From 8dbecd9f44e8163dde95dff49bcc75150c8672c3 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sun, 23 Jul 2023 17:17:37 -0700 Subject: [PATCH 1/9] Bump aiohttp from 3.8.1 to 3.8.5 (#1064) Bumps [aiohttp](https://github.com/aio-libs/aiohttp) from 3.8.1 to 3.8.5. - [Release notes](https://github.com/aio-libs/aiohttp/releases) - [Changelog](https://github.com/aio-libs/aiohttp/blob/v3.8.5/CHANGES.rst) - [Commits](https://github.com/aio-libs/aiohttp/compare/v3.8.1...v3.8.5) --- updated-dependencies: - dependency-name: aiohttp dependency-type: direct:production ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index ae0ac3d2e..e7207f72d 100644 --- a/requirements.txt +++ b/requirements.txt @@ -22,7 +22,7 @@ PyYAML==6.0 urdf-parser-py==0.0.4 # Internet -aiohttp==3.8.1 +aiohttp==3.8.5 aiohttp-xmlrpc==1.5.0 # Documentation From 64a7f8a218ace88996d967fe0fdd99b3a2e12742 Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Sun, 23 Jul 2023 17:51:40 -0700 Subject: [PATCH 2/9] Bump scipy from 1.7.3 to 1.10.0 (#1061) Bumps [scipy](https://github.com/scipy/scipy) from 1.7.3 to 1.10.0. - [Release notes](https://github.com/scipy/scipy/releases) - [Commits](https://github.com/scipy/scipy/compare/v1.7.3...v1.10.0) --- updated-dependencies: - dependency-name: scipy dependency-type: direct:production ... Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: cameron brown <52760912+cbrxyz@users.noreply.github.com> --- requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/requirements.txt b/requirements.txt index e7207f72d..90237fb22 100644 --- a/requirements.txt +++ b/requirements.txt @@ -11,7 +11,7 @@ pandas==1.4.1 numpy==1.22.3 # Machine Learning -scipy==1.7.3 +scipy==1.10.0 scikit-learn==1.1.1 # Computer Vision From 9bcfdcb2a83c01cae80829afb61cf16560fba6c5 Mon Sep 17 00:00:00 2001 From: Yovany Molina <80288489+yomole@users.noreply.github.com> Date: Sun, 23 Jul 2023 21:05:46 -0400 Subject: [PATCH 3/9] Testing changes (#1062) * Added changes from recent testings - Changed the thruster ID values to correspond to the current thruster connection setup. - Changed FRV thruster direction from -1Z to +1Z. - Changed PID values for the sub. Values are still not ideal and will be adjusted over the next few testing sessions. - Changed the identifier for the USB to CAN board's USB to serial converter. - Changed tcp address for the depth sensor, imu, and dvl connection scripts to their ip addresses instead of their DNS names (there is an issue with the DNS server in the network box, or in the lab, or both). - Made changes to the sub8.urdf.xacro for gazebo to avoid URDF inertia warning. - Added bag_debugging_controller.launch file which is a launch file to record bags for debugging the PID controller on the sub. * Add documentation for bag_debugging_controller.launch * pre-commit and CI fixes...probably * Added documentation about PID controller - Added documentation page about PID controller containing information about the bag_debugging_controller.launch file and some tips for how to tune the PID controller. - Reverted subjugator_launch/readme.md changes to reflect moving to a new documentation page. - Modified adaptive controller values to remove commented out kd values. * Modify URDF fix to fix /mission_server crash - Another URDF xacro fix has been applied to the URDF xacro file using these ROS forum posts as reference: https://answers.ros.org/question/393006/urdf-link-not-properly-fixed-to-world/, https://answers.ros.org/question/192817/error-msg-the-root-link_base-has-an-inertia-specified-in-the-urdf-but-kdl/. NOTE: This is not a complete fix yet. I'm getting a tf republisher error that 'base_link' and 'map' do not have a connection with TF having 2+ unconnected trees. Additionally, gazebogui does not work since the /gzclient/set_physics_properties service is not advertised (even though /gazebo/set_physics_properties is). * Add support for simulation vs physical PID gains --------- Co-authored-by: Cameron Brown Co-authored-by: cameron brown <52760912+cbrxyz@users.noreply.github.com> --- .../config/adaptive_controller.yaml | 10 +++---- .../config/adaptive_controller_gazebo.yaml | 6 +++++ .../launch/bag_debugging_controller.launch | 7 +++++ .../subjugator_launch/launch/can.launch | 2 +- .../subjugator_launch/launch/sub8.launch | 4 ++- .../subsystems/adaptive_controller.launch | 8 +++--- .../command/subjugator_launch/package.xml | 2 ++ .../subjugator_launch/scripts/depth_conn | 2 +- .../subjugator_launch/scripts/dvl_conn | 2 +- .../subjugator_launch/scripts/imu_conn | 2 +- .../config/thruster_layout.yaml | 18 ++++++------- .../subjugator_gazebo/urdf/sub8.urdf.xacro | 7 +++++ docs/subjugator/index.rst | 1 + docs/subjugator/pid.rst | 26 +++++++++++++++++++ 14 files changed, 75 insertions(+), 22 deletions(-) create mode 100644 SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml create mode 100644 SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch create mode 100644 docs/subjugator/pid.rst diff --git a/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml b/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml index c6406c44d..aefd3cb36 100644 --- a/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml +++ b/SubjuGator/command/subjugator_launch/config/adaptive_controller.yaml @@ -1,6 +1,6 @@ --- -kp: 1000, 1000, 1000, 5000, 5000, 5000 -kd: 150, 150, 150, 50, 100, 25 -kg: 5,5,5,5,5,5 -ki: 5,5,5,5,10,5 -use_learned: false +kp: 120, 150, 200, 100, 50, 50 +kd: 25, 25, 25, 25, 25, 25 +kg: 2.5,2.5,2.5,2.5,2.5,2.5 +ki: 2.5,2.5,2.5,2.5,2.5,2.5 +use_learned: true diff --git a/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml b/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml new file mode 100644 index 000000000..c6406c44d --- /dev/null +++ b/SubjuGator/command/subjugator_launch/config/adaptive_controller_gazebo.yaml @@ -0,0 +1,6 @@ +--- +kp: 1000, 1000, 1000, 5000, 5000, 5000 +kd: 150, 150, 150, 50, 100, 25 +kg: 5,5,5,5,5,5 +ki: 5,5,5,5,10,5 +use_learned: false diff --git a/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch b/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch new file mode 100644 index 000000000..4c6024669 --- /dev/null +++ b/SubjuGator/command/subjugator_launch/launch/bag_debugging_controller.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/SubjuGator/command/subjugator_launch/launch/can.launch b/SubjuGator/command/subjugator_launch/launch/can.launch index 813b94625..b46fbd8ba 100644 --- a/SubjuGator/command/subjugator_launch/launch/can.launch +++ b/SubjuGator/command/subjugator_launch/launch/can.launch @@ -5,7 +5,7 @@ # Path of serial device - port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A800GHCF-if00-port0 + port: /dev/serial/by-id/usb-FTDI_FT232R_USB_UART_A50285BI-if00-port0 # Baudrate of device, should leave as is baudrate: 115200 # List of python device handle classes diff --git a/SubjuGator/command/subjugator_launch/launch/sub8.launch b/SubjuGator/command/subjugator_launch/launch/sub8.launch index 178efc6bb..247fe1e62 100644 --- a/SubjuGator/command/subjugator_launch/launch/sub8.launch +++ b/SubjuGator/command/subjugator_launch/launch/sub8.launch @@ -39,7 +39,9 @@ - + + + diff --git a/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch b/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch index 17bd1d3ac..a758c4278 100644 --- a/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch +++ b/SubjuGator/command/subjugator_launch/launch/subsystems/adaptive_controller.launch @@ -1,8 +1,10 @@ - + + - - + + + diff --git a/SubjuGator/command/subjugator_launch/package.xml b/SubjuGator/command/subjugator_launch/package.xml index 6a6beeeb6..e3f6ef4ba 100644 --- a/SubjuGator/command/subjugator_launch/package.xml +++ b/SubjuGator/command/subjugator_launch/package.xml @@ -5,8 +5,10 @@ The subjugator_launch package Jacob Panikulam MIT + rosbag roslaunch roslaunch + rosbag robot_state_publisher nodelet c3_trajectory_generator diff --git a/SubjuGator/command/subjugator_launch/scripts/depth_conn b/SubjuGator/command/subjugator_launch/scripts/depth_conn index 13bf8a480..c63922eb9 100755 --- a/SubjuGator/command/subjugator_launch/scripts/depth_conn +++ b/SubjuGator/command/subjugator_launch/scripts/depth_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pty,link=/tmp/depth,raw,echo=0 tcp:mil-sub-gumstix.ad.mil.ufl.edu:33056 +exec socat -d -d pty,link=/tmp/depth,raw,echo=0 tcp:192.168.37.61:33056 diff --git a/SubjuGator/command/subjugator_launch/scripts/dvl_conn b/SubjuGator/command/subjugator_launch/scripts/dvl_conn index f0be15464..745a45097 100755 --- a/SubjuGator/command/subjugator_launch/scripts/dvl_conn +++ b/SubjuGator/command/subjugator_launch/scripts/dvl_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pty,link=/tmp/dvl,raw,echo=0 tcp:mil-sub-gumstix.ad.mil.ufl.edu:349 +exec socat -d -d pty,link=/tmp/dvl,raw,echo=0 tcp:192.168.37.61:349 diff --git a/SubjuGator/command/subjugator_launch/scripts/imu_conn b/SubjuGator/command/subjugator_launch/scripts/imu_conn index 59275c393..bc93e1eb1 100755 --- a/SubjuGator/command/subjugator_launch/scripts/imu_conn +++ b/SubjuGator/command/subjugator_launch/scripts/imu_conn @@ -1,2 +1,2 @@ #!/bin/sh -exec socat -d -d pipe:/tmp/imu,wronly=1 tcp:mil-sub-gumstix.ad.mil.ufl.edu:1382 +exec socat -d -d pipe:/tmp/imu,wronly=1 tcp:192.168.37.61:1382 diff --git a/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml b/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml index 2d3de8ac9..48992559a 100644 --- a/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml +++ b/SubjuGator/gnc/subjugator_thruster_mapper/config/thruster_layout.yaml @@ -30,7 +30,7 @@ thruster_ports: # mapping from thrust in Newtons to effort (e = t[0]x^4 + t[1]x^3 + t[2]x^2 + t[3]x) thrusters: FLH: { - node_id: 3, + node_id: 4, position: [0.2678, 0.2795, 0.0], direction: [0.866, -0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -42,7 +42,7 @@ thrusters: } } FLV: { - node_id: 1, + node_id: 5, position: [0.1583, 0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], @@ -54,7 +54,7 @@ thrusters: } } FRH: { - node_id: 2, + node_id: 0, position: [0.2678, -0.2795, 0.0], direction: [0.866, 0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -66,9 +66,9 @@ thrusters: } } FRV: { - node_id: 0, + node_id: 1, position: [0.1583, -0.169, 0.0142], - direction: [0.0, 0.0, -1.0], + direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], calib: { # yamllint disable-line rule:line-length @@ -78,7 +78,7 @@ thrusters: } } BLH: { - node_id: 4, + node_id: 3, position: [-0.2678, 0.2795, 0.0], direction: [0.866, 0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -90,7 +90,7 @@ thrusters: } } BLV: { - node_id: 5, + node_id: 6, position: [-0.1583, 0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], @@ -102,7 +102,7 @@ thrusters: } } BRH: { - node_id: 6, + node_id: 7, position: [-0.2678, -0.2795, 0.0], direction: [0.866, -0.5, 0.0], thrust_bounds: [-81.85, 99.7], @@ -114,7 +114,7 @@ thrusters: } } BRV: { - node_id: 7, + node_id: 2, position: [-0.1583, -0.169, 0.0142], direction: [0.0, 0.0, 1.0], thrust_bounds: [-81.85, 99.7], diff --git a/SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro b/SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro index 3f4517335..9290884dd 100644 --- a/SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro +++ b/SubjuGator/simulation/subjugator_gazebo/urdf/sub8.urdf.xacro @@ -11,6 +11,8 @@ + + @@ -31,6 +33,11 @@ + + + + + diff --git a/docs/subjugator/index.rst b/docs/subjugator/index.rst index c34f4e7fd..28566c2ac 100644 --- a/docs/subjugator/index.rst +++ b/docs/subjugator/index.rst @@ -15,6 +15,7 @@ SubjuGator 8 Simulating Enabling Cameras + PID Controller electrical diff --git a/docs/subjugator/pid.rst b/docs/subjugator/pid.rst new file mode 100644 index 000000000..c2feeae29 --- /dev/null +++ b/docs/subjugator/pid.rst @@ -0,0 +1,26 @@ +PID Controller +-------------- + +SubjuGator 8 uses 6 PID controllers for its 6 degrees of freedom (x, y, z, roll, pitch, yaw). The gain for these PID controllers can be adjusted in ``adaptive_controller.yaml`` found in the ``subjugator_launch/config`` directory. Since the weight of the sub shifts with each component modified, the PID controller values have to be adjusted from time to time. There are two approaches to adjust PID values in the water: + +1. Have someone with experience in tuning PID controllers swim with the sub and use the sub's response to movement commands to adjust the gains. +2. Eliminate the error in each axis by adjusting the gains and evaluating the RMS error in each axis after sending the same movement commands. + +PID Controller Tuning Tips +~~~~~~~~~~~~~~~~~~~~~~~~~~ + +* The learning gains (``ki`` and ``kd``) provide very little input to the wrenches applied to the sub, so it is better to treat it as a PD controller to start with. You can disable the learning gains using ``use_learned: false``. +* While you are tuning the PID values, keep a history of the values you have tried for further analysis during and after testing. You can use ``scp`` for this, but it may just be easier to take a screenshot or a photo. You can also take videos of the sub from the side of the pool to reference later. + +PID Debugging Data Collection +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ + +.. code-block:: bash + + $ roslaunch subjugator_launch bag_debugging_controller.launch prefix_name:="my_prefix" + +This launch file records a bag file containing adaptive controller ``pose_error``, ``twist_error``, ``adaptation``, ``dist``, and ``drag`` data along with ``wrench``, ``trajectory``, ``odom``, ``imu/data_raw``, and ``dvl/range`` data. This data is useful in determining if the PID values are getting better or worse using simulations. The resulting bag file will be located in ``gnc/subjugator_controller/debug_bags/``. This launch file was written by Andres Pulido. + +.. warning:: + + This launch file needs the sub launch file (``sub8.launch``) running in order to function properly. From e7500d146886cc24330c513adc23ff593f5b9eef Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 28 Aug 2023 20:52:09 +0000 Subject: [PATCH 4/9] Update pre-commit hooks to latest versions (#1060) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update pre-commit hooks to latest versions updates: - [github.com/pre-commit/mirrors-clang-format: v14.0.6 → v15.0.7](https://github.com/pre-commit/mirrors-clang-format/compare/v14.0.6...v15.0.7) - [github.com/charliermarsh/ruff-pre-commit: v0.0.247 → v0.0.254](https://github.com/charliermarsh/ruff-pre-commit/compare/v0.0.247...v0.0.254) * Run apt-get update before upgrade (#1001) The package index from the runner image will go out of date and dependencies may be unresolveable. 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[github.com/scop/pre-commit-shfmt: v3.6.0-2 → v3.7.0-1](https://github.com/scop/pre-commit-shfmt/compare/v3.6.0-2...v3.7.0-1) - https://github.com/charliermarsh/ruff-pre-commit → https://github.com/astral-sh/ruff-pre-commit - [github.com/astral-sh/ruff-pre-commit: v0.0.270 → v0.0.282](https://github.com/astral-sh/ruff-pre-commit/compare/v0.0.270...v0.0.282) - [github.com/codespell-project/codespell: v2.2.4 → v2.2.5](https://github.com/codespell-project/codespell/compare/v2.2.4...v2.2.5) * Update with pre-commit changes --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Jarrod Sanders <50600614+kawaiiPlat@users.noreply.github.com> Co-authored-by: Cameron Brown --- .pre-commit-config.yaml | 14 +++---- .../nodes/ogrid_arbiter.py | 5 +-- .../navigator_thrust_mapper/thruster_map.py | 16 ++------ .../navigator_alarm_handlers/kill.py | 10 +---- .../thruster_fault.py | 4 +- .../navigator_missions/detect_deliver_2016.py | 18 ++------- .../navigator_missions/identify_dock.py | 5 +-- .../navigator_missions/move.py | 4 +- .../navigator_missions/navigation.py | 4 +- .../vrx_missions/vrx_navigation.py | 4 +- .../vrx_missions/vrx_perception.py | 6 +-- .../test/test_sim_integration.py | 39 +++---------------- .../nodes/robotx_comms_client.py | 5 +-- .../navigator_tools/object_database_helper.py | 2 +- .../subjugator_alarm/alarm_handlers/kill.py | 5 +-- .../alarm_handlers/odom_kill.py | 8 +--- .../teleop_twist_keyboard.py | 4 +- .../subjugator_missions/arm_torpedos.py | 4 +- .../subjugator_missions/start_gate.py | 9 +---- .../subjugator_missions/sub_singleton.py | 2 +- .../scripts/generate_config | 4 +- .../sub8_thrust_and_kill_board/handle.py | 4 +- .../sub8_thrust_and_kill_board/packets.py | 5 +-- .../path_marker/path_localizer.py | 2 +- .../mil_usb_to_can/sub8/sub8_driver.py | 4 +- .../mil_usb_to_can/sub8/utils.py | 5 +-- .../mil_missions_gui/dashboard.py | 13 +++---- mil_common/mil_missions/nodes/mission_client | 4 +- .../mil_missions/test/test_import_missions.py | 5 +-- .../mil_vision/mil_vision_tools/cv_tools.py | 6 +-- .../mil_ros_tools/extract_bag_images.py | 15 ++----- .../mil_tools/mil_ros_tools/label_me_bag.py | 5 +-- .../mil_tools/mil_ros_tools/msg_helpers.py | 5 +-- .../utils/mil_tools/nodes/online_bagger.py | 5 +-- mil_common/utils/mil_tools/nodes/tf_fudger.py | 5 +-- .../utils/mil_tools/nodes/tf_to_gazebo.py | 7 +--- ruff.toml | 1 + 37 files changed, 64 insertions(+), 199 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index d2f0e2009..cb5d978ed 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -15,15 +15,15 @@ repos: hooks: - id: yamllint - repo: https://github.com/psf/black - rev: 23.3.0 + rev: 23.7.0 hooks: - id: black - repo: https://github.com/pre-commit/mirrors-clang-format - rev: v16.0.4 + rev: v16.0.6 hooks: - id: clang-format - repo: https://github.com/PyCQA/autoflake - rev: v2.1.1 + rev: v2.2.0 hooks: - id: autoflake args: [--remove-all-unused-imports, --ignore-init-module-imports] @@ -34,18 +34,18 @@ repos: exclude: ^docker|deprecated|NaviGator/simulation/VRX args: [--severity=warning, --exclude=SC1090] - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-2 + rev: v3.7.0-1 hooks: - id: shfmt exclude: ^docker|deprecated|NaviGator/simulation/VRX - - repo: https://github.com/charliermarsh/ruff-pre-commit + - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: 'v0.0.270' + rev: 'v0.0.282' hooks: - id: ruff args: [--fix, --exit-non-zero-on-fix] - repo: https://github.com/codespell-project/codespell - rev: v2.2.4 + rev: v2.2.5 hooks: - id: codespell args: diff --git a/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py b/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py index ac8fffd4f..eb425ec7a 100755 --- a/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py +++ b/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py @@ -493,10 +493,7 @@ def publish(self, timer_event): ) print(e) fprint( - "w: {}, h: {}".format( - global_ogrid.info.width, - global_ogrid.info.height, - ), + f"w: {global_ogrid.info.width}, h: {global_ogrid.info.height}", msg_color="red", ) diff --git a/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py b/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py index 588679455..2fc19700a 100644 --- a/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py +++ b/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py @@ -166,15 +166,11 @@ def from_urdf( if find != -1 and find + len(transmission_suffix) == len(transmission.name): if len(transmission.joints) != 1: raise Exception( - "Transmission {} does not have 1 joint".format( - transmission.name, - ), + f"Transmission {transmission.name} does not have 1 joint", ) if len(transmission.actuators) != 1: raise Exception( - "Transmission {} does not have 1 actuator".format( - transmission.name, - ), + f"Transmission {transmission.name} does not have 1 actuator", ) t_ratio = transmission.actuators[0].mechanicalReduction @@ -195,9 +191,7 @@ def from_urdf( joint = t_joint if joint is None: rospy.logerr( - "Transmission joint {} not found".format( - transmission.joints[0].name, - ), + f"Transmission joint {transmission.joints[0].name} not found", ) try: trans = buff.lookup_transform( @@ -217,9 +211,7 @@ def from_urdf( joints.append(joint.name) if limit != -1 and joint.limit.effort != limit: raise Exception( - "Thruster {} had a different limit, cannot proceed".format( - joint.name, - ), + f"Thruster {joint.name} had a different limit, cannot proceed", ) limit = joint.limit.effort limit_tuple = (limit, -limit) diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py index a3f7a612b..547c56fa8 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py @@ -28,10 +28,7 @@ def _online_bagger_cb(self, status, result): rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}") else: rospy.logwarn( - "KILL BAG {}, status: {}".format( - TerminalState.to_string(status), - result.status, - ), + f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}", ) def _kill_task_cb(self, status, result): @@ -39,10 +36,7 @@ def _kill_task_cb(self, status, result): rospy.loginfo("Killed task success!") return rospy.logwarn( - "Killed task failed ({}): {}".format( - TerminalState.to_string(status), - result.result, - ), + f"Killed task failed ({TerminalState.to_string(status)}): {result.result}", ) def raised(self, alarm): diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py index a89612632..ce89ac3a0 100644 --- a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py +++ b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py @@ -65,9 +65,7 @@ def _check_faults(self, msg, topic): return self.broadcaster.raise_alarm( severity=5, - problem_description="{} thrusters have faults".format( - len(self._raised_alarms), - ), + problem_description=f"{len(self._raised_alarms)} thrusters have faults", parameters={ t: self._get_fault_codes(k) for t, k in self._raised_alarms.items() }, diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py index bc95612b0..28c3ac4d9 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py @@ -240,10 +240,7 @@ async def search_sides(self, moves): self.shape_pose = found_pose return fprint( - "Saw (Shape={}, Color={}) on this side".format( - shape_color[0], - shape_color[1], - ), + f"Saw (Shape={shape_color[0]}, Color={shape_color[1]}) on this side", title="DETECT DELIVER", msg_color="green", ) @@ -287,10 +284,7 @@ def select_backup_shape(self): self.shape_pose = point_normal if self.Shape == shape or self.Color == color: fprint( - "Correct shape not found, resorting to shape={} color={}".format( - shape, - color, - ), + f"Correct shape not found, resorting to shape={shape} color={color}", title="DETECT DELIVER", msg_color="yellow", ) @@ -430,9 +424,7 @@ async def shoot_and_align_forest(self): move = await self.align_to_target() if move.failure_reason != "": fprint( - "Error Aligning with target = {}. Ending mission :(".format( - move.failure_reason, - ), + f"Error Aligning with target = {move.failure_reason}. Ending mission :(", title="DETECT DELIVER", msg_color="red", ) @@ -479,9 +471,7 @@ async def shoot_and_align(self): move = await self.align_to_target() if move.failure_reason != "": fprint( - "Error Aligning with target = {}. Ending mission :(".format( - move.failure_reason, - ), + f"Error Aligning with target = {move.failure_reason}. Ending mission :(", title="DETECT DELIVER", msg_color="red", ) diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py b/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py index 28419f6b6..6d2203826 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py @@ -150,10 +150,7 @@ async def check_bays(self): def update_shape(self, shape_res, normal_res, tf): print_good( - "Found (Shape={}, Color={} in a bay".format( - shape_res.Shape, - shape_res.Color, - ), + f"Found (Shape={shape_res.Shape}, Color={shape_res.Color} in a bay", ) self.identified_shapes[(shape_res.Shape, shape_res.Color)] = self.get_shape_pos( normal_res, diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/move.py b/NaviGator/mission_control/navigator_missions/navigator_missions/move.py index 03017c09b..8ae428057 100755 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/move.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/move.py @@ -149,9 +149,7 @@ async def run(self, args): "yl": "yaw_left", "yr": "yaw_right", } - command = ( - command if command not in shorthand.keys() else shorthand[command] - ) + command = command if command not in shorthand else shorthand[command] movement = getattr(self.move, command) trans_move = command[:3] != "yaw" diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py index 9b977b0bf..7812e5108 100644 --- a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py +++ b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py @@ -187,9 +187,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): ) if classification_index != -1: self.send_feedback( - "{} identified. Canceling investigation".format( - move_id_tuple[1], - ), + f"{move_id_tuple[1]} identified. Canceling investigation", ) move_task.cancel() diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py index 3086e39b5..7ef98c064 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py @@ -151,9 +151,7 @@ async def explore_closest_until(self, is_done, filter_and_sort): ) if classification_index != -1: self.send_feedback( - "{} identified. Canceling investigation".format( - move_id_tuple[1], - ), + f"{move_id_tuple[1]} identified. Canceling investigation", ) move_id_tuple[0].cancel() await self.nh.sleep(1.0) diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py index f1483416f..2b1ef6d50 100644 --- a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py +++ b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py @@ -79,11 +79,7 @@ async def run(self, parameters): ) elif objects[key] != new_objects[key]: self.send_feedback( - "{} changed from {} to {}".format( - key, - objects[key], - new_objects[key], - ), + f"{key} changed from {objects[key]} to {new_objects[key]}", ) await self.announce_object( key, diff --git a/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py b/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py index 3cb7ab8a7..46e20b856 100755 --- a/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py +++ b/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py @@ -71,10 +71,7 @@ def test_odom(self): rospy.sleep(0.1) self.assertTrue( len(self.odom_pos_msg) == 3 and len(self.odom_ori_msg) == 4, - msg="POS, ORI: {}, {}".format( - len(self.odom_pos_msg), - len(self.odom_ori_msg), - ), + msg=f"POS, ORI: {len(self.odom_pos_msg)}, {len(self.odom_ori_msg)}", ) initial_pos = [-1.2319, 0.0, 0.0] initial_ori = [0.0, 0.0, 0.0, 1.0] @@ -100,10 +97,7 @@ def test_absodom(self): rospy.sleep(0.1) self.assertTrue( len(self.absodom_pos_msg) == 3 and len(self.absodom_ori_msg) == 4, - msg="POS, ORI: {}, {}".format( - len(self.absodom_pos_msg), - len(self.absodom_ori_msg), - ), + msg=f"POS, ORI: {len(self.absodom_pos_msg)}, {len(self.absodom_ori_msg)}", ) initial_pos = [743789.637462, -5503821.36715, 3125622.10477] initial_ori = [0.0, 0.0, 0.0, 1.0] @@ -122,25 +116,13 @@ def verify_pos_ori(self, pos, initial_pos, ori, initial_ori, topic): actual, initial, places=0, - msg=( - "Error: {} position is: {} should be {}".format( - topic, - actual, - initial, - ) - ), + msg=(f"Error: {topic} position is: {actual} should be {initial}"), ) for actual, initial in zip(ori, initial_ori): self.assertEqual( actual, initial, - msg=( - "Error: {} orientation is: {} should be {}".format( - topic, - actual, - initial, - ) - ), + msg=(f"Error: {topic} orientation is: {actual} should be {initial}"), ) def cam_info_right_cb(self, msg): @@ -229,10 +211,7 @@ def verify_not_empty(self, data_lists, num_topics): self.assertEqual( len(data_lists), num_topics, - msg="Number of topics is {}, should be {}".format( - len(data_lists), - num_topics, - ), + msg=f"Number of topics is {len(data_lists)}, should be {num_topics}", ) for data_list in data_lists: self.assertNotEqual(len(data_list), 0, msg="data is empty") @@ -243,13 +222,7 @@ def verify_info(self, res_info, initial_info, topic): self.assertNotEqual( actual_dim, initial_dim, - msg=( - "Error: {} is: {} shouldn't be {}".format( - topic, - actual_dim, - initial_dim, - ) - ), + msg=(f"Error: {topic} is: {actual_dim} shouldn't be {initial_dim}"), ) diff --git a/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py b/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py index d8583f010..59e6139e3 100755 --- a/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py +++ b/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py @@ -559,10 +559,7 @@ def connect(self) -> None: """ if not self.connected: rospy.loginfo( - "Attempting Connection to TD Server at {}:{}".format( - self.tcp_ip, - self.tcp_port, - ), + f"Attempting Connection to TD Server at {self.tcp_ip}:{self.tcp_port}", ) while not self.connected and not rospy.is_shutdown(): # recreate socket diff --git a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py index 0798c78e0..7d73fc1aa 100644 --- a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py +++ b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py @@ -50,7 +50,7 @@ async def get_object_by_id(self, my_id): req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) - ans = [obj for obj in resp.objects if obj.id == my_id][0] + ans = next(obj for obj in resp.objects if obj.id == my_id) return ans async def begin_observing(self, cb): diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py index 4781a760a..4055694d8 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py @@ -101,10 +101,7 @@ def _bag_done_cb(self, status, result): rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}") else: rospy.logwarn( - "KILL BAG {}, status: {}".format( - TerminalState.to_string(status), - result.status, - ), + f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}", ) def bagger_dump(self): diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py index 4a7638909..90a8e817b 100644 --- a/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py +++ b/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py @@ -101,9 +101,7 @@ def check_continuity(self, new_odom_msg: Odometry): # True if 'continuous' if jump > self.MAX_JUMP: rospy.logerr("ODOM DISCONTINUITY DETECTED") self.ab.raise_alarm( - problem_description="ODOM DISCONTINUITY DETECTED JUMPED {} METERS".format( - jump, - ), + problem_description=f"ODOM DISCONTINUITY DETECTED JUMPED {jump} METERS", severity=5, ) self.odom_discontinuity = True @@ -120,9 +118,7 @@ def need_kill(self): if odom_loss: rospy.logerr_throttle( 1, - "LOST ODOM FOR {} SECONDS".format( - (rospy.Time.now() - self.last_time).to_sec(), - ), + f"LOST ODOM FOR {(rospy.Time.now() - self.last_time).to_sec()} SECONDS", ) self.ab.raise_alarm( problem_description="LOST ODOM FOR {} SECONDS".format( diff --git a/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py b/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py index ea5c7bedb..870df6ac7 100755 --- a/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py +++ b/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py @@ -141,9 +141,7 @@ def wait_for_subscribers(self): while not rospy.is_shutdown() and self.publisher.get_num_connections() == 0: if i == 4: print( - "Waiting for subscriber to connect to {}".format( - self.publisher.name, - ), + f"Waiting for subscriber to connect to {self.publisher.name}", ) rospy.sleep(0.5) i += 1 diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py b/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py index aad130049..7a88e8908 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/arm_torpedos.py @@ -170,9 +170,7 @@ async def fire(self, target: str): ) self.print_good( - "{} locked. Firing torpedoes. Hit confirmed, good job Commander.".format( - target, - ), + f"{target} locked. Firing torpedoes. Hit confirmed, good job Commander.", ) sub_pos = await self.tx_pose() print("Current Sub Position: ", sub_pos) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py index f395bd1e0..0886298e1 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/start_gate.py @@ -160,9 +160,7 @@ def find_gate( p2 = rosmsg_to_numpy(o2.pose.position) if distance.euclidean(p, p2) > max_distance_away: fprint( - "Poles too far away. Distance {}".format( - distance.euclidean(p, p2), - ), + f"Poles too far away. Distance {distance.euclidean(p, p2)}", ) continue if distance.euclidean(p, p2) < min_distance_away: @@ -180,10 +178,7 @@ def find_gate( continue if abs(line[0]) < 1 and abs(line[1]) < 1: fprint( - "Objects on top of one another. x {}, y {}".format( - line[0], - line[1], - ), + f"Objects on top of one another. x {line[0]}, y {line[1]}", ) continue return (p, p2) diff --git a/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py b/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py index 693fc3bd7..8e498fc4d 100644 --- a/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py +++ b/SubjuGator/command/subjugator_missions/subjugator_missions/sub_singleton.py @@ -599,7 +599,7 @@ async def start_search_in_cone( distance_tol: float = 10, speed: float = 0.5, clear: bool = False, - c_func: Callable = None, + c_func: Callable | None = None, ): if clear: print("SONAR_OBJECTS: clearing pointcloud") diff --git a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config index 5d12dad06..f818bd613 100755 --- a/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config +++ b/SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config @@ -110,9 +110,7 @@ def test(): assert numpy.allclose( shift2, shift, - ), "Magnetic Hardsoft Compenstion self-test failed, shifts: {}".format( - (shift2, shift), - ) + ), f"Magnetic Hardsoft Compenstion self-test failed, shifts: {(shift2, shift)}" assert ( error < 1e-5 ), f"Magnetic Hardsoft Compenstion self-test failed, error: {error}" diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py index c62f5732b..19df02c33 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/handle.py @@ -109,9 +109,7 @@ def on_command(self, msg: Thrust) -> None: # If we don't have a mapping for this thruster, ignore it if cmd.name not in self.thrusters: rospy.logwarn( - "Command received for {}, but this is not a thruster.".format( - cmd.name, - ), + f"Command received for {cmd.name}, but this is not a thruster.", ) continue # Map commanded thrust (in newetons) to effort value (-1 to 1) diff --git a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py index 8cc3a0f27..dcd1aaa0b 100644 --- a/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py +++ b/SubjuGator/drivers/sub8_thrust_and_kill_board/sub8_thrust_and_kill_board/packets.py @@ -287,7 +287,4 @@ def command(self) -> float: return struct.unpack("f", self.payload[1:])[0] def __str__(self): - return "ThrustPacket(thruster_id={}, command={})".format( - self.thruster_id, - self.command, - ) + return f"ThrustPacket(thruster_id={self.thruster_id}, command={self.command})" diff --git a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py index 29665f12a..c70e5e258 100755 --- a/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py +++ b/SubjuGator/perception/subjugator_perception/ml_classifiers/path_marker/path_localizer.py @@ -17,7 +17,7 @@ rospack.get_path("subjugator_perception") + "/ml_classifiers/path_marker/utils", ) -from utils import detector_utils # noqa: manually appending sys.path +from utils import detector_utils # noqa class classifier: diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py index 8236940ac..c03b318d2 100755 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/sub8_driver.py @@ -85,9 +85,7 @@ def read_packet(self) -> bool: self.handles[packet.device].on_data(packet.data) else: rospy.logwarn( - "Message received for device {}, but no handle registered".format( - packet.device, - ), + f"Message received for device {packet.device}, but no handle registered", ) return True diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py index 2d2558f57..0ef0cf9a1 100644 --- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py +++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub8/utils.py @@ -26,10 +26,7 @@ class ChecksumException(USB2CANException): def __init__(self, calculated, expected): super().__init__( - "Checksum was calculated as {} but reported as {}".format( - calculated, - expected, - ), + f"Checksum was calculated as {calculated} but reported as {expected}", ) diff --git a/mil_common/mil_missions/mil_missions_gui/dashboard.py b/mil_common/mil_missions/mil_missions_gui/dashboard.py index f3f224243..440dc85b9 100755 --- a/mil_common/mil_missions/mil_missions_gui/dashboard.py +++ b/mil_common/mil_missions/mil_missions_gui/dashboard.py @@ -195,11 +195,10 @@ def ui_log(self, string): """ self.lock.acquire() date_time = datetime.datetime.fromtimestamp(rospy.Time.now().to_time()) - time_str = "{}:{}:{}".format( - date_time.hour, - date_time.minute, - date_time.second, - ).ljust(12, " ") + time_str = f"{date_time.hour}:{date_time.minute}:{date_time.second}".ljust( + 12, + " ", + ) formatted = time_str + string self.feedback_list.addItem(formatted) self.lock.release() @@ -242,9 +241,7 @@ def transition_cb(self, goal, handler): self.current_mission_status = terminal_state self.current_mission_status_label.setText(self.current_mission_status) self.ui_log( - "FINISHED: mission finished ({})".format( - self.current_mission_status, - ), + f"FINISHED: mission finished ({self.current_mission_status})", ) def reload_available_missions(self, _): diff --git a/mil_common/mil_missions/nodes/mission_client b/mil_common/mil_missions/nodes/mission_client index 2ff81d944..230547f8e 100755 --- a/mil_common/mil_missions/nodes/mission_client +++ b/mil_common/mil_missions/nodes/mission_client @@ -30,9 +30,7 @@ class MissionClientCli: missions = MissionClient.available_missions() if not missions: print( - "{} param not set. Is mission runner running?".format( - MissionClient.LIST_PARAM, - ), + f"{MissionClient.LIST_PARAM} param not set. Is mission runner running?", ) return print("Available Missions:") diff --git a/mil_common/mil_missions/test/test_import_missions.py b/mil_common/mil_missions/test/test_import_missions.py index e03fb7e82..c09c8f13b 100755 --- a/mil_common/mil_missions/test/test_import_missions.py +++ b/mil_common/mil_missions/test/test_import_missions.py @@ -21,10 +21,7 @@ def test_import_missions(self): if not hasattr(mission_module, self.base_class): self.fail( - msg="{} doesn't have base mission {}".format( - self.module, - self.base_class, - ), + msg=f"{self.module} doesn't have base mission {self.base_class}", ) base_mission = getattr(mission_module, self.base_class) diff --git a/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py b/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py index dcfb694a1..42b6112b2 100644 --- a/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py +++ b/mil_common/perception/mil_vision/mil_vision_tools/cv_tools.py @@ -79,7 +79,7 @@ def __init__( self.conversion_code = conversion_code @classmethod - def from_dict(cls, d, in_space: str = "BGR", thresh_space: str = None): + def from_dict(cls, d, in_space: str = "BGR", thresh_space: Optional[str] = None): """ Loads thresholds from a dictionary. See examples for valid dictionaries. @@ -114,9 +114,7 @@ def from_dict(cls, d, in_space: str = "BGR", thresh_space: str = None): d.keys(), ), ) - assert thresh_space in d, "{} color space not in dictionary".format( - thresh_space, - ) + assert thresh_space in d, f"{thresh_space} color space not in dictionary" inner = d[thresh_space] if "low" in inner and "high" in inner: return cls( diff --git a/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py b/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py index c243ae950..22e52987c 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/extract_bag_images.py @@ -150,17 +150,11 @@ def get_camera_model(bag: str, topic: str): _, msg, _ = next(bag.read_messages(topics=camera_info_topic)) except StopIteration: raise Exception( - "no camera info messages found on topic {} in {}".format( - camera_info_topic, - bag, - ), + f"no camera info messages found on topic {camera_info_topic} in {bag}", ) if msg._type != "sensor_msgs/CameraInfo": raise Exception( - "msg on topic {} are not camera info in bag {}".format( - camera_info_topic, - bag, - ), + f"msg on topic {camera_info_topic} are not camera info in bag {bag}", ) model = PinholeCameraModel() model.fromCameraInfo(msg) @@ -218,10 +212,7 @@ def extract_images(self, source_dir=".", image_dir=".", verbose=False): """ if verbose: print( - "\tExtracting images from topic {} in {}".format( - self.topic, - self.filename, - ), + f"\tExtracting images from topic {self.topic} in {self.filename}", ) filename = os.path.join(source_dir, self.filename) b = rosbag.Bag(filename) diff --git a/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py b/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py index d3a98fa67..4e6c7231c 100755 --- a/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/label_me_bag.py @@ -263,10 +263,7 @@ def completion_report(self): total_img_count += i if total_img_count == 0: print( - "{}/{} TOTAL images labeled (0%)".format( - total_xml_count, - total_img_count, - ), + f"{total_xml_count}/{total_img_count} TOTAL images labeled (0%)", ) else: print( diff --git a/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py b/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py index 9ffa9b2d9..8ab315818 100644 --- a/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py +++ b/mil_common/utils/mil_tools/mil_ros_tools/msg_helpers.py @@ -58,10 +58,7 @@ def rosmsg_to_numpy(rosmsg, keys=None): break assert ( len(output_array) != 0 - ), "Input type {} has none of these attributes {}.".format( - type(rosmsg).__name__, - keys, - ) + ), f"Input type {type(rosmsg).__name__} has none of these attributes {keys}." return np.array(output_array).astype(np.float32) else: diff --git a/mil_common/utils/mil_tools/nodes/online_bagger.py b/mil_common/utils/mil_tools/nodes/online_bagger.py index 2580f5cf2..5a0c6bb32 100755 --- a/mil_common/utils/mil_tools/nodes/online_bagger.py +++ b/mil_common/utils/mil_tools/nodes/online_bagger.py @@ -71,10 +71,7 @@ def get_subscriber_list(self, status): sub_list = "" for topic in self.subscriber_list: if self.subscriber_list[topic][1] == status: - sub_list = sub_list + "\n{:13}, {}".format( - self.subscriber_list[topic], - topic, - ) + sub_list = sub_list + f"\n{self.subscriber_list[topic]:13}, {topic}" return sub_list def get_params(self): diff --git a/mil_common/utils/mil_tools/nodes/tf_fudger.py b/mil_common/utils/mil_tools/nodes/tf_fudger.py index 58a647757..0ae508c98 100755 --- a/mil_common/utils/mil_tools/nodes/tf_fudger.py +++ b/mil_common/utils/mil_tools/nodes/tf_fudger.py @@ -45,10 +45,7 @@ ang_res = ang_range / ang_max print( - "Distance resolution: {} meters\nAngular resolution: {} radians".format( - x_res, - ang_res, - ), + f"Distance resolution: {x_res} meters\nAngular resolution: {ang_res} radians", ) cv2.createTrackbar("x", "tf", 0, x_max, lambda x: x) diff --git a/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py b/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py index b587dfb88..9363d3c4f 100755 --- a/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py +++ b/mil_common/utils/mil_tools/nodes/tf_to_gazebo.py @@ -25,12 +25,7 @@ def main(): if do_cam_fix: rot = tf.transformations.quaternion_multiply(rot, cam_fix_quat) print( - "(qx={}, qy={} , qz={}, qw={})".format( - rot[0], - rot[1], - rot[2], - rot[3], - ), + f"(qx={rot[0]}, qy={rot[1]} , qz={rot[2]}, qw={rot[3]})", ) print(f"(x={trans[0]}, y={trans[1]}, z={trans[2]})") euler = tf.transformations.euler_from_quaternion(rot) diff --git a/ruff.toml b/ruff.toml index 69b8787be..0ec9c21f1 100644 --- a/ruff.toml +++ b/ruff.toml @@ -35,6 +35,7 @@ ignore = [ "D212", # we use second line! "D200", # one line docstrings are not shortened! "SIM115", # too many for now... + "RUF012", # too many for now, adds obvious ClassVar statements ] [per-file-ignores] From eabe354b9da877f99d1e1aa2929fce0de97517e7 Mon Sep 17 00:00:00 2001 From: Keith Khadar <113483023+Keith-Khadar@users.noreply.github.com> Date: Tue, 29 Aug 2023 15:05:30 -0400 Subject: [PATCH 5/9] Gazebo guide (#1068) * Added Gazebo Guide * Added guide to index.rst & fixed numbering * added some pictures & and some changes * typo * Styling, wording changes * Move gazebo images in docs to images dir, move gazebo guide up in software docs index, small formatting changes --------- Co-authored-by: Cameron Brown Co-authored-by: cameron brown <52760912+cbrxyz@users.noreply.github.com> --- docs/images/gazebo/Bottom_Toolbar.png | Bin 0 -> 23633 bytes docs/images/gazebo/Interface.png | Bin 0 -> 102011 bytes docs/images/gazebo/Labeled_Interface.png | Bin 0 -> 118090 bytes docs/images/gazebo/Menus.png | Bin 0 -> 76059 bytes docs/images/gazebo/Model_Editor.png | Bin 0 -> 114515 bytes docs/images/gazebo/Mouse.png | Bin 0 -> 29799 bytes docs/images/gazebo/TrackPad.png | Bin 0 -> 27596 bytes docs/images/gazebo/Upper_Toolbar.png | Bin 0 -> 20065 bytes docs/software/gazebo_guide.md | 327 +++++++++++++++++++++++ docs/software/index.rst | 1 + 10 files changed, 328 insertions(+) create mode 100644 docs/images/gazebo/Bottom_Toolbar.png create mode 100644 docs/images/gazebo/Interface.png create mode 100644 docs/images/gazebo/Labeled_Interface.png create mode 100644 docs/images/gazebo/Menus.png create mode 100644 docs/images/gazebo/Model_Editor.png create mode 100644 docs/images/gazebo/Mouse.png create mode 100644 docs/images/gazebo/TrackPad.png create mode 100644 docs/images/gazebo/Upper_Toolbar.png create mode 100644 docs/software/gazebo_guide.md diff --git a/docs/images/gazebo/Bottom_Toolbar.png b/docs/images/gazebo/Bottom_Toolbar.png new file mode 100644 index 0000000000000000000000000000000000000000..de1fb6d987adfddab035b0ccd9b5d2421118fe9b GIT binary patch literal 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zgaCKBGV*=j@?9g3AGn_k)NBU!4zjb=f!n4!epd^8mSsuk`*z7x9(cyi0gepd9$FV* z(>37Lo|s_BsR>=+xKcg$=&i$@`^?~Nrw(tP{L6fA=)`F0r42k$(#e0SfqO*n z?BxV@7-wDp2VRH>C^N2T0iHeuISi-o~#FDpM}sQJo)m z>&fKrzs+`k+V?WE>}__R)$hPHW{V5G=HtIPQV@7hS;1wWG)9B;FCPug@yj2v z$aW3#TpW>m?Co3gCPoH^u%?qb4KlO8RU68FdEUnsr+gBoe5W z%U~w!hDCWxuL9+Y*Y|F|HZ}Fl;&XK>Q%lN33NF3YDV_hZ(3*=sJ8+fk(G9Wv-Qnkx zab{Y9UT#(6IO^2eFy{=SaFYp068yuV&v z-EZ3nw5ngmnB~OIptl)$j@5;m#V$M6zvR?qU}&%jNMn3*=c(Xz&=#gdKq=v;AkC40JRD!;>~6ZXnfg2dEWDPmn&P({R+!MWLL5 zA;DB*GlN*QCeu#fiEpbNfxbKNEAPFEQkl{s{oehHV-roS(<>~6@vd$@?2>=}d-&Ftr literal 0 HcmV?d00001 diff --git a/docs/software/gazebo_guide.md b/docs/software/gazebo_guide.md new file mode 100644 index 000000000..752147b10 --- /dev/null +++ b/docs/software/gazebo_guide.md @@ -0,0 +1,327 @@ +# Gazebo Guide + +This is a guide on how to use Gazebo, including launching the sub and +viewing it inside Gazebo, how Gazebo can be controlled and manipulated, how to +use Gazebo to make world files, and where you can find more info on Gazebo. + +## Brief Introduction + +Gazebo is an open-source 3D dynamic simulator, that allows us to design, model, +and test robots and their behavior in a virtual world. Similar to game engines +like Unity, Gazebo takes in scripts and models and performs physics simulations +on them. While it is similar, Gazebo offers physics simulations at a higher level +of fidelity, a suite of sensors, and interfaces for both users and programs. + +There are many versions of Gazebo, but this guide was written for **Gazebo +Classic 11** as this is the version of Gazebo currently being used at MIL. + +### Running Gazebo + +There are many ways run Gazebo. + +* Click the "Show Applications" button on Ubuntu (the apps button located in + the bottom left corner). Then search for the Gazebo Icon and press that icon + to open Gazebo. + +* You can press Alt + F2 (or Alt+Fn+F2) to bring up the "Run a Command" window. + Then type "gazebo" and press Enter to open Gazebo. + +* You can also open a terminal and type "gazebo" and it will open Gazebo. + +To launch Gazebo will all the necessary files for simulating Subjugator, +follow these steps: + +1. Open a terminal window and execute the following command. This command uses + ROS to start all the relevant ROS nodes and to load the world file for + subjugator. This also starts a Gazebo Sever. + + ```bash + roslaunch subjugator_launch gazebo.launch --screen + ``` + + :::{note} + `--screen` forces all ROS node output to the screen. It is used for debugging. + ::: + +1. Then in another terminal window run this command to start the Gazebo + graphical client, which connects to the Gazebo Sever. + + ```bash + gazebogui + ``` + +1. Then in another terminal window run this command and then press Shift-C to + unkill the sub to allow movement. + + ```bash + amonitor kill + ``` + +1. Execute the following command to start a specific mission, replacing + "StartGate2022" with the name of the desired mission: + + ```bash + mission run StartGate2022 + ``` + +## How to use Gazebo + +### User Interface + +When you launch Gazebo you will be greeted by its user interface. + +![Gazebo Interface](/images/gazebo/Interface.png) + +The Gazebo interface consists of three main sections: The **Left Panel**, the +**Scene**, and the **Right Panel**. By default the Right Panel is hidden. This +is because we do not have anything selected. To show the right panel you can +always Click and drag the bar on the right to open it. + +![Gazebo Labeled Interface](/images/gazebo/Labeled_Interface.png) + +#### Left Panel + +The Left Panel has three tabs, each with different features. You can see +these tabs at the top of the Left Panel. You can click on them to switch +between them. The tabs are: + +##### World Tab + +The World Tab displays the models that are currently in the scene. Within this +tab, you can view and modify various model parameters, like their pose (their +position and rotation). Additionally, you can expand the GUI option to adjust +the camera view angle by modifying the camera pose. + +##### Insert Tab + +The Insert Tab allows you to add new models (objects) to the Gazebo simulation. +Here, you will find a list of file paths where your models are saved. To view +the model list, click on the arrow located on the left side of each path to +expand the folder. Select the desired model and click again in the scene to +place it. + +##### Layers Tab + +The Layers tab organizes and displays different visualization groups within +the simulation. Layers can contain one or more models, and enabling or disabling +a layer will show or hide all the models within it. While not mandatory, layers +can be helpful for organizing your simulation. Note that this tab may be empty +if no layers are defined. + +To define a layer, you will need to edit a model's SDF file. To add an +object's visuals to a layer you will need to add a `` tag for information +and then a `` tag with the layer number under each `` tag. Below +is an example: + +```xml + + + 0 + + ... + +``` + +#### Scene + +The Scene is the main window where objects are animated, and you interact with +the environment. Two toolbars are available: + +##### The Upper Toolbar + +The Upper Toolbar consists of various buttons that allow you to select, move, +rotate, and scale objects. It also provides options to create simple shapes, +as well as copy and paste objects. + +![Gazebo Upper Toolbar](/images/gazebo/Upper_Toolbar.png) + +##### The Bottom Toolbar + +The Bottom Toolbar displays information about the simulation time and its +relationship to real time. It helps you track the progress of your simulation. + +![Gazebo Bottom Toolbar](/images/gazebo/Bottom_Toolbar.png) + +#### Right Panel + +The Right Panel is used to interact with the mobile parts (joints) of a +selected model. It provides controls and settings specific to manipulating +the joints of a model. + +#### Menus (File, Edit, Camera, View, Window, Help) + +Most Linux apps have menus. These menus are usually tabs (file, edit, ...) at +the top left of an application. If you don't see it move your cursor to the +top of the application window and the menus should appear. Below describes +the features of each menu that Gazebo has. + +![Gazebo Menus](/images/gazebo/Menus.png) + +#### Mouse + +It is recommended that you use a mouse when using Gazebo. Below is a diagram +showing all the mouse controls. + +![Gazebo Mouse Controls](/images/gazebo/Mouse.png) + +However, if you want to use a trackpad you can. Below are the controls for +the trackpad: + +![Gazebo Mouse Controls](/images/gazebo/TrackPad.png) + +## How to Create Models + +The structure for most models in Gazebo is that the model is a folder that +contains a .config file, .SDF file(s), and .dae or .stl file(s). The config +file contains meta information about the model. The .SDF file contains +important simulation information like model definitions, the model's +positioning, its physical properties, etc. The .dae or .stl files contain 3D +mesh information. When creating a model it's recommended that you have all +these components. + +### Model Editor + +You can use the **Model Editor** to create simple models all within Gazebo, +but for more complex models you will want to create/write your own SDF files +and .dae files. + +To enter the **Model Editor**, click on Edit in the menu bar and select Model Editor. + +The Model Editor Interface looks similar to the regular Gazebo UI with some +slight changes. The left panel and the top toolbar have been changed to +contain only buttons and features for editing and creating parts of a model. +The bottom toolbar is now hidden as the simulation is paused. + +![Gazebo Model Editor](/images/gazebo/Model_Editor.png) + +When entering the Model Editor all other models will turn white. This can make +it hard to see the model you are currently working on if you have a lot of +models in your scene. So it may be easier to open a blank Gazebo world and +create the model using the Model Editor there. Then when you exit the Model +Editor it will ask you to save the model. This will save the model as a folder +on your computer. Then you can go back to the original world and insert +this model, by going to the insert tab (note this is the regular insert tab, +not the one in the model editor) and adding that model folder's file path. + +:::{note} +When inserting a model, make sure that the file path you pick is the path to +the parent directory. This directory contains the model folder you want to +insert. Do not put the path to the model folder. Often this parent +directory will contain all the models you want to use. The file hierarchy +might look like this: where models is the parent directory and contains