added flake8 and pep257

package.xml

@@ -14,6 +14,8 @@
   <url type="repository">https://github.com/ros-visualization/rqt_tf_tree</url>
   <url type="bugtracker">https://github.com/ros-visualization/rqt_tf_tree/issues</url>
 
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>

setup.cfg

@@ -2,3 +2,8 @@
 script_dir=$base/lib/rqt_tf_tree
 [install]
 install_scripts=$base/lib/rqt_tf_tree
+[tool:pytest]
+filterwarnings =
+    # flake8 spawns multiprocessing 'fork' workers while colcon's test
+    # executor is multi-threaded, which CPython >=3.12 warns about. Harmless.
+    ignore:This process:DeprecationWarning

setup.py

@@ -31,7 +31,11 @@
         'rqt_tf_tree provides a GUI plugin for visualizing the ROS TF frame tree.'
     ),
     license='BSD',
-    tests_require=['pytest'],
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
     entry_points={
         'console_scripts': [
             'rqt_tf_tree = ' + package_name + '.main:main'

src/rqt_tf_tree/dotcode_tf.py

@@ -31,20 +31,17 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import time
-import rclpy
-import yaml
 
 from rclpy import clock
 from rclpy.constants import S_TO_NS
 from tf2_msgs.srv import FrameGraph
+import yaml
 
 
 class RosTfTreeDotcodeGenerator(object):
 
     def __init__(self, initial_listen_duration=1):
-        """
-        :param initial_listen_duration: how many secs to listen to tf initially.
-        """
+        """:param initial_listen_duration: how many secs to listen to tf initially."""
         self.last_drawargs = None
         self.dotcode = None
         self.firstcall = True
@@ -58,15 +55,13 @@ def __init__(self, initial_listen_duration=1):
     def generate_dotcode(self,
                          dotcode_factory,
                          tf2_frame_srv,
-                         timer=rclpy.clock.Clock(),
+                         timer=clock.Clock(),
                          yaml_parser=yaml,
                          rank='same',   # None, same, min, max, source, sink
                          ranksep=0.2,   # vertical distance between layers
                          rankdir='TB',  # direction of layout (TB top > bottom, LR left > right)
                          force_refresh=False):
-        """
-        :param force_refresh: if False, may return same dotcode as last time
-        """
+        """:param force_refresh: if False, may return same dotcode as last time."""
         if self.firstcall is True:
             self.firstcall = False
             force_refresh = True
@@ -131,7 +126,8 @@ def generate(self, data, timestamp):
             edge_label = '"Broadcaster: %s\\n' % str(tf_frame_values['broadcaster'])
             edge_label += 'Average rate: %s\\n' % str(tf_frame_values['rate'])
             edge_label += 'Buffer length: %s\\n' % str(tf_frame_values['buffer_length'])
-            edge_label += 'Most recent transform: %s\\n' % str(tf_frame_values['most_recent_transform'])
+            edge_label += 'Most recent transform: %s\\n' % \
+                str(tf_frame_values['most_recent_transform'])
             edge_label += 'Oldest transform: %s"' % str(tf_frame_values['oldest_transform'])
             self.dotcode_factory.add_edge_to_graph(graph,
                                                    str(tf_frame_values['parent']),
@@ -146,7 +142,8 @@ def generate(self, data, timestamp):
                                                root,
                                                style='invis')
 
-        # dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n'
+        # dot += ' subgraph cluster_legend { style=bold; color=black;'
+        # dot += ' label ="view_frames Result";\n'
         # dot += '"Recorded at time: '+str(rospy.Time.now().to_sec())+'"[ shape=plaintext ] ;\n'
         # dot += '}->"'+root+'"[style=invis];\n}'
         return graph

