URC 2024 - Competition Release

Overview:

The "URC 2024 - Competition Release" represents the culmination of a remarkable year of effort, collaboration, and innovation. We are extremely proud of the work we’ve put together, building a new codebase from the ground up, and optimizing it for competition success. This hard work helped us score 56 points in the autonomy task, securing 3rd place in the task, and playing a key role in guiding our team to a 4th place overall finish internationally at the University Rover Challenge.

Key highlights of this release include the following enhancements:

• State Machine Overhaul: Significant improvements were made to the state machine, increasing its efficiency and robustness in handling complex rover tasks.
• Autonomy Enhancements: Implemented a feature-rich A* pathfinder, Stanley path follower, and improved GPS integration for precise navigation during competition.
• Simulator Integration: Improved support for simulator testing, allowing for more accurate and consistent pre-competition validation.
• Upgraded Dependencies: Integration of OpenCV v4.10.0, Google Test v1.15.2, and Quill v6.1.2 to ensure compatibility and improve system performance.
• Logging Improvements: Upgraded Quill and refined the logging system for better debugging and data tracking.
• Deployment Fixes: Resolved issues with deployment actions, ensuring the proper upload of release installers and preventing CodeQL timeouts.

Bug Fixes:

• Fixed deployment action to properly upload the release installer.
• Addressed CodeQL timeouts to ensure timely completion of security scans.
• Improved handling of Docker rebuilds in certain environments.
• Fixed various autonomy thread and camera system bugs identified during testing sessions.

Key Features:

• Waypoint and Search Pattern Handlers: Added new functionality to support autonomous waypoint navigation and search patterns, improving rover performance during exploration tasks.
• RoveComm Integration: Fully integrated autonomy with RoveComm, enabling efficient communication between software modules and hardware systems.
• Camera Enhancements: Implemented camera recording handlers, point cloud generation, and enhanced ArUco vision detection.