the +models model1 and buoys. + +``` + models/ + ├── model_1/ + │ ├── model.config + │ ├── model1.sdf + │ ├── model1.dae + │ └── ... + ├── buoys/ + │ ├── model.config + │ ├── green.sdf + │ ├── red.sdf + │ └── ... +``` + +::: + +#### Insert Tab + +The Insert Tab allows you to add new parts, including links and models, to +your model. You have two options for inserting shapes (links): + +* Simple Shapes: Click on the desired shape in the left panel and then click + again in the scene to place it. + +* Custom Shapes: You can add COLLADA (.dae), 3D Systems (.stl), Wavefront + (.obj), and W3C SVG (.svg) files as custom shapes. Create these shapes + using 3D modeling software like Blender. + +You can also insert other models into your model as nested models. These +models can be obtained from the Gazebo Model Database +(http://gazebosim.org/models/), which should be listed as one of your file +paths under Model Databases. For example, if you need a depth sensor, you can +add a depth sensor model from the database to your model. + +#### Model Tab + +The Model Tab displays the settings for the model you are creating. Here, you +can change the model's name and modify its basic parameters. Additionally, you +can add plugins to give your model functionality here as well. + +#### Placing Shapes + +Once you insert a shape, you can use the toolbar to move, rotate, and scale +it. For finer control, you can double-click the shape or right-click and +select "Open Link Inspector" to access the link inspector. In the link +inspector, you can modify the shape's position, rotation, and scale to +achieve the desired configuration. Make sure to adjust the scale in both the +Visual and Collision tabs. + +#### Adding Joints + +To constrain the motion between shapes, you can add joints. Follow these steps: + +* Click on the joint icon in the toolbar (a line connecting two points). + +* In the Joint Creation Window, select the parent and child links (shapes) + of the joint. + +* Select the type of joint you need in the Joint Types section near the top + of the window. + +* Select the joint axis. Some joints do not have an axis. + +* Align the link (shape). Use the align links section to align the parent + and the child with each other. + +#### Adding a Plugin + +To control your model, you need to create a plugin. You can do this in the +Model Tab by specifying the necessary details for the plugin. + +You can find more information on how to create your own custom plugins [here](https://classic.gazebosim.org/tutorials?tut=ros_gzplugins). + +#### Model Creation Workflow Example + +To illustrate the model creation process, let's consider creating a car model +using Blender: + +* Create .dae files for the wheels, chassis, and other parts in Blender. + +* Insert these shapes into the Model Editor. + +* Use the toolbar and link inspector to position each shape precisely. + +* Add joints between the shapes to enable motion constraints. + +* Finally, create a plugin to control the model's behavior. + +### World File + +A World in Gazebo is used to describe the collection of robots and objects, +and global parameters like the sky, ambient light, and physics properties. +A World is the entire virtual environment that you have been +working in. The World stores important information like where all the models +are, their properties, and important global properties. + +You can save the World file by selecting File and Save World As. + +:::{note} +When using roslaunch to start Gazebo, it is crucial to update the World file +if you make any changes to the simulation environment. At MIL, there is a +dedicated `worlds` folder where Gazebo World files are saved. When you update +a World file, ensure that you replace the old file in this folder. Failing +to do so will result in the continued use of the old World file when +launching Gazebo using roslaunch. +::: + +## More Info + +If you ever need more information on how any aspect of Gazebo works or how to +use ROS with Gazebo you can check out the official Gazebo Documentation [here](https://classic.gazebosim.org/tutorials). +Some of the images used in this guide are sourced from here and we are grateful +to the creators for their exceptional work, which has been instrumental in +writing this guide. diff --git a/docs/software/index.rst b/docs/software/index.rst index 61b036c7c..baa9a4f85 100644 --- a/docs/software/index.rst +++ b/docs/software/index.rst @@ -17,6 +17,7 @@ Various documentation related to practices followed by the MIL Software team. Bash Style Guide C++ Style Guide Python Style Guide + Gazebo Guide Migrating to ROS Noetic Installing NVIDIA Drivers for RTX 2080 Installing Ubuntu 18.04 on an M-series Apple computer From 1562ae96ac3780942064d1d34e093fa5bddfcfc4 Mon Sep 17 00:00:00 2001 From: nnethaji <131146523+nnethaji@users.noreply.github.com> Date: Wed, 30 Aug 2023 02:37:33 +0530 Subject: [PATCH 6/9] Updated `ros-tooling/setup-ros` to the latest version (#1063) * updated ros-tooling to the latest version * Update ci.yaml * setup ROS * Update ci.yaml * Remove humble and unused command * remove trailing zero * update pip to pip3? --------- Co-authored-by: Cameron Brown --- .github/workflows/ci.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index a510eb91b..a99604c0e 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -37,13 +37,13 @@ jobs: submodules: recursive path: catkin_ws/src/mil - name: Setup ROS Noetic - uses: ros-tooling/setup-ros@v0.3 + uses: ros-tooling/setup-ros@v0.7 with: required-ros-distributions: noetic - name: Install pip dependencies run: | cd $GITHUB_WORKSPACE/catkin_ws/src/mil - pip install -r requirements.txt + pip3 install -r requirements.txt # We want to run a full test suite in CI - this includes the BlueView # tests! - name: Install BlueView Sonar SDK From fa48768af70530d2e4d735b80be0712b225beec7 Mon Sep 17 00:00:00 2001 From: Mrinall Umasudhan Date: Sun, 3 Sep 2023 21:49:07 -0400 Subject: [PATCH 7/9] Rqt docs (#1069) * Create rqt.md * Update index.rst * Update rqt.md * Update rqt.md * Update rqt.md * Update rqt.md * Update rqt.md * Update rqt.md * Update rqt.md * Markdown formatting * Formatting updates --------- Co-authored-by: Cameron Brown Co-authored-by: cameron brown <52760912+cbrxyz@users.noreply.github.com> --- docs/software/index.rst | 1 + docs/software/rqt.md | 437 ++++++++++++++++++++++++++++++++++++++++ 2 files changed, 438 insertions(+) create mode 100644 docs/software/rqt.md diff --git a/docs/software/index.rst b/docs/software/index.rst index baa9a4f85..9e779a0eb 100644 --- a/docs/software/index.rst +++ b/docs/software/index.rst @@ -13,6 +13,7 @@ Various documentation related to practices followed by the MIL Software team. help zobelisk asyncio + rqt rostest Bash Style Guide C++ Style Guide diff --git a/docs/software/rqt.md b/docs/software/rqt.md new file mode 100644 index 000000000..258c43522 --- /dev/null +++ b/docs/software/rqt.md @@ -0,0 +1,437 @@ +# Implementing GUI Based Tools Using `rqt` + +## Introduction + +RQT (ROS Qt-based GUI Framework) is a powerful tool that provides a graphical +user interface for ROS (Robot Operating System) applications. It allows users +to monitor ROS topics, interact with nodes, visualize data, and more. This +document serves as a user guide for understanding and effectively using RQT. + +### Benefits of RQT + +- **Graphical Interface**: RQT provides a user-friendly graphical interface, + making it easier to visualize data, monitor topics, and interact with nodes. + This is especially helpful for users who prefer a GUI based approach over + the command line. + +- **Centralized Tool**: RQT serves as a centralized tool for various ROS tasks, + including visualization, configuration, and debugging. This reduces the need + to switch between multiple terminals and tools, streamlining the development + process. + +- **Extensibility**: RQT's plugin architecture allows users to create custom + plugins to tailor the tool to their specific application needs. This + extensibility significantly enhances RQT's capabilities and to various + robotic systems. + +- **Integration with ROS**: RQT is tightly integrated with ROS, ensuring + seamless interaction with ROS nodes, topics, and services. This integration + simplifies the process of debugging and analyzing data in real-time. + +## Installation + +Before using RQT, make sure you have ROS installed on your system. If ROS is +not yet installed, follow the official ROS installation guide for your +operating system. Once ROS is installed, you can install RQT using the package +manager: + +```bash +sudo apt-get install ros-noetic-rqt +``` + +## Getting Started + +### Launching RQT + +To launch RQT, open a terminal and run the following command: + +```bash +rqt +``` + +This command will launch the RQT Graphical User Interface, displaying a +default layout with available plugins. + +## Monitoring Information with RQT + +RQT provides various plugins to monitor information published on specific ROS +topics. The most common plugin for this purpose is the Plot plugin. + +### Subscribing to Specific Topics + +1. Open RQT using the command mentioned in the previous section. +1. Click on the "Plugins" menu in the top toolbar and select "Topics" > + "Message Publisher." +1. A new "Message Publisher" tab will appear. Click on the "+" button to + subscribe to a specific topic. +1. Choose the desired topic from the list and click "OK." +1. Now, you can monitor the information published on the selected topic in + real-time. + +### Displaying Data with Plot Plugin + +1. Open RQT using the command mentioned earlier. +1. Click on the "Plugins" menu in the top toolbar and select + "Visualization" > "Plot." +1. A new "Plot" tab will appear. Click on the "+" button to add a plot. +1. Choose the topic you want to visualize from the list, select the message + field, and click "OK." +1. The plot will start displaying the data sent over the selected topic. + +## Configuring RQT + +RQT allows users to customize its appearance and layout to suit their preferences. + +### Theme Configuration + +1. Open RQT using the command mentioned earlier. +1. Click on the "View" menu in the top toolbar and select "Settings." +1. In the "Settings" window, go to the "Appearance" tab. +1. Here, you can change the color scheme, font size, and other visual settings. + +### Layout Configuration + +1. Open RQT using the command mentioned earlier. +1. Rearrange existing plugins by clicking on their tab and dragging them to + a new position. +1. To create a new tab, right-click on any existing tab and select "Add New Tab." +1. Drag and drop desired plugins onto the new tab. +1. Save your customized layout by going to the "View" menu and selecting + "Perspectives" > "Save Perspective." + +## Writing RQT Plugins + +RQT allows users to create their custom plugins to extend its functionality. +Writing RQT plugins is essential when the available plugins do not fully +meet your application's requirements. + +### Plugin Structure + +To write an RQT plugin, you need to follow a specific directory structure and +include Python or C++ code to implement the plugin's functionality. The +essential components of an RQT plugin are: + +- **Plugin XML (`plugin.xml`)**: This file defines the plugin and its + dependencies, specifying essential information like name, description, + and which ROS packages it depends on. + +- **Python or C++ Code**: This code contains the actual implementation of the + plugin's functionality. For Python plugins, the code should extend the + `rqt_gui_py::Plugin` class, while for C++ plugins, it should extend the + `rqt_gui_cpp::Plugin` class. + +### Implementing a Basic Plugin + +In this section, we will walk through an example of implementing a basic RQT +plugin. We will create a simple plugin to display the current time published +by a ROS topic. The plugin will consist of a label that updates with the +current time whenever a new message is received. + +#### Step 1: Create the Plugin Package + +Create a new ROS package for your plugin using the `catkin_create_pkg` command: + +```bash +catkin_create_pkg my_rqt_plugin rospy rqt_gui_py +``` + +The package dependencies `rospy` and `rqt_gui_py` are required to work with +ROS and create a Python-based RQT plugin. + +#### Step 2: Implement the Plugin Code + +Next, create a Python script for your plugin. In the `src` directory of your +package, create a file named `my_rqt_plugin.py` with the following content: + +```python +#!