src/rqt_tf_tree/tf_tree.py

@@ -34,18 +34,17 @@
 
 from ament_index_python import get_resource
 
-from tf2_msgs.srv import FrameGraph
-import tf2_ros
-
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import QFile, QIODevice, QObject, Qt, Signal
 from python_qt_binding.QtGui import QIcon, QImage, QPainter
-from python_qt_binding.QtWidgets import QFileDialog, QGraphicsScene, QWidget
 from python_qt_binding.QtSvg import QSvgGenerator
-from qt_dotgraph.pydotfactory import PydotFactory
-# from qt_dotgraph.pygraphvizfactory import PygraphvizFactory
+from python_qt_binding.QtWidgets import QFileDialog, QGraphicsScene, QWidget
 from qt_dotgraph.dot_to_qt import DotToQtGenerator
+# from qt_dotgraph.pygraphvizfactory import PygraphvizFactory
+from qt_dotgraph.pydotfactory import PydotFactory
 from rqt_graph.interactive_graphics_view import InteractiveGraphicsView
+from tf2_msgs.srv import FrameGraph
+import tf2_ros
 
 from .dotcode_tf import RosTfTreeDotcodeGenerator
 
@@ -82,7 +81,8 @@ def __init__(self, context):
         loadUi(ui_file, self._widget, {'InteractiveGraphicsView': InteractiveGraphicsView})
         self._widget.setObjectName('RosTfTreeUi')
         if context.serial_number() > 1:
-            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
+            self._widget.setWindowTitle(
+                self._widget.windowTitle() + (' (%d)' % context.serial_number()))
 
         self._scene = QGraphicsScene()
         self._scene.setBackgroundBrush(Qt.white)
@@ -126,7 +126,8 @@ def restore_settings(self, plugin_settings, instance_settings):
         self._widget.auto_fit_graph_check_box.setChecked(
             instance_settings.value('auto_fit_graph_check_box_state', True) in [True, 'true'])
         self._widget.highlight_connections_check_box.setChecked(
-            instance_settings.value('highlight_connections_check_box_state', True) in [True, 'true'])
+            instance_settings.value(
+                'highlight_connections_check_box_state', True) in [True, 'true'])
         self.initialized = True
         self._refresh_tf_graph()
 

test/dotcode_tf_test.py

@@ -32,9 +32,6 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import unittest
-
-import rclpy.client
-
 from unittest.mock import Mock
 
 from rqt_tf_tree.dotcode_tf import RosTfTreeDotcodeGenerator
@@ -44,11 +41,11 @@ class DotcodeGeneratorTest(unittest.TestCase):
 
     def test_generate_dotcode(self):
         yaml_data = {'frame1': {'parent': 'fr_parent',
-                                        'broadcaster': 'fr_broadcaster',
-                                        'rate': 'fr_rate',
-                                        'buffer_length': 'fr_buffer_length',
-                                        'most_recent_transform': 'fr_most_recent_transform',
-                                        'oldest_transform': 'fr_oldest_transform',}}
+                                'broadcaster': 'fr_broadcaster',
+                                'rate': 'fr_rate',
+                                'buffer_length': 'fr_buffer_length',
+                                'most_recent_transform': 'fr_most_recent_transform',
+                                'oldest_transform': 'fr_oldest_transform'}}
         frameClientMock = Mock()
         frameClientMock.call.return_value.frame_yaml = str(yaml_data)
 
@@ -60,7 +57,7 @@ def test_generate_dotcode(self):
         yamlmock = Mock()
         yamlmock.load.return_value = yaml_data
 
-        factoryMock.create_dot.return_value = "foo"
+        factoryMock.create_dot.return_value = 'foo'
         factoryMock.get_graph.return_value = graphMock
 
         gen = RosTfTreeDotcodeGenerator(0)
@@ -74,4 +71,3 @@ def test_generate_dotcode(self):
 
 if __name__ == '__main__':
     unittest.main()
-

test/test_flake8.py

@@ -0,0 +1,41 @@
+# Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the copyright holder nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+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)

test/test_pep257.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2026, Open Source Robotics Foundation, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   * Neither the name of the copyright holder nor the names of its
+#     contributors may be used to endorse or promote products derived
+#     from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+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'