What's Changed

• Switch to new project structure by @Byrdman32 in #2
• Add GitHub Actions by @Byrdman32 in #14
• GitHub Action Improvements + More by @Byrdman32 in #15
• Update Formatting by @Byrdman32 in #4
• Update to new namespace by @Byrdman32 in #16
• Fix last remaining namespace difference by @Byrdman32 in #17
• Allow codeql to be run manually by @Byrdman32 in #18
• Update Dev Container to correct tags by @Byrdman32 in #19
• Switch to Single File Examples by @Byrdman32 in #20
• Add Funding Links to GitHub by @Byrdman32 in #25
• Update docker_jetpack.yml by @ClayJay3 in #27
• OpenCV CUDA and Docker Build Speed by @ClayJay3 in #26
• Auto Build Executables on Tag Creation by @Byrdman32 in #22
• Remove start script by @Byrdman32 in #28
• General Updates by @Byrdman32 in #30
• Change Date Format by @Byrdman32 in #33
• Add CONTRIBUTING.md by @Byrdman32 in #35
• Add Contributing Docs to Navigation by @Byrdman32 in #36
• Fix link typo by @Byrdman32 in #37
• Upgrade OpenCV by @Byrdman32 in #38
• Disable Automatic Running of Docker Builders by @Byrdman32 in #39
• Add GDB to JetPack Image by @Byrdman32 in #40
• Add CLion Configuration by @Byrdman32 in #41
• Remove CLion Configs by @Byrdman32 in #42
• Rename C++ Headers and Source Files to use Pascal Case by @Byrdman32 in #43
• Implement quill logger by @Byrdman32 in #44
• Rename CMake installer by @Byrdman32 in #45
• Add Google Test Framework by @Byrdman32 in #46
• Added Documentation to Tests by @Byrdman32 in #47
• Update GitHub Actions by @Byrdman32 in #50
• Update Spelling and Capitalization to meet MRDT Brand Guide by @Byrdman32 in #53
• Add Vertical Column 20 to left of max line length by @Byrdman32 in #54
• Switch RoveComm_CPP from submodule to CMake Static Library by @Byrdman32 in #57
• Elegant Example Running by @ClayJay3 in #60
• Implement Multi-Threading into the Codebase by @ClayJay3 in #58
• Setup debugging in container environment. by @ClayJay3 in #63
• Update README.md by @ClayJay3 in #64
• Initial State Machine Implementation by @Byrdman32 in #66
• Added step-by-step setup guide to main README Getting Started section by @ClayJay3 in #65
• Update Packages by @Byrdman32 in #75
• [HOTFIX] Limit when documentation is updated. by @Byrdman32 in #82
• Add header block to project README by @Byrdman32 in #81
• Fix position of description by @Byrdman32 in #84
• Switch to OS Version Numbered Packages by @Byrdman32 in #85
• Fixing names of docker images by @Byrdman32 in #86
• Limit what calls Doxygen and file action reference to docs tile on README by @Byrdman32 in #87
• Limit what calls Doxygen and file action reference to docs tile on README by @Byrdman32 in #88
• Add Cowsay Feature for Enhanced Developer Morale 🐄🌈 by @ClayJay3 in #89
• General README Updates by @Byrdman32 in #91
• Add "duplicate" image reference by @Byrdman32 in #94
• General Action Upgrades by @Byrdman32 in #93
• Allow to have queue of codeql by @Byrdman32 in #95
• Update Docker Image Names and Version Numbers by @Byrdman32 in #96
• Cowsay Bug and Removed Docker Extension by @ClayJay3 in #97
• Docker Image Updates by @Byrdman32 in #98
• Update Docker Image Names Again... by @Byrdman32 in #99
• Multithreading Interface Documentation by @ClayJay3 in #90
• Set Up Codeowners by @Byrdman32 in #100
• Add Logo and Fix Build Type by @Byrdman32 in #101
• *** Iterate Versions *** by @Byrdman32 in #102
• Shorten Release Names by @Byrdman32 in #103
• Fix Copyright Organization Name by @Byrdman32 in #106
• Logging Improvements by @Byrdman32 in #107
• Add gruntfuggly.todo-tree extension to environment by @Byrdman32 in #109
• Fix Project Warnings by @Byrdman32 in #108
• [BUG] Examples Runner by @ClayJay3 in #111
• Remove all warnings from application by @Byrdman32 in #114
• Add clang-format Check to Action Suite by @Byrdman32 in #115
• Add Concurrency Flag by @Byrdman32 in #116
