted hm.Hellonode class.
-    def __init__(self):
-        hm.HelloNode.__init__(self)
-
-    def issue_multipoint_command(self):
-        """
-    	Function that makes an action call and sends multiple joint trajectory goals.
-        :param self: The self reference.
-    	"""
-      # Set point0 as a JointTrajectoryPoint().
-      point0 = JointTrajectoryPoint()
-
-      # Provide desired positions of lift, wrist extension, and yaw of
-      # the wrist (in meters).
-      point0.positions = [0.2, 0.0, 3.4]
-
-      # Provide desired velocity of the lift (m/s), wrist extension (m/s),
-      # and wrist yaw (rad/s).
-      # IMPORTANT NOTE: The lift and wrist extension can only go up to 0.2 m/s!
-      point0.velocities = [0.2, 0.2, 2.5]
-
-      # Provide desired velocity of the lift (m/s^2), wrist extension (m/s^2),
-      # and wrist yaw (rad/s^2).
-      point0.accelerations = [1.0, 1.0, 3.5]
-
-      # Set positions for the following 5 trajectory points.
-      # IMPORTANT NOTE: If you do not provide any velocities or accelerations for the lift
-      # or wrist extension, then they go to their default values. However, the
-      # Velocity and Acceleration of the wrist yaw will stay the same from the
-      # previous value unless updated.
-      point1 = JointTrajectoryPoint()
-      point1.positions = [0.3, 0.1, 2.0]
-
-      point2 = JointTrajectoryPoint()
-      point2.positions = [0.5, 0.2, -1.0]
-
-      point3 = JointTrajectoryPoint()
-      point3.positions = [0.6, 0.3, 0.0]
-
-      point4 = JointTrajectoryPoint()
-      point4.positions = [0.8, 0.2, 1.0]
-
-      point5 = JointTrajectoryPoint()
-      point5.positions = [0.5, 0.1, 0.0]
-
-      # Set trajectory_goal as a FollowJointTrajectoryGoal and define
-      # the joint names as a list.
-      trajectory_goal = FollowJointTrajectoryGoal()
-      trajectory_goal.trajectory.joint_names = ['joint_lift', 'wrist_extension', 'joint_wrist_yaw']
-
-      # Then trajectory_goal.trajectory.points is defined by 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()
-
-    # Create a funcion, main(), to do all of the setup the hm.HelloNode class
-    # and issue the stow command.
-    def main(self):
-        """
-        Function that initiates the multipoint_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, 'multipoint_command', 'multipoint_command', wait_for_first_pointcloud=False)
-        rospy.loginfo('issuing multipoint command...')
-        self.issue_multipoint_command()
-        time.sleep(2)
+	# Initialize the inhereted hm.Hellonode class.
+	def __init__(self):
+		hm.HelloNode.__init__(self)
+
+	def issue_multipoint_command(self):
+		"""
+		Function that makes an action call and sends multiple joint trajectory goals.
+		:param self: The self reference.
+		"""
+		# Set point0 as a JointTrajectoryPoint().
+		point0 = JointTrajectoryPoint()
+
+		# Provide desired positions of lift, wrist extension, and yaw of
+		# the wrist (in meters).
+		point0.positions = [0.2, 0.0, 3.4]
+
+		# Provide desired velocity of the lift (m/s), wrist extension (m/s),
+		# and wrist yaw (rad/s).
+		# IMPORTANT NOTE: The lift and wrist extension can only go up to 0.2 m/s!
+		point0.velocities = [0.2, 0.2, 2.5]
+
+		# Provide desired velocity of the lift (m/s^2), wrist extension (m/s^2),
+		# and wrist yaw (rad/s^2).
+		point0.accelerations = [1.0, 1.0, 3.5]
+
+		# Set positions for the following 5 trajectory points.
+		# IMPORTANT NOTE: If you do not provide any velocities or accelerations for the lift
+		# or wrist extension, then they go to their default values. However, the
+		# Velocity and Acceleration of the wrist yaw will stay the same from the
+		# previous value unless updated.
+		point1 = JointTrajectoryPoint()
+		point1.positions = [0.3, 0.1, 2.0]
+
+		point2 = JointTrajectoryPoint()
+		point2.positions = [0.5, 0.2, -1.0]
+
+		point3 = JointTrajectoryPoint()
+		point3.positions = [0.6, 0.3, 0.0]
+
+		point4 = JointTrajectoryPoint()
+		point4.positions = [0.8, 0.2, 1.0]
+
+		point5 = JointTrajectoryPoint()
+		point5.positions = [0.5, 0.1, 0.0]
+
+		# Set trajectory_goal as a FollowJointTrajectoryGoal and define
+		# the joint names as a list.
+		trajectory_goal = FollowJointTrajectoryGoal()
+		trajectory_goal.trajectory.joint_names = ['joint_lift', 'wrist_extension', 'joint_wrist_yaw']
+
+		# Then trajectory_goal.trajectory.points is defined by 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()
+
+	# Create a funcion, main(), to do all of the setup the hm.HelloNode class
+	# and issue the stow command.
+	def main(self):
+		"""
+		Function that initiates the multipoint_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, 'multipoint_command', 'multipoint_command', wait_for_first_pointcloud=False)
+		rospy.loginfo('issuing multipoint command...')
+		self.issue_multipoint_command()
+		time.sleep(2)
 
 
 if __name__ == '__main__':

src/scan_filter.py

@@ -28,6 +28,7 @@ class Scanfilter:
 		# with a LaserScan message type.
 		self.pub = rospy.Publisher('filtered_scan', LaserScan, queue_size=10)
 
+
 	def callback(self,msg):
 		"""
 		Callback function to deal with incoming laserscan messages.

src/stow_command.py

@@ -17,18 +17,19 @@ import hello_helpers.hello_misc as hm
 
 class StowCommand(hm.HelloNode):
     '''
-	A class that sends a joint trajectory goal to stow the Stretch's arm.
-	'''
+    A class that sends a joint trajectory goal to stow the Stretch's arm.
+    '''
 
     # Initialize the inhereted hm.Hellonode class.
     def __init__(self):
         hm.HelloNode.__init__(self)
 
+
     def issue_stow_command(self):
         '''
-    	Function that makes an action call and sends stow postion goal.
+        Function that makes an action call and sends stow postion goal.
         :param self: The self reference.
-    	'''
+        '''
         # Set stow_point as a JointTrajectoryPoint().
         stow_point = JointTrajectoryPoint()
         stow_point.time_from_start = rospy.Duration(0.000)