/usr/bin/env python + +import rospy +from rqt_gui_py.plugin import Plugin +from python_qt_binding.QtWidgets import QLabel, QVBoxLayout, QWidget +from std_msgs.msg import String +import time + +class MyRqtPlugin(Plugin): + + def __init__(self, context): + super(MyRqtPlugin, self).__init__(context) + self.setObjectName('MyRqtPlugin') + + # Create the main widget and layout + self._widget = QWidget() + layout = QVBoxLayout() + self._widget.setLayout(layout) + + # Create a label to display the current time + self._label = QLabel("Current Time: N/A") + layout.addWidget(self._label) + + # Subscribe to the topic that provides the current time + rospy.Subscriber('/current_time', String, self._update_time) + + # Add the widget to the context + context.add_widget(self._widget) + + def _update_time(self, msg): + # Update the label with the received time message + self._label.setText(f"Current Time: {msg.data}") + + def shutdown_plugin(self): + # Unregister the subscriber when the plugin is shut down + rospy.Subscriber('/current_time', String, self._update_time) + + def save_settings(self, plugin_settings, instance_settings): + # Save the plugin's settings when needed + pass + + def restore_settings(self, plugin_settings, instance_settings): + # Restore the plugin's settings when needed + pass + +``` + +In this code, we create a plugin class named `MyRqtPlugin`, which inherits +from `rqt_gui_py.Plugin`. The `__init__` method sets up the GUI elements, such +as a label, and subscribes to the `/current_time` topic to receive time updates. + +#### Step 3: Add the Plugin XML File + +Create a file named `plugin.xml` in the root of your package to define the +plugin. Add the following content to the `plugin.xml`: + +```xml + + + + A custom RQT plugin to display the current time. + + + + settings + Display the current time. + + + +``` + +This XML file defines the plugin class, its description, and the icon to be +displayed in the RQT GUI. + +#### Step 4: Build the Plugin + +Build your plugin package using `catkin_make`: + +```bash +catkin_make +``` + +#### Step 5: Launch RQT and Load the Plugin + +Launch RQT using the command mentioned earlier: + +```bash +rqt +``` + +Once RQT is open, navigate to the "Plugins" menu and select "My RQT Plugin" +from the list. The plugin will be loaded, and you should see the label +displaying the current time. + +### Adding Custom Functionality + +The example plugin we implemented is a simple demonstration of how to create +an RQT plugin. Depending on your application's requirements, you can add more +sophisticated features, such as custom data visualization, interactive +controls, and integration with other ROS elements. + +You can also improve the plugin by adding error handling, additional options +for time formatting, and the ability to pause/resume the time updates. + +## Implementing a More Advanced Plugin + +In this section, we will implement a more advanced RQT plugin that visualizes +data from multiple ROS topics using a 2D plot. This plugin will allow users to +choose which topics to plot and specify the message field to display on the X +and Y axes. Let's call this plugin "ROS Data Plotter." + +### Step 1: Create the Plugin Package + +Create a new ROS package for your plugin using the `catkin_create_pkg` command: + +```bash +catkin_create_pkg ros_data_plotter rospy rqt_gui_py matplotlib +``` + +The package dependencies `rospy`, `rqt_gui_py`, and `matplotlib` are required +to work with ROS, create a Python-based RQT plugin, and plot data, respectively. + +### Step 2: Implement the Plugin Code + +Next, create a Python script for your plugin. In the `src` directory of your +package, create a file named `ros_data_plotter.py` with the following content: + +```python +#!/usr/bin/env python + +import rospy +from rqt_gui_py.plugin import Plugin +from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QComboBox +from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas +from matplotlib.figure import Figure +from std_msgs.msg import Float32 # Modify this import based on your data type + +class ROSDataPlotter(Plugin): + + def __init__(self, context): + super(ROSDataPlotter, self).__init__(context) + self.setObjectName('ROSDataPlotter') + + # Create the main widget and layout + self._widget = QWidget() + layout = QVBoxLayout() + self._widget.setLayout(layout) + + # Create a combo box to select topics and message fields + self._topic_field_selector = QComboBox() + self._topic_field_selector.currentIndexChanged.connect(self._update_plot) + layout.addWidget(self._topic_field_selector) + + # Create the matplotlib figure and plot + self._figure = Figure() + self._canvas = FigureCanvas(self._figure) + layout.addWidget(self._canvas) + + # Initialize the plot + self._update_plot() + + # Add the widget to the context + context.add_widget(self._widget) + + def _update_plot(self): + # Clear the previous plot data + self._figure.clear() + axes = self._figure.add_subplot(111) + + # Get the selected topic and field from the combo box + selected_topic_field = self._topic_field_selector.currentText() + topic, field = selected_topic_field.split(' - ') + + # Subscribe to the selected topic + rospy.Subscriber(topic, Float32, self._plot_data) # Modify this based on your data type + + def _plot_data(self, msg): + # Get the selected topic and field from the combo box + selected_topic_field = self._topic_field_selector.currentText() + topic, field = selected_topic_field.split(' - ') + + # Plot the data on the graph + # Modify this part based on your data type and plot requirements + x_data = rospy.Time.now().to_sec() # Use timestamp as X-axis + y_data = getattr(msg, field) # Use the specified field from the message as Y-axis data + axes = self._figure.add_subplot(111) + axes.plot(x_data, y_data) + + # Refresh the plot + self._canvas.draw() + + def shutdown_plugin(self): + # Unsubscribe from the topic when the plugin is shut down + self._topic_field_selector.clear() + rospy.Subscriber(topic, Float32, self._plot_data) + + def save_settings(self, plugin_settings, instance_settings): + # Save the plugin's settings when needed + pass + + def restore_settings(self, plugin_settings, instance_settings): + # Restore the plugin's settings when needed + pass + +``` + +In this code, we create a plugin class named `ROSDataPlotter`, which inherits +from `rqt_gui_py.Plugin`. The `__init__` method sets up the GUI elements, +such as a combo box to select topics and message fields, and the matplotlib +figure to plot the data. The `_update_plot` method updates the plot whenever +a new topic or message field is selected from the combo box. The `_plot_data` +method is called when new messages are received on the selected topic, and it +plots the data on the graph. + +### Step 3: Add the Plugin XML File + +Create a file named `plugin.xml` in the root of your package to define the +plugin. Add the following content to the `plugin.xml`: + +```xml + + + + An advanced RQT plugin to plot data from multiple ROS topics. + + + + settings + Plot data from selected ROS topics. + + + +``` + +This XML file defines the plugin class, its description, and the icon +to be displayed in the RQT GUI. + +### Step 4: Build the Plugin + +Build your plugin package using `catkin_make`: + +```bash +catkin_make +``` + +### Step 5: Launch RQT and Load the Plugin + +Launch RQT + + using the command mentioned earlier: + +```bash +rqt +``` + +Once RQT is open, navigate to the "Plugins" menu and select "ROS Data Plotter" +from the list. The plugin will be loaded, and you should see a combo box to +select topics and fields, and a graph to display the plotted data. + +### Adding Custom Functionality + +In this more advanced example, we created an RQT plugin that allows users to +plot data from multiple ROS topics. The example focused on plotting Float32 +messages, but you can modify the `_plot_data` method to handle different +message types or plot multiple data series on the same graph. + +You can further enhance the plugin by adding features like legends, axis +labels, custom plot styles, data smoothing, and real-time updates. +Additionally, you can provide options to save the plotted data as CSV +or images for further analysis. + +With custom plugins, you have the freedom to tailor RQT to suit your +specific application's visualization needs, making it a versatile tool +for ROS developers. + +## External Resources + +- [ROS wiki page for rqt](https://wiki.ros.org/rqt) +- [GeorgiaTech RoboJacket's rqt tutorial](https://www.youtube.com/watch?v=o90IaCRje2I) +- [Creating Custom rqt Plugins](https://github.com/ChoKasem/rqt_tut) + +## Conclusion + +Congratulations! You have now learned the basics of using RQT, including +monitoring information sent over specific topics, configuring RQT to your +preferences, writing your custom plugins, and understanding the importance +of using RQT in ROS development. RQT provides a user-friendly and powerful +graphical interface for ROS applications, making it an essential tool for +developers and researchers working with ROS-based robotic systems. By +leveraging RQT's capabilities, you can streamline your development process +and gain valuable insights into your robot's behavior. From a8bb524f0b1fc70ac7691b5ca78f622563a55bd9 Mon Sep 17 