Merge remote-tracking branch 'origin' into document-online-bagger

uf-mil · Feb 28, 2024 · 914ebb9 · 914ebb9
2 parents b706724 + 4474cf7
commit 914ebb9
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diff --git a/.github/ISSUE_TEMPLATE/navigator.yaml b/.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:

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -31,19 +31,20 @@ 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:
           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

diff --git a/.github/workflows/gh_pages.yaml b/.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 }}

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -11,41 +11,41 @@ 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: 23.3.0
+    rev: 24.1.1
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.4
+    rev: v17.0.6
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
-    rev: v2.1.1
+    rev: v2.2.1
     hooks:
       - 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: v3.6.0-2
+    rev: v3.7.0-4
     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: 'v0.2.0'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    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

diff --git 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_path_planner/nodes/path_planner.py b/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

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
@@ -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/hardware_drivers/navigator_kill_board/navigator_kill_board/constants.py b/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

diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/battery_voltage.py b/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},
                 )
 

diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py
@@ -28,21 +28,15 @@ 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):
         if status == 3:
             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/odom_kill.py b/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

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
@@ -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_launch/launch/vrx/vrx_master.launch b/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>
diff --git a/NaviGator/mission_control/navigator_launch/launch/vrx/vrx_tf.launch b/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>
diff --git a/NaviGator/mission_control/navigator_missions/launch/mission_params.yaml b/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
diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/constant_velocity.py b/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)

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/demonstrate_navigation.py b/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]