Merge pull request #151 from Pitt-RAS/fix-issues

fix issues

Author: amiller27

src/iarc7_motion/iarc_task_action_server.py

@@ -20,7 +20,7 @@
 from iarc_tasks.joystick_velocity_task import JoystickVelocityTask
 from iarc_tasks.go_to_roomba_task import GoToRoombaTask
 
-class IarcTaskActionServer:
+class IarcTaskActionServer(object):
     def __init__(self):
         self._action_name = "motion_planner_server"
 

src/iarc7_motion/motion_command_coordinator.py

@@ -34,7 +34,7 @@
 
 from iarc_tasks.abstract_task import AbstractTask
 
-class MotionCommandCoordinator:
+class MotionCommandCoordinator(object):
 
     def __init__(self, action_server):
         # action server for getting requests from AI
@@ -205,7 +205,7 @@ def run(self):
                     self._task_command_handler.send_timeout(avoid_twist, acceleration=acceleration)
                     rospy.logwarn_throttle(1.0, 'Task running timeout. Running obstacle avoider')
 
-                rate.sleep()
+            rate.sleep()
 
     # fills out the Intermediary State for the task
     def _get_current_transition(self):

src/iarc7_motion/state_monitor.py

@@ -41,7 +41,7 @@ class RobotStates(Enum):
     FATAL = 7
     SAFETY_ACTIVE = 8
 
-class StateMonitor:
+class StateMonitor(object):
 
     def __init__(self):
         # state data
@@ -138,7 +138,7 @@ def set_last_task_end_state(self, state):
             # to perform
             elif isinstance(state, task_states.TaskCanceled):
                 # assumes that canceling land results in velocity mode
-                if isinstance(self._last_task, LandTask): 
+                if isinstance(self._last_task, LandTask):
                     self._state = RobotStates.NORMAL
                 # Takeoff needs to take the drone above the safe height
                 # Hit roomba if canceled might not have taken the drone back up

src/iarc7_motion/task_command_handler.py

@@ -22,7 +22,7 @@
 
 from iarc7_motion.linear_motion_profile_generator import LinearMotionProfileGenerator
 
-class TaskCommandHandler:
+class TaskCommandHandler(object):
 
     def __init__(self):
         # class state