00:00:00 2001 From: PRANETALLU <92874312+PRANETALLU@users.noreply.github.com> Date: Mon, 4 Sep 2023 12:17:20 -0400 Subject: [PATCH 8/9] Navigator tools documentation (#1056) * Types and Docstring update * Update navigator_emergency.py * documentation added to navigator-tools * small updates --------- Co-authored-by: Cameron Brown --- .../navigator_tools/object_database_helper.py | 175 ++++++++++++++++-- 1 file changed, 159 insertions(+), 16 deletions(-) diff --git a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py index 7d73fc1aa..5cb8762cb 100644 --- a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py +++ b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py @@ -1,4 +1,3 @@ -"""Use the DBHelper class to interface with the Database without having to deal with ROS things.""" import asyncio import sys import time @@ -14,10 +13,29 @@ class DBHelper: - """DBHelper class.""" + """ + Use the DBHelper class to interface with the Database without having to deal with ROS things. + + Attributes: + found (bool): checks whether the object is what the user has been looking for. + nh (axros.NodeHandle): processes database requests. + position (int): the current position of the object. + rot (): one of the dimensional values. + new_object_subscriber (): an object that is being called from the database. + ensuring_objects (bool): a variable state for the object. + ensuring_object_dep (): a list of objects being used for storage. + ensuring_object_cb (): this is considered when it is an "ensuring_objects". + looking_for (): a setter variable to which a name is being assigned. + is_found (bool): determines whether the object is found or not. + """ def __init__(self, nh): - """Initialize the DB helper class.""" + """ + Initialize the DB helper class. + + Args: + nh(NodeHandle): NodeHandle object + """ self.found = set() self.nh = nh self.position = None @@ -30,7 +48,12 @@ def __init__(self, nh): self.is_found = False async def init_(self, navigator=None): - """Initialize the axros parts of the DBHelper.""" + """ + Initialize the axros parts of the DBHelper. + + Args: + navigator (NaviGator | None): Base NaviGator object + """ # self._sub_database = yield self.nh.subscribe('/database/objects', PerceptionObjectArray, self.object_cb) self._database = self.nh.get_service_client("/database/requests", ObjectDBQuery) self.navigator = navigator @@ -43,9 +66,24 @@ async def init_(self, navigator=None): return self def _odom_cb(self, odom): + """ + Sets the position and the rot values. + + Args: + odom (object): Odom + """ self.position, self.rot = nt.odometry_to_numpy(odom)[0] async def get_object_by_id(self, my_id): + """ + Retrieves the object with the associated "my_id". + + Args: + my_id (int): an "id" of the object is passed in. + + Returns: + An individual object is being returned with a unique id. + """ print(my_id) req = ObjectDBQueryRequest() req.name = "all" @@ -57,7 +95,8 @@ async def begin_observing(self, cb): """ Get notified when a new object is added to the database. - cb : The callback that is called when a new object is added to the database + Args: + cb : The callback that is called when a new object is added to the database. """ self.new_object_subscriber = cb req = ObjectDBQueryRequest() @@ -78,6 +117,12 @@ async def begin_observing(self, cb): self.new_object_subscriber(o) async def get_unknown_and_low_conf(self): + """ + Gets unknown objects that are of low confidence. + + Returns: + Objects that meet certain criteria. + """ req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) @@ -91,9 +136,21 @@ async def get_unknown_and_low_conf(self): return m def set_looking_for(self, name): + """ + Setting to a name that is being looked for. + + Args: + name (string): name of the object. + """ self.looking_for = name - def is_found_func(self): + def is_found_func(self) -> bool: + """ + Determines whether the object is being found or not. + + Returns: + The existence of the object is returned. + """ if self.is_found: self.looking_for = None self.is_found = False @@ -101,7 +158,12 @@ def is_found_func(self): return False def object_cb(self, perception_objects): - """Callback for the object database.""" + """ + Callback for the object database. + + Args: + perception_objects (object): a list of objects that are passed. + """ self.total_num = len(perception_objects.objects) for o in perception_objects.objects: if o.name == self.looking_for: @@ -120,12 +182,23 @@ def object_cb(self, perception_objects): self.ensuring_object_cb(missings_objs) def remove_found(self, name): - """Remove an object that has been listed as found.""" + """ + Remove an object that has been listed as found. + + Args: + name (string): a name of the object is being passed in. + """ self.found.remove(name) def ensure_object_permanence(self, object_dep, cb): - """Ensure that all the objects in the object_dep list remain in the database. - Call the callback if this isn't true.""" + """ + Ensure that all the objects in the object_dep list remain in the database. + Call the callback if this isn't true. + + Args: + object_dep: a new object is passed in order to be set. + cb : The callback that is called when a new object is added to the database. + """ if object_dep is None or cb is None: return self.ensuring_objects = True @@ -133,10 +206,21 @@ def ensure_object_permanence(self, object_dep, cb): self.ensuring_object_dep = object_dep def stop_ensuring_object_permanence(self): - """Stop ensuring that objects remain in the database.""" + """ + Stop ensuring that objects remain in the database. + """ self.ensuring_objects = False - def _wait_for_position(self, timeout=10): + def _wait_for_position(self, timeout=10) -> bool: + """ + A possible position is being stored in a variable. + + Args: + timeout (int): time limit to retrieve something. + + Returns: + bool: Determines whether the position is found within the time limit. + """ count = 0 while self.position is None: if self.navigator is not None: @@ -148,7 +232,15 @@ def _wait_for_position(self, timeout=10): return True async def get_closest_object(self, objects): - """Get the closest mission.""" + """ + Get the closest mission. + + Args: + objects (object): a list of objects are being passed in. + + Returns: + A object with the closest mission / distance is returned. + """ pobjs = [] for obj in objects: req = ObjectDBQueryRequest() @@ -171,6 +263,15 @@ async def get_closest_object(self, objects): return min_obj async def _dist(self, x): + """ + Finds the distance of the object keeping into account its current position. + + Args: + x (object): a specific object is being passed in order to retrieve its position. + + Returns: + the distance between the two objects is being returned. + """ if self.position is None: success = asyncio.create_task(self._wait_for_position) if not success: @@ -188,7 +289,18 @@ async def get_object( thresh=50, thresh_strict=50, ): - """Get an object from the database.""" + """ + Get an object from the database. + + Args: + object_name (string): the name of the object is passed in. + volume_only (bool): determines whether it is volume-based or not. + thresh (int): a maximum distance is passed in. + thresh_strict(int): a more strict maximum distance is passed in. + + Returns: + closest_potential_object (object): returns the object that is within the closest range. + """ if volume_only: req = ObjectDBQueryRequest() req.name = object_name @@ -233,6 +345,15 @@ async def get_object( return closest_potential_object def wait_for_additional_objects(self, timeout=60): + """ + Returns true/false whether additional objects are being passed in. + + Args: + timeout (int): maximum time limit of 60 seconds to run the program. + + Returns: + (bool): determines whether additional objects are added. + """ num_items = self.num_items start = time.time() while timeout < time.time() - start: @@ -241,14 +362,36 @@ def wait_for_additional_objects(self, timeout=60): return False def set_color(self, color, name): - """Set the color of an object in the database.""" + """ + Sets the color of an object in the database. + + Args: + color: the new color of the object is passed in. + name: the name of the object is passed in. + """ raise NotImplementedError def set_fake_position(self, pos): - """Set the position of a fake perception object.""" + """ + Sets the position of a fake perception object. + + Args: + pos (int): the new position of the object is passed in. + """ raise NotImplementedError async def get_objects_in_radius(self, pos, radius, objects="all"): + """ + Retrieves the objects that are present within the radius. + + Args: + pos (int): the position of the object is passed in. + radius (int): the radius of the object is passed in. + objects (object): this is a list of all the objects that needs to be compared. + + Returns: + ans (object): returns the objects that are present within the radius. + """ req = ObjectDBQueryRequest() req.name = "all" resp = await self._database(req) From 32031c1a49033fe5c6185156a109e314426e7fa6 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 4 Sep 2023 16:50:12 -0400 Subject: [PATCH 9/9] Update pre-commit hooks to latest versions (#1074) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update pre-commit hooks to latest versions updates: - [github.com/PyCQA/autoflake: v2.2.0 → v2.2.1](https://github.com/PyCQA/autoflake/compare/v2.2.0...v2.2.1) - [github.com/astral-sh/ruff-pre-commit: v0.0.282 → v0.0.287](https://github.com/astral-sh/ruff-pre-commit/compare/v0.0.282...v0.0.287) * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .pre-commit-config.yaml | 4 ++-- .../utils/navigator_tools/nodes/estimated_object_setter.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index cb5d978ed..5db81ae41 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -23,7 +23,7 @@ repos: hooks: - id: clang-format - repo: https://github.com/PyCQA/autoflake - rev: v2.2.0 + rev: v2.2.1 hooks: - id: autoflake args: [--remove-all-unused-imports, --ignore-init-module-imports] @@ -40,7 +40,7 @@ repos: exclude: ^docker|deprecated|NaviGator/simulation/VRX - repo: https://github.com/astral-sh/ruff-pre-commit # Ruff version. - rev: 'v0.0.282' + rev: 'v0.0.287' hooks: - id: ruff args: [--fix, --exit-non-zero-on-fix] diff --git a/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py b/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py index 99845b004..57d4b7c01 100755 --- a/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py +++ b/NaviGator/utils/navigator_tools/nodes/estimated_object_setter.py @@ -24,7 +24,7 @@ async def main(name, lla): name = "_".join(txt.title() for txt in name.split("_")) point = await convert.request(CoordinateConversionRequest(frame="lla", point=lla)) - await db(ObjectDBQueryRequest(cmd="{}={p[0]}, {p[1]}".format(name, p=point.enu))) + await db(ObjectDBQueryRequest(cmd=f"{name}={point.enu[0]}, {point.enu[1]}")) if __name__ == "__main__":