Update pre-commit hooks to latest versions

.pre-commit-config.yaml

@@ -15,11 +15,11 @@ repos:
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 23.9.1
+    rev: 23.10.1
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.6
+    rev: v17.0.4
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
@@ -39,13 +39,12 @@ repos:
       - id: shfmt
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
   - repo: https://github.com/astral-sh/ruff-pre-commit
-    # Ruff version.
-    rev: 'v0.0.292'
+    rev: 'v0.1.4'
     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:
@@ -73,7 +72,7 @@ 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

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/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/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

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/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/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/marker_occ_grid.py

@@ -174,7 +174,7 @@ def return_pose(self, srv):
             self.poly_generator = self.polygon_generator()
             return [0, False, srv.intial_position]
 
-        # We search at 1.5 * r so that there is some overlay in the search feilds.
+        # We search at 1.5 * r so that there is some overlay in the search fields.
         np_pose = msg_helpers.pose_to_numpy(srv.intial_position)
         rot_mat = make_2D_rotation(
             tf.transformations.euler_from_quaternion(np_pose[1])[2],

docs/design/passive_sonar/passive_sonar.rst

@@ -78,7 +78,7 @@ Configuration
 *************
 All parameters that are expected to be changed in tuining are ROS Params initialized in ``passive_sonar.yaml``
 
-To make a custom configation
+To make a custom configuration
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 * ``roscd subjugator_launch``

docs/electrical/onboarding.md

@@ -20,7 +20,7 @@ including meeting times.
 
 ## Join the electrical GitHub
 Unlike the software and mechanical teams (who share a GitHub repository), we use
-a separate repository for the electrical team. As a resut, you will need to be added
+a separate repository for the electrical team. As a result, you will need to be added
 to this organization. Once you're in Slack (or you've come to the lab), ask an electrical
 leader to add you to the GitHub organization. The organization can be found [here](https://github.com/uf-mil-electrical).
 

docs/indyav/software/planning/indyav_path/path_recorder.rst

@@ -33,7 +33,7 @@ Basic Usage Example
 
 - Visualize this new topic in rviz by clicking `Add` and then `/odom2 -> Odometry`
 
-- Watch the red arrow advance from where the sub started to where the sub stopped updting approximately 10 times a second.
+- Watch the red arrow advance from where the sub started to where the sub stopped updating approximately 10 times a second.
 
 Source Files
 ^^^^^^^^^^^^

docs/navigator/lessons22.md

@@ -62,7 +62,7 @@ future teams to learn from!
   It is quicker to tell when tools have gone missing (as each tool now has a
   dedicated spot in the organizer), and which tool is missing. Furthermore, it
   becomes easier for software members, electrical members, and mentors to find
-  tools, even if they maybe are not acquianted with a deep knowledge of the
+  tools, even if they maybe are not acquainted with a deep knowledge of the
   mechanical team.
 * **Focus on bringing less and staying more organized.** - At RobotX 2022, we
   were one of the teams who had brought the most equipment, yet we had a hard

docs/software/adding_documentation.md

@@ -100,5 +100,5 @@ $ ./scripts/build_docs --scratch
 ```
 
 ## Contributing changes
-Now that you have made and verifed your changes, follow the [contributing guide](contributing)
+Now that you have made and verified your changes, follow the [contributing guide](contributing)
 to add your changes to the repository.

docs/software/getting_started.md

@@ -420,7 +420,7 @@ launches the Gazebo GUI - aka, the thing you will actually interact with! If all
 goes according to plan, you should see our robot in its own little world!
 
 ## Installing developer tools
-After you have verified that your Git setup is working appopriately, take a look
+After you have verified that your Git setup is working appropriately, take a look
 at installing some developer tools on the [Developer Tools](/software/devtools)
 page.
 

docs/software/help.md

@@ -63,7 +63,7 @@ for examples of it being used.
 
 ## Search the internet
 If your problem is not MIL-specific (issue with Linux, ROS, C++, etc),
-somone has most likely had the same problem and written about it on the internet.
+someone has most likely had the same problem and written about it on the internet.
 You'll be surprised how often you can fix your issue by Googling the error.
 
 ## Search Slack

docs/software/noetic_migration.md

@@ -45,7 +45,7 @@ before you commit.
 
 Great, the code is now pretty! :D
 
-If you ran `python-modernize`, it will have suggested some changes to you, indcated
+If you ran `python-modernize`, it will have suggested some changes to you, indicated
 by `+` and `-` signs. It may look something like this:
 
 ```diff

mil_common/drivers/mil_passive_sonar/README.md

@@ -4,7 +4,7 @@ This package includes the main algorithm to find the direction of a pinger. It a
 # Running:
 Ensure that hydrophones -> ros is running and publishing a `mil_passive_sonar/Ping` msg.
 
