Update pre-commit hooks to latest versions

.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: 23.9.1
+    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
@@ -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: v3.7.0-1
+    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: 'v0.0.292'
+    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_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()

NaviGator/satellite/rviz_satellite/src/aerialmap_display.cpp

@@ -416,7 +416,7 @@ void AerialMapDisplay::assembleScene()
     // determine location of this tile, flipping y in the process
     const double x = (tile.x() - loader_->centerTileX()) * tile_w + origin_x;
     const double y = -(tile.y() - loader_->centerTileY()) * tile_h + origin_y;
-    //  don't re-use any ids
+    //  don't reuse any ids
     const std::string name_suffix = std::to_string(tile.x()) + "_" + std::to_string(tile.y()) + "_" +
                                     std::to_string(map_id_) + "_" + std::to_string(scene_id_);
 

NaviGator/scripts/bash_aliases.sh

@@ -18,7 +18,7 @@ nthrust() {
 	topic="/$1_motor/cmd"
 	publishers=$(rostopic info "$topic" | grep Publishers)
 	if [ "$publishers" != "Publishers: None" ]; then
-		echo "Somone is already publishing to $topic. Perhaps you need to kill thrust mapper?"
+		echo "Someone is already publishing to $topic. Perhaps you need to kill thrust mapper?"
 		return 1
 	fi
 	rostopic pub "$topic" "roboteq_msgs/Command" "setpoint: $2" -r100

NaviGator/utils/navigator_msgs/srv/GetDockBays.srv

@@ -2,4 +2,4 @@
 geometry_msgs/Point[3] bays   #The positions in ENU frame of the center of the three bays 0=left, 1=center, 2=right
 geometry_msgs/Vector3  normal #Vector or normal pointing away from plane of dock back
 bool success                  #False if an error occurred getting dock bays
-string error                  #Descripion of error if success=false
+string error                  #Description of error if success=false

NaviGator/utils/navigator_tools/nodes/navigator_status_tui

@@ -35,7 +35,7 @@ class nav_tui:
         self.panel.hide()
         panel.update_panels()
         self.rate = rospy.Rate(2)  # Fixed rate for while loop to update at: 2 hz
-        # The following are default field initalizations for various values that that will be overwritten
+        # The following are default field initializations for various values that that will be overwritten
         self.voltage = 0
         self.wrench = None
         self.LAT = None
@@ -214,15 +214,13 @@ class nav_tui:
             if len(self.decode_fault_status(self.FL_fault)) == 0:
                 self.window.addstr(5, self.x / 2 - 7, "No faults", curses.color_pair(3))
             else:
-                n = 0
-                for fault in self.decode_fault_status(self.FL_fault):
+                for n, fault in enumerate(self.decode_fault_status(self.FL_fault)):
                     self.window.addstr(
                         5 + n,
                         self.x / 2 - 7,
                         "%s" % fault,
                         curses.color_pair(1),
                     )
-                    n += 1
 
             self.window.addstr(14, self.x / 2 - 7, "Back Left", color)
             if len(self.decode_fault_status(self.BL_fault)) == 0:

NaviGator/utils/remote_control/navigator_emergency_control/nodes/navigator_emergency.py

@@ -95,7 +95,7 @@ def check_for_timeout(self, joy: Joy):
 
     def joy_recieved(self, joy: Joy) -> None:
         """
-        Button elements are being assigned and simplied to readable names. The
+        Button elements are being assigned and simplified to readable names. The
         number of deployments or retractions for thrusters are being updated based
         on several conditions. Moreover, additional settings are changed based on the
         state of the controller and the activation of potential alarms or switches.

NaviGator/utils/voltage_gui/src/voltage_gui.py

@@ -184,7 +184,7 @@ def resizeFont(self) -> None:  # done
         threshFont = QtGui.QFont("Times", (self.fontSize) / 3, QtGui.QFont.Bold)
         self.labelThresh.setFont(threshFont)
 
-    # Sets the text of the thrshold info box
+    # Sets the text of the threshold info box
     def initThresh(self) -> None:
         """
         Sets the text of the threshold info box

SubjuGator/command/subjugator_launch/config/passive_sonar.yaml

@@ -3,7 +3,7 @@
 dist_h: 2.286e-02
 # speed of sound in water
 v_sound: 1482
-#  target Frquency in Hz
+#  target Frequency in Hz
 triggering/target_frequency: 30000
 #  tolerance around target frequerncy in Hz
 triggering/frequency_tolerance: 100

SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch

@@ -42,10 +42,10 @@
       <param name="frame_id" type="string" value="/imu"/>
       <rosparam>
         scale:
-        - [0.993770963897068, 0.00105871125374563, 7.659410525291767e-05]
-        - [0.00105871125374563, 0.9996814868251349, -0.0011040738267441828]
-        - [7.659410525291767e-05, -0.001104073826744163, 1.0065910531028952]
-        shift: [1.2551999807772446e-06, -1.1666595150804588e-06, 6.895773090438596e-08]
+        - [0.9991765357958566, 0.006242798579443988, -0.008472478269327878]
+        - [0.006242798579443957, 1.0016179705091928, 0.0059841151097914345]
+        - [-0.008472478269327836, 0.0059841151097913, 0.999354597532967]
+        shift: [7.889247409445414e-06, 4.879179471165382e-06, 7.46017199298374e-06]
       </rosparam>
     </node>
 

SubjuGator/drivers/magnetic_compensation/sub8_magnetic_hardsoft_compensation/scripts/generate_config

@@ -132,9 +132,11 @@ if __name__ == "__main__":
     with rosbag.Bag(sys.argv[1]) as bag:
         points = numpy.array(
             [
-                mil_ros_tools.rosmsg_to_numpy(msg.magnetic_field)
-                if hasattr(msg, "magnetic_field")
-                else mil_ros_tools.rosmsg_to_numpy(msg.vector)
+                (
+                    mil_ros_tools.rosmsg_to_numpy(msg.magnetic_field)
+                    if hasattr(msg, "magnetic_field")
+                    else mil_ros_tools.rosmsg_to_numpy(msg.vector)
+                )
                 for topic, msg, t in bag.read_messages(topics=["/imu/mag_raw"])
             ],
         )

SubjuGator/perception/subjugator_perception/nodes/dice_detect.py

@@ -93,7 +93,7 @@ def detect(self, dice_img):
         params.minConvexity = 0.8  # 1 = perfect convex hull
         # Filter by Inertia
         params.filterByInertia = True
-        params.minInertiaRatio = 0.4  # Defines the ellipsoid 1= detects only cirlces
+        params.minInertiaRatio = 0.4  # Defines the ellipsoid 1= detects only circles
         # 0 = Detects even lines
 
         # Create a detector with the parameters

SubjuGator/perception/subjugator_perception/nodes/hsv_calibration.py

@@ -36,13 +36,17 @@ def parse_string(threshes):
     def reconfigure(self, config, level):
         try:
             self.lower = np.array(self.parse_string(config["dyn_lower"]))
-            rospy.logwarn("HSV lower bound below minimum value") if (
-                self.lower < 0
-            ).any() else None
+            (
+                rospy.logwarn("HSV lower bound below minimum value")
+                if (self.lower < 0).any()
+                else None
+            )
             self.upper = np.array(self.parse_string(config["dyn_upper"]))
-            rospy.logwarn("HSV upper bound above maximum values") if (
-                self.upper[0] > 179
-            ).any() or (self.upper[1:] > 255).any() else None
+            (
+                rospy.logwarn("HSV upper bound above maximum values")
+                if (self.upper[0] > 179).any() or (self.upper[1:] > 255).any()
+                else None
+            )
 
         except ValueError as e:
             rospy.logwarn(f"Invalid dynamic reconfigure: {e}")

SubjuGator/perception/subjugator_perception/nodes/orange_rectangle_finder.py

@@ -52,7 +52,7 @@ class OrangeRectangleFinder:
     * Transform this frames pose into /map frame
     * Plug this frames pose in /map into a kalman filter to reduce noise
 
-    TODO: Allow for two objects to be identifed at once, both filtered through its own KF
+    TODO: Allow for two objects to be identified at once, both filtered through its own KF
     """
 
     # Coordinate axes for debugging image

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/HOG/HOG_SVM_trainer.py

@@ -16,8 +16,7 @@
 class_list = np.array(0)
 
 # loop through the training images
-count = 0
-for i in os.listdir(os.path.abspath(folder)):
+for count, i in enumerate(os.listdir(os.path.abspath(folder))):
     # get the roi from the file
     path = folder + "/" + i
     roi_str = f.readline()
@@ -72,7 +71,6 @@
     class_temp = np.empty(len_myinvhog / 9)
     class_temp.fill(-1)
     class_list = np.append(class_list, class_temp)
-    count += 1
 
 # hack
 class_list = np.delete(class_list, [0])

SubjuGator/perception/subjugator_perception/subjugator_vision_tools/machine_learning/boost_auto.py

@@ -100,10 +100,11 @@ def train_on_data(observation_list, label_list, split_factor=4):
         s_time = time.time()
         process_round = 0
         # Split this into multiple passes in an attempt to free RAM (no idea if this works).
-        for x, y in zip(all_observations_split, all_labels_split):
+        for process_round, (x, y) in enumerate(
+            zip(all_observations_split, all_labels_split),
+        ):
             print(f"Training subset {process_round + 1}/{split_factor}.")
             boost.train(x, cv2.CV_ROW_SAMPLE, y, params=parameters)
-            process_round += 1
 
         print(f"Time to complete: {time.time() - s_time}")
         print("Done! Saving...")