Merge pull request #28 from ethz-asl/feature/config_schema

Document and improve wavemap configuration

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,47 @@
+---
+name: Bug report
+about: Create a report to help improve wavemap
+title: ''
+labels: bug
+assignees: victorreijgwart
+
+---
+
+**Describe the bug**
+A brief description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Run wavemap launch file '...'
+2. In rviz, request "Request whole map" '....'
+3. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Observed outcome**
+A clear and concise description of what is actually happening, instead of what you expected.
+
+**Screenshots**
+If relevant, add screenshots to help explain your problem.
+For example, of error messages on the console and/or different outputs of wavemap shown in Rviz.
+
+**System information (please complete if relevant):**
+ - CPU: [e.g. Intel i9-9900K]
+ - GPU: [e.g. Nvidia RTX 2080Ti]  # Only for visualization-related issues
+ - RAM: [e.g. 32GB]
+ - OS: [e.g. Ubuntu 20.04]
+ - Wavemap
+   - install: [e.g., Native (ROS with catkin); or Docker]
+   - version: [e.g., v1.4.0]
+
+**Runtime information (please complete if relevant):**
+ - Launch file: [e.g. Link to the launch file you used]
+ - Config file: [e.g. Link to the config file you used]
+ - Dataset name [e.g. Newer College Cloister sequence]  # For public datasets
+ - Custom setup:                                        # For online use or personal datasets
+   - depth sensor: [e.g. Livox MID360 LiDAR]
+   - pose source: [e.g. Odometry from FastLIO2]
+
+**Additional context**
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,23 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: victorreijgwart
+
+---
+
+**Context**
+What are you trying to do, and how would you like to do it differently?
+Is it something wavemap currently cannot do?
+If your request is related to a problem, briefly describe the problem as well.
+
+**Requested feature**
+A clear and concise description of the feature you're interested in.
+How would this feature benefit you and others?
+
+**(Optional) Suggest a solution**
+If you have an idea for a solution, briefly summarize it here.
+
+**Additional context**
+Add any other context or screenshots relevant to the requested feature here.

.github/pull_request_template.md

@@ -0,0 +1,50 @@
+# Description
+
+Thank you for opening a PR. Please summarize the changes in 1 or 2 sentences.
+
+## Type of change
+
+Delete options that are not relevant.
+
+- [ ] Bug fix (non-breaking change which fixes an issue)
+- [ ] New feature (non-breaking change which adds functionality)
+- [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
+
+## Detailed summary
+
+Please describe the motivation, context and a link to related issues (if appropriate). List any dependencies that are required for this change.
+
+Feel free to summarize the changes as a list of bullet points.
+
+Fixes # (issue)
+
+# Testing
+
+If possible, verify that the changes produce the desired results by extending the unit tests. If you would like us to help you with this, feel free to open the pull request already and let us know.
+
+If manual tests were performed to verify these changes, please describe them here and provide instructions to reproduce them. Please also list any relevant details for your test configuration below.
+
+If the changes are performance related, this is a good place to list the metrics that were used and the improvements that have been achieved.
+
+**System information (please complete if relevant):**
+- CPU: [e.g. Intel i9-9900K]
+- GPU: [e.g. Nvidia RTX 2080Ti]  # Only for visualization-related issues
+- RAM: [e.g. 32GB]
+- OS: [e.g. Ubuntu 20.04]
+- Installation: [e.g., Native (ROS with catkin); or Docker]
+
+**Runtime information (please complete if relevant):**
+- Launch file: [e.g. Link to the launch file you used]
+- Config file: [e.g. Link to the config file you used]
+- Dataset name [e.g. Newer College Cloister sequence]  # For public datasets
+- Custom setup:                                        # For online use or personal datasets
+    - Depth sensor: [e.g. Livox MID360 LiDAR]
+    - Pose source: [e.g. Odometry from FastLIO2]
+
+# Checklist:
+
+- [ ] My code follows the style guidelines of this project
+- [ ] I have performed a self-review of my code
+- [ ] I have commented my code, particularly in hard-to-understand areas
+- [ ] I have made corresponding changes to the documentation
+- [ ] Any required changes in dependencies have been committed and pushed

.github/workflows/ci.yml

@@ -454,7 +454,9 @@ jobs:
         sanitizer:
           - { name: UBSAN, detects: 'undefined behavior' }
           - { name: ASAN, detects: 'addressability and leaks' }
-          - { name: TSAN, detects: 'data races and deadlocks' }
+          # - { name: TSAN, detects: 'data races and deadlocks' }
+          # NOTE: TSAN is disabled until the following bug is resolved:
+          #       https://bugs.launchpad.net/ubuntu/+source/gcc-10/+bug/2029910.
           # NOTE: MSAN is not used for now since it also requires all deps to be
           #       instrumented (recompiled with clang and the MSan flags, LLVM's
           #       stdlib instead of GCCs,...). We therefore use Valgrind to

.pre-commit-config.yaml

@@ -93,13 +93,20 @@ repos:
         id: hadolint
         args: [ --config=tooling/git_hook_configs/.hadolint.yaml ]
 
-  - repo: https://github.com/sirosen/check-jsonschema
-    rev: 0.10.1
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.24.1
     hooks:
       - name: Check GitHub workflow file schema conformance
         id: check-github-workflows
       - name: Check GitHub action files schema conformance
         id: check-github-actions
+      - name: Check wavemap's custom schema definitions
+        id: check-metaschema
+        files: ^tooling/schemas/wavemap/.*\.(json)$
+      - name: Check wavemap config files
+        id: check-jsonschema
+        files: ^(|.*\/)wavemap(|_\w+)\.yaml$
+        args: [ --schemafile=tooling/schemas/wavemap/wavemap_config.json ]
 
   - repo: https://github.com/markdownlint/markdownlint
     rev: v0.11.0
@@ -114,6 +121,7 @@ repos:
       - name: Check syntax of reStructuredText
         id: rstcheck
         additional_dependencies: [ sphinx ]
+        args: [ --report-level=warning ]
 
   - repo: local
     hooks:
@@ -123,25 +131,25 @@ repos:
         language: system
         types: [ file ]
         files: (package.xml)$
-        args: [ --schema, tooling/xml_schemas/package_format2.xsd ]
+        args: [ --schema, tooling/schemas/xml/package_format2.xsd ]
       - name: Check ROS launch file schema conformance
         id: xmllint
         entry: xmllint --noout
         language: system
         types: [ file ]
         files: \.(launch)$
-        args: [ --schema, tooling/xml_schemas/roslaunch.xsd ]
+        args: [ --schema, tooling/schemas/xml/roslaunch.xsd ]
       - name: Check (ROS) URDF file schema conformance
         id: xmllint
         entry: xmllint --noout
         language: system
         types: [ file ]
         files: \.(urdf)$
-        args: [ --schema, tooling/xml_schemas/package_format2.xsd ]
+        args: [ --schema, tooling/schemas/xml/package_format2.xsd ]
     # - name: Check (ROS) SDF file schema conformance
     #   id: xmllint
     #   entry: xmllint --noout
     #   language: system
     #   types: [ file ]
     #   files: \.(sdf|model|world)$
-    #   args: [ --schema, tooling/xml_schemas/sdf.xsd ]
+    #   args: [ --schema, tooling/schemas/xml/sdf.xsd ]

docs/Doxyfile

@@ -32,7 +32,7 @@ DOXYFILE_ENCODING      = UTF-8
 # title of most generated pages and in a few other places.
 # The default value is: My Project.
 
-PROJECT_NAME           