• Always Run Clang by @Byrdman32 in #117
• Fix make install breaks during link to RoveComm by @Byrdman32 in #113
• Add Install Doc Page to Doxygen Site by @Byrdman32 in #118
• Fix Doxygen Comment Blocks are based off of Eastern Time by @Byrdman32 in #119
• Cowsay Improvements by @Byrdman32 in #120
• Seperate Debug Seteps and Increment Docker Versions by @Byrdman32 in #121
• Setup Self Hosted Runners by @Byrdman32 in #126
• Fix Doxygen by @Byrdman32 in #128
• Add Template for Compose without Tokens by @Byrdman32 in #129
• Implement Camera Handler by @ClayJay3 in #125
• Add Return to GitHub by @MRDT-Software in #131
• Hotfix/jetson testing by @ClayJay3 in #132
• Update devcontainer.json by @ClayJay3 in #133
• Camera Promises and Futures by @ClayJay3 in #135
• Add Docker Builder Action by @Byrdman32 in #136
• Add Static IP Script by @MRDT-Software in #137
• Implement Barebones SIMCam and Code Cleanup. by @ClayJay3 in #138
• New ImageOperation for PointClouds and Code Docs Cleanup by @ClayJay3 in #139
• Implement Basic ArUco Vision Detection System #67 by @ClayJay3 in #140
• Update Docker Action Runners by @Byrdman32 in #142
• Write Drivers for Rover Hardware Interfaces by @ClayJay3 in #141
• Empty Commit by @Byrdman32 in #143
• Fix CMAKE Extension Settings Not Showing In Bottom Toolbar by @ClayJay3 in #148
• Update Libraries by @Byrdman32 in #151
• Implement Camera Recording Handler by @ClayJay3 in #153
• HOTFIX: Camera Recorder and General Bug Fixes by @ClayJay3 in #154
• Doxygen Graphs are Ugly by @ClayJay3 in #156
• Implement More Features/Attributes from GeographicLib. by @ClayJay3 in #159
• State Machine Overhaul by @Byrdman32 in #157
• State Machine Improvements by @Byrdman32 in #160
• AutonomyThread IPS Inaccurate by @ClayJay3 in #161
• Update Docker Images on README by @Byrdman32 in #163
• Implement GPS Fusion by @ClayJay3 in #164
• Update deploy_docker.yml by @Byrdman32 in #166
• Reconfigure the docker files and builder some by @Byrdman32 in #167
• Upgrade Docker Builder by @Byrdman32 in #168
• Added controllers namespace to PIDController. by @ClayJay3 in #172
• DriveBoard Class and diffdrive Namespace Cleanup by @ClayJay3 in #173
• Implement Waypoint Handler by @ClayJay3 in #174
• Fix Incomplete Type Error With Structs. by @ClayJay3 in #175
• Fix State Machine Inheritance Scope by @Byrdman32 in #177
• Merge branch 'development' into branch 'topic/#170' by @JSpencerPittman in #178
• Merge 'development' into 'Topic/#171' by @JSpencerPittman in #181
• [HOTFIX] - CodeQL by @Byrdman32 in #183
• [HOTFIX] - File Existence Plugin by @Byrdman32 in #184
• [HOTFIX] - GitHub Pages and Doxygen Actions by @Byrdman32 in #185
• [HOTFIX] - GitHub Artifacts Plugin by @Byrdman32 in #186
• Implement Feature Rich ASTAR Pathfinder by @Kai-Shafe in #182
• Fix Random Failing Actions by @Byrdman32 in #188
• [HOTFIX] Missed inappropriate #include from AStar merge. by @ClayJay3 in #189
• Implement Feature Rich STANLEY Pathfollower by @JSpencerPittman in #187
• Implement Search Pattern Algorithm (#158) by @shortstop900 in #190
• [HOTFIX] Fix JetPack Build Architecture by @Byrdman32 in #192
• Write Search Pattern Unit Tests #191 by @ClayJay3 in #193
• Fixed StanleyController Unit Test UTM to GPS conversions. by @JSpencerPittman in #194
• Update Autonomy_Software and RoveComm_CPP Versions/Commit by @ClayJay3 in #195
• Update deploy_autonomy.yml by @Byrdman32 in #197
• Update deploy_autonomy.yml by @Byrdman32 in #198
• README Updates by @Byrdman32 in #199
• Move StateMachine States into h/cpp files by @Byrdman32 in #200
• Implement RoveComm Functionality for Drivers by @ClayJay3 in #201
• Update RoveComm and Subscribe to NavBoard by @ClayJay3 in #202
• Add GPS Based Rover Velocity Calculation to NavBoard by @ClayJay3 in #204
• ZEDCam Fusion Errors When Disabled. by @ClayJay3 in #205
• Add GPS Based Angular Velocity Calculation to NavBoard by @JSpencerPittman in #206
