Make imetro_behavior modules first-party in sort order

pyproject.toml

@@ -61,6 +61,11 @@ build-docs = { cmd = "python3 scripts/build_docs.py", depends-on = ["build"] }
 [tool.pixi.environments]
 docs = { features = ["docs"], solve-group = "default" }
 
+## ruff options
+
+[tool.ruff.lint.isort]
+known-first-party = ["imetro_behavior", "imetro_behavior_msgs"]
+
 ## ty (type checking) options
 
 [tool.ty.src]

src/imetro_behavior/scripts/run_behavior.py

@@ -18,10 +18,11 @@
 # under the License.
 
 import rclpy
-from imetro_behavior.executor import BehaviorTreeServer
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
+from imetro_behavior.executor import BehaviorTreeServer
+
 if __name__ == "__main__":
     rclpy.init()
     node = Node("run_behavior")

src/imetro_behavior/tests/test_apriltag_behaviors.py

@@ -18,12 +18,13 @@
 import cv2
 import pytest
 from ament_index_python.packages import get_package_share_path
-from imetro_behavior.apriltag_behaviors import DetectAprilTag
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 from rclpy.node import Node
 from sensor_msgs.msg import CameraInfo, Image
 
+from imetro_behavior.apriltag_behaviors import DetectAprilTag
+
 
 @pytest.fixture()
 def apriltag_behavior(ros_node: Node):

src/imetro_behavior/tests/test_basic_behaviors.py

@@ -15,12 +15,13 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
-from imetro_behavior.basic_behaviors import BlackboardMath, WaitForDuration
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 from rclpy.duration import Duration
 from rclpy.node import Node
 
+from imetro_behavior.basic_behaviors import BlackboardMath, WaitForDuration
+
 
 def test_wait_for_duration_zero_duration(ros_node: Node) -> None:
     behavior = WaitForDuration(name="wait", duration_sec=0.0)

src/imetro_behavior/tests/test_control_behaviors.py

@@ -19,17 +19,18 @@
 from control_msgs.action import GripperCommand
 from controller_manager_msgs.msg import ControllerState
 from controller_manager_msgs.srv import ListControllers, SwitchController
+from py_trees.blackboard import Blackboard
+from py_trees.common import Status
+from rcl_interfaces.msg import ParameterType, SetParametersResult
+from rcl_interfaces.srv import SetParametersAtomically
+from rclpy.node import Node
+
 from imetro_behavior.control_behaviors import (
     CommandGripper,
     GetRosControllerInfo,
     SwitchRosControllers,
     UpdateAdmittanceParameters,
 )
-from py_trees.blackboard import Blackboard
-from py_trees.common import Status
-from rcl_interfaces.msg import ParameterType, SetParametersResult
-from rcl_interfaces.srv import SetParametersAtomically
-from rclpy.node import Node
 
 
 @pytest.fixture()

src/imetro_behavior/tests/test_decorators.py

@@ -16,10 +16,11 @@
 # under the License.
 
 import py_trees
-from imetro_behavior.decorators import SuccessIfVariableIsFalse, SuccessIfVariableIsTrue
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 
+from imetro_behavior.decorators import SuccessIfVariableIsFalse, SuccessIfVariableIsTrue
+
 
 def test_success_if_variable_is_true_skips_child() -> None:
     child = py_trees.behaviours.Failure(name="child")

src/imetro_behavior/tests/test_executor.py

@@ -20,13 +20,14 @@
 from pathlib import Path
 
 import pytest
-from imetro_behavior.executor import BehaviorTreeExecutor, BehaviorTreeServer
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 from py_trees.ports import BehaviourWithPorts
 from rclpy.executors import MultiThreadedExecutor
 from rclpy.node import Node
 
+from imetro_behavior.executor import BehaviorTreeExecutor, BehaviorTreeServer
+
 
 class AlwaysSucceed(BehaviourWithPorts):
     """Test behavior that immediately succeeds. Auto-registered for use in tree XML."""