-Then run `roslaunch mil_passive_sonar mil_passive_sonar.lauch`
+Then run `roslaunch mil_passive_sonar mil_passive_sonar.launch`
 
 `mil_passive_sonar/FindPinger`
 

mil_common/drivers/mil_passive_sonar/scripts/triggering.py

@@ -96,7 +96,7 @@ def get_params(self):
         self.enabled = rospy.get_param("~enable_on_launch")
 
         # Attributes about our target frequency range
-        #  target Frquency in Hz
+        #  target Frequency in Hz
         self.target = rospy.get_param("~target_frequency")
         #  tolerance around that frequerncy in Hz
         tolerance = rospy.get_param("~frequency_tolerance")
@@ -121,7 +121,7 @@ def get_params(self):
         self.v_sound = rospy.get_param("v_sound")
 
         # Misc attributes
-        #  minimum gradient of the max convolution wrt time to trigger a time of arivals calculation
+        #  minimum gradient of the max convolution wrt time to trigger a time of arrivals calculation
         self.threshold = rospy.get_param("~threshold")
         self.trigger_offset = rospy.get_param("~trigger_offset")
         #  how far after the triggering time to make upper bound of samples at triggering in sec

mil_common/perception/mil_vision/include/mil_vision_lib/cv_tools.hpp

@@ -76,7 +76,7 @@ unsigned int select_hist_mode(std::vector<cv::Point> &histogram_modes, unsigned
 
 // Takes in a grayscale image and segments out a semi-homogenous foreground
 // object with pixel intensities close to <target>. Tuning of last three
-// parameters may imrove results but default values should work well in
+// parameters may improve results but default values should work well in
 // most cases.
 void statistical_image_segmentation(const cv::Mat &src, cv::Mat &dest, cv::Mat &debug_img, const int hist_size,
                                     const float **ranges, const int target, std::string image_name = "Unnamed Image",

mil_common/perception/mil_vision/mil_vision_tools/color_classifier.py

@@ -94,7 +94,7 @@ def classify_features(self, features: np.ndarray) -> int:
 
     def feature_probabilities(self, features: np.ndarray) -> List[float]:
         """
-        Allows child classes to give probabilties for each possible class given
+        Allows child classes to give probabilities for each possible class given
         a features vector, instead of just one classification. By default,
         gives 1.0 to classified class and 0.0 to others.
 

mil_common/perception/mil_vision/mil_vision_tools/shape_finder.py

@@ -213,7 +213,7 @@ def get_pose_3D(
             cam (Optional[PinholeCameraModel]): The camera model.
             rectified (bool): If ``cam`` is set, set True if corners were found in an
                already rectified image (image_rect_color topic).
-            instrinsics (np.ndarray): Camera intrinisic matrix.
+            intrinsics (np.ndarray): Camera intrinisic matrix.
             dist_coeffs (np.ndarray): Camera distortion coefficients.
 
         Returns:

mil_common/perception/mil_vision/mil_vision_tools/vision_node.py

@@ -27,7 +27,7 @@ def create_object_msg(
     is needed/available in your application.
 
     Args:
-        name (str): Name of the identifed object.
+        name (str): Name of the identified object.
         attributes (str): Attributes to attach to message, the purpose and value
             of this attribute will vary by application. Defaults to an empty string.
         confidence (Optional[float]): Float between 0 and 1 describing the confidence

mil_common/perception/mil_vision/src/mil_vision_lib/colorizer/pcd_colorizer.cpp

@@ -24,7 +24,7 @@ PcdColorizer::PcdColorizer(ros::NodeHandle nh, string input_pcd_topic)
   }
   catch (std::exception &e)
   {
-    _err_msg = "COLORIZER: Suscriber or publisher error caught: "_s + e.what();
+    _err_msg = "COLORIZER: Subscriber or publisher error caught: "_s + e.what();
     ROS_ERROR(_err_msg.c_str());
     return;
   }