Merge branch 'master' into read_from_csv_debug

.github/ISSUE_TEMPLATE/navigator.yaml

@@ -7,26 +7,6 @@ body:
     attributes:
       value: |
         Hey, thanks for taking the time to add this software issue!
-  - type: input
-    id: assignee
-    attributes:
-      label: Assignee
-      description: >
-        Does this issue need to be completed by a specific person on the team?
-        If so, mention them below.
-      placeholder: ex. @torvalds is already working on this task!
-    validations:
-      required: false
-  - type: input
-    id: deadline
-    attributes:
-      label: Deadline
-      description: >
-        Does this task need a deadline? _If this task is related to a competition,
-        it should have a deadline._
-      placeholder: ex. 2023-12-25
-    validations:
-      required: false
   - type: textarea
     id: description
     attributes:

.github/workflows/ci.yaml

@@ -31,6 +31,7 @@ jobs:
       - name: Configure catkin workspace folder structure
         run: |
           mkdir -p $GITHUB_WORKSPACE/catkin_ws/src
+          sudo apt reinstall python3-pip
       - name: Check out code from GitHub
         uses: actions/[email protected]
         with:

.github/workflows/gh_pages.yaml

@@ -20,7 +20,7 @@ jobs:
 
       # Wait for the CI to finish so we can download the docs artifact
       - name: Wait for CI
-        uses: lewagon/wait-on-check-action@v1.0.0
+        uses: lewagon/wait-on-check-action@v1.3.3
         if: github.event.action != 'closed'
         with:
           ref: ${{ github.event.pull_request.head.ref }}

.pre-commit-config.yaml

@@ -11,15 +11,15 @@ ci:
 
 repos:
   - repo: https://github.com/adrienverge/yamllint.git
-    rev: v1.32.0
+    rev: v1.33.0
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 23.7.0
+    rev: 24.1.1
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.6
+    rev: v17.0.6
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
@@ -28,24 +28,24 @@ repos:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.5
+    rev: v0.9.0.6
     hooks:
       - id: shellcheck
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
         args: [--severity=warning, --exclude=SC1090]
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.7.0-1
+    rev: v3.7.0-4
     hooks:
       - id: shfmt
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.0.287'
+    rev: 'v0.2.0'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
       - id: codespell
         args:
@@ -73,11 +73,12 @@ repos:
       - id: prettier-package-xml
       - id: sort-package-xml
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
       - id: check-merge-conflict
+        exclude_types: [markdown, rst]
       - id: check-executables-have-shebangs
       - id: check-symlinks
       - id: check-json

NaviGator/gnc/navigator_path_planner/nodes/path_planner.py

@@ -1070,7 +1070,7 @@ def reevaluate_plan(self) -> None:
     def action_check(self, _: rospy.timer.TimerEvent) -> None:
         """
         Manages action preempting. Serves as the callback to a Timer operating
-          opereating every self.revisit_period seconds.
+          operating every self.revisit_period seconds.
         """
         if self.preempted or not self.move_server.is_active():
             return

NaviGator/hardware_drivers/navigator_kill_board/navigator_kill_board/constants.py

@@ -17,6 +17,7 @@
 The computer can also command a kill (for example, if ROS notices a criticaly low battery)
 by sending the COMPUTER.KILL.REQUEST and undone with COMPUTER.CLEAR.REQUEST
 """
+
 constants = {
     "TIMEOUT_SECONDS": 8.0,  # How often board must be pinged to not set HEARTBERAT_REMOTE True
     # Note: not official documented, this is just a guess

NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py

@@ -27,9 +27,9 @@ def _check_voltage(self, msg):
             if not self._raised or self._severity != severity:
                 self.broadcaster.raise_alarm(
                     severity=severity,
-                    problem_description="battery critcaly low"
-                    if severity == 2
-                    else "battery low",
+                    problem_description=(
+                        "battery critcaly low" if severity == 2 else "battery low"
+                    ),
                     parameters={"voltage": voltage},
                 )
 

NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/odom_kill.py

@@ -51,9 +51,7 @@ def check_continuity(self, odom):
                 self._raised = True  # Avoid raising multiple times
                 rospy.logwarn("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.last_position = position

NaviGator/mission_control/navigator_launch/launch/vrx/vrx_master.launch

@@ -7,6 +7,7 @@
     <param name="/is_vrx" type="bool" value="True" />
 
     <include file="$(find navigator_launch)/launch/gnc/thruster_mapper.launch"/>
+    <include file="$(find navigator_launch)/launch/vrx/vrx_classifier.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_tf.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_localization.launch" />
     <include file="$(find navigator_launch)/launch/vrx/vrx_upload_urdf.launch" />
@@ -30,5 +31,4 @@
 
     <node if="$(arg run_task)" name="run_vrx_task" pkg="mil_missions" type="mission_client"
           args="run Vrx" output="screen" />
-    <include file="$(find navigator_launch)/launch/vrx/vrx_classifier.launch" />
 </launch>

NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch

@@ -1,5 +1,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
+    <!-- Silent unnecessary TF warnings about missing joint states or missing transforms (cred: osrf/vrx#340)-->
+    <rosparam param="silent_tf_failure">true</rosparam>
+
     <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher">
       <param name="use_tf_static" value="false" />
     </node>
@@ -11,9 +14,10 @@
       </rosparam>
     </node>
 