src/imetro_behavior/tests/test_geometry_behaviors.py

@@ -20,6 +20,12 @@
 import numpy as np
 import pytest
 from geometry_msgs.msg import PoseStamped, TransformStamped
+from py_trees.blackboard import Blackboard
+from py_trees.common import Status
+from rclpy.node import Node
+from scipy.spatial.transform import Rotation as R
+from tf2_ros import Buffer
+
 from imetro_behavior.geometry_behaviors import (
     AlignPoseToNearestAxis,
     CreatePoseStamped,
@@ -35,11 +41,6 @@
     TwistAboutPose,
     YamlPoseToPoseStamped,
 )
-from py_trees.blackboard import Blackboard
-from py_trees.common import Status
-from rclpy.node import Node
-from scipy.spatial.transform import Rotation as R
-from tf2_ros import Buffer
 
 
 @pytest.fixture()

src/imetro_behavior/tests/test_joint_behaviors.py

@@ -18,11 +18,12 @@
 from pathlib import Path
 
 import pytest
-from imetro_behavior.joint_behaviors import JointNamesAndPositionsFromYaml
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 from rclpy.node import Node
 
+from imetro_behavior.joint_behaviors import JointNamesAndPositionsFromYaml
+
 
 @pytest.fixture()
 def yaml_joint_behavior(ros_node: Node, tmp_path: Path, mocker) -> JointNamesAndPositionsFromYaml:

src/imetro_behavior/tests/test_moveit_behaviors.py

@@ -19,17 +19,6 @@
 import pytest
 from ament_index_python.packages import get_package_share_path
 from geometry_msgs.msg import PoseStamped, TransformStamped
-from imetro_behavior.moveit_behaviors import (
-    ExecuteTrajectoryBehavior,
-    ModifyCollisions,
-    PlanArcPath,
-    PlanCartesian,
-    PlanningSceneFromRobotDescription,
-    PlanToJointState,
-    PlanToPose,
-    RequestPlanningScene,
-    RequestTrajectoryApproval,
-)
 from moveit_msgs.action import ExecuteTrajectory
 from moveit_msgs.msg import (
     AllowedCollisionEntry,
@@ -49,6 +38,17 @@
 from shape_msgs.msg import SolidPrimitive
 from tf2_ros import Buffer
 
+from imetro_behavior.moveit_behaviors import (
+    ExecuteTrajectoryBehavior,
+    ModifyCollisions,
+    PlanArcPath,
+    PlanCartesian,
+    PlanningSceneFromRobotDescription,
+    PlanToJointState,
+    PlanToPose,
+    RequestPlanningScene,
+    RequestTrajectoryApproval,
+)
 from imetro_behavior_msgs.action import PreviewTrajectory
 
 

src/imetro_behavior/tests/test_nav_behaviors.py

@@ -16,12 +16,13 @@
 # under the License.
 
 from geometry_msgs.msg import PoseStamped
-from imetro_behavior.nav_behaviors import NavigateToPoseBehavior
 from nav2_msgs.action import NavigateToPose
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 from rclpy.node import Node
 
+from imetro_behavior.nav_behaviors import NavigateToPoseBehavior
+
 
 def test_navigate_to_pose_create_goal(ros_node: Node) -> None:
     behavior = NavigateToPoseBehavior(name="navigate", action_name="/navigate_to_pose")

src/imetro_behavior/tests/test_ros_behaviors.py

@@ -18,10 +18,6 @@
 import pytest
 from action_msgs.msg import GoalStatus
 from control_msgs.action import GripperCommand
-from imetro_behavior.ros_behaviors.action_client import RosActionClientBase
-from imetro_behavior.ros_behaviors.perception import GetSyncedImagePointCloudDepth
-from imetro_behavior.ros_behaviors.service_client import CallTriggerService
-from imetro_behavior.ros_behaviors.subscriber_base import GetStringTopic
 from py_trees.common import Status
 from py_trees.ports import NoDataAvailable
 from rclpy.duration import Duration
@@ -31,6 +27,11 @@
 from std_msgs.msg import String
 from std_srvs.srv import Trigger
 
+from imetro_behavior.ros_behaviors.action_client import RosActionClientBase
+from imetro_behavior.ros_behaviors.perception import GetSyncedImagePointCloudDepth
+from imetro_behavior.ros_behaviors.service_client import CallTriggerService
+from imetro_behavior.ros_behaviors.subscriber_base import GetStringTopic
+
 
 class TrackingActionBehavior(RosActionClientBase):
     """Minimal concrete action behavior that records what process_result() receives."""