• Integrate Autonomy with RoveComm and SIM by @ClayJay3 in #207
• Add RoveComm Logger by @Byrdman32 in #208
• Upgrade to Quill 3.7.0 by @Byrdman32 in #209
• Use Auto-generated Container Names by @ClayJay3 in #211
• Upgrade BS::thread_pool to 4.0.1 by @Byrdman32 in #212
• Fix TODO-Tree Extension by @ClayJay3 in #214
• Add Tensorflow and PyTorch Libraries by @ClayJay3 in #180
• Update libedgetpu commit to an older working one. by @ClayJay3 in #215
• Fix IPS Unit Test by @ClayJay3 in #216
• Cleanup Includes by @ClayJay3 in #217
• Reimplement Valgrind by @Byrdman32 in #219
• Upgrade to Quill to v3.8.0 by @Byrdman32 in #220
• Move RoveComm and ThreadPool to Submodule Imports by @Byrdman32 in #221
• Add Setup and Clean Action Runners Steps by @Byrdman32 in #222
• Hotfixes to State Machine and Logger by @Byrdman32 in #224
• Cleanup and Intellisense by @ClayJay3 in #225
• Fix ZEDCam freeze. by @ClayJay3 in #227
• TensorflowTagDetector and Other Changes by @ClayJay3 in #228
• Update RoveComm and Cleanup CMake by @Byrdman32 in #226
• Update TODO Tree extension settings and highlights by @Byrdman32 in #229
• Update/Merge StateMachine with Development by @ClayJay3 in #230
• Fix Missing Bind Directory on Container Start by @ClayJay3 in #234
• Reconfigure Camera Layout and Add Battery Voltage Monitoring by @ClayJay3 in #235
• Update Jetpack and ZED by @ClayJay3 in #236
• Update README and Git Extension Settings. by @ClayJay3 in #239
• Fix for ssh devcontainer by @RyanW83 in #240
• Repo Cleanup by @Byrdman32 in #238
• Fix Local Time in Containers by @Byrdman32 in #241
• Remove .ssh Bind by @ClayJay3 in #242
• Hotfix/#237 by @JSpencerPittman in #243
• Fix Occasional Actions CMAKE Failure by @ClayJay3 in #246
• Fix RoveComm Overwriting of Doxygen Homepage by @Byrdman32 in #245
• Alert Leads of Help Requests by @Byrdman32 in #244
• README and Doxygen Updates by @Byrdman32 in #247
• GPS Nav, Camera, and Overall Code Fixes From Testing Session 2 by @ClayJay3 in #248
• GPS Nav, Camera, and Overall Code Fixes From Testing Session 3 by @ClayJay3 in #249
• Fix Parallelize Loop Functionality of AutonomyThread by @ClayJay3 in #251
• Auto Increment Software Versions by @Byrdman32 in #250
• Update Software Version Numbers by @github-actions in #252
• [HOTFIX] Add Labels and Assignment by @Byrdman32 in #254
• [HOTFIX] Fix GitHub Actions by @Byrdman32 in #257
• Update Software Version Numbers by @github-actions in #258
• Upgrade to RoveComm v24.3.1 by @Byrdman32 in #260
• Update RoveComm to v24.3.2 by @Byrdman32 in #261
• Update CODEOWNERS by @Byrdman32 in #265
• Final Updates from URC 2024 by @Byrdman32 in #270
• Add Unit Testing to ARM64 by @Byrdman32 in #269
• Restrict Permissions for High-Resource GitHub Actions: Deploy Autonomy & Rebuild Docker by @Byrdman32 in #271
• [HOTFIX] Deploying Autonomy and CodeQL Timeouts by @Byrdman32 in #277
• Cleanup and fix compile warning. by @ClayJay3 in #272

Special Thanks:

This year has been one of the most fulfilling years we've had, and we are extremely happy with the progress we've made. Building a new codebase from scratch was no small task, but through hard work, determination, and incredible teamwork, we’ve achieved something truly special.

A huge thank you to the leads of the Software Subteam for their dedication, leadership, and hard work throughout this release cycle. Your guidance has been instrumental in pushing our software to new heights. We couldn't have done this without you!

• Software Architect: @UhOhDonovan
• Autonomy Leads: @Byrdman32 & @ClayJay3
• Basestation Lead: @wiidler
• General Members: @JSpencerPittman, @Kai-Shafe, @shortstop900, @RyanW83, and the whole Autonomy Subteam

Let’s continue pushing the boundaries of what’s possible and prepare for an even more exciting future! #RoveSoHard

Full Changelog: v0.0.0...v24.5.0