-  <!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
-  <node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
-  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />
+
+    <!--Publishes connection between wamv/imu_wamv_link and wamv/base_link. Same for wamv/gps_wamv_link.-->
+    <node pkg="tf2_ros" type="static_transform_publisher" name="imu_base_link_fix" args="0.3 -0.2 1.3 0 0 0 1 wamv/base_link wamv/imu_wamv_link" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="gps_base_link_fix" args="-0.85 0 1.3 0 0 1 wamv/base_link wamv/ins_link" />
+    <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_enu_fix" args="0 0 0 0 0 0 1 enu wamv/base_link" />
 
 </launch>

NaviGator/mission_control/navigator_missions/launch/mission_params.yaml

@@ -157,14 +157,14 @@ dock_shape_1:
   param: /mission/identify_dock/shape_1
   options: [CIRCLE, TRIANGLE, CROSS, ANY]
   description: >
-    The shape of the first bay to dock in during the dentify
+    The shape of the first bay to dock in during the identify
     Symbols and Dock mission. If set to ANY, mission should dock based on the
     color parameter and set this parameter during the mission
 dock_color_1:
   param: /mission/identify_dock/color_1
   options: [RED, GREEN, BLUE, ANY]
   description: >
-    The color of the first bay to dock in during the dentify Symbols and Dock
+    The color of the first bay to dock in during the identify Symbols and Dock
     mission. If set to ANY, mission should dock based on the shape parameter
     and set this parameter during the mission
 
@@ -174,7 +174,7 @@ dock_shape_2:
   description: >
     # yamllint disable-line rule:line-length
     The shape of the second bay to dock in during the
-    dentify Symbols and Dock mission. If set to ANY,
+    identify Symbols and Dock mission. If set to ANY,
     mission should dock based on the color parameter and set this
     parameter during the mission
 dock_color_2:
@@ -183,6 +183,6 @@ dock_color_2:
   description: >
     # yamllint disable-line rule:line-length
     The color of the second bay to dock in during the
-    dentify Symbols and Dock mission.
+    identify Symbols and Dock mission.
     If set to ANY, mission should dock based on the shape
     parameter and set this parameter during the mission

NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py

@@ -66,7 +66,7 @@ def decode_parameters(cls, parameters):
         return parsed
 
     async def run(self, args):
-        # Publish a velocity of zero for a while to stabalize navigator
+        # Publish a velocity of zero for a while to stabilize navigator
         self.send_feedback("Switching trajectory to constant")
         await self.change_trajectory("constant")
         await self.nh.sleep(0.1)

NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py

@@ -68,7 +68,7 @@ async def run(self, parameters):
             _, closest_reds = await self.get_sorted_objects("red_cylinder", 1)
             _, closest_greens = await self.get_sorted_objects("green_cylinder", 1)
 
-            # Rename the totems for their symantic name
+            # Rename the totems for their semantic name
             green_close = closest_greens[0]
             red_close = closest_reds[0]
 
@@ -83,7 +83,7 @@ async def run(self, parameters):
             _, closest_reds = await self.get_sorted_objects("red_cylinder", 2)
             _, closest_greens = await self.get_sorted_objects("green_cylinder", 2)
 
-            # Rename the totems for their symantic name
+            # Rename the totems for their semantic name
             green_far = closest_greens[1]
             red_far = closest_reds[1]
 

NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py

@@ -153,9 +153,7 @@ async def do_circle():
                 await self.nh.sleep(0.25)
                 continue
             fprint(
-                "Shape ({}found, using normal to look at other 3 shapes if needed".format(
-                    res[0],
-                ),
+                f"Shape ({res[0]}found, using normal to look at other 3 shapes if needed",
                 title="DETECT DELIVER",
                 msg_color="green",
             )

NaviGator/mission_control/navigator_missions/navigator_missions/move.py

@@ -149,7 +149,7 @@ async def run(self, args):
                     "yl": "yaw_left",
                     "yr": "yaw_right",
                 }
-                command = command if command not in shorthand else shorthand[command]
+                command = shorthand.get(command, command)
                 movement = getattr(self.move, command)
 
                 trans_move = command[:3] != "yaw"

NaviGator/mission_control/navigator_missions/navigator_missions/pose_editor.py

@@ -341,9 +341,7 @@ def as_MoveGoal(self, move_type=MoveGoal.DRIVE, **kwargs):
         for key in kwargs:
             if not hasattr(MoveGoal, key):
                 fprint(
-                    "MoveGoal msg doesn't have a field called '{}' you tried to set via kwargs.".format(
-                        key,
-                    ),
+                    f"MoveGoal msg doesn't have a field called '{key}' you tried to set via kwargs.",
                     title="POSE_EDITOR",
                     msg_color="red",
                 )

NaviGator/mission_control/navigator_missions/vrx_missions/dock.py

@@ -607,7 +607,7 @@ async def prepare_for_docking(self):
         # This function looks at the two squares in front of the boat
         # and it gets the middle pixel between the two squares.
         # If the middle pixel is for some reason not in the middle of our camera...
-        # adjust the boat postiion before docking
+        # adjust the boat position before docking
         print("prepare for landing!")
 
         img = await self.front_left_camera_sub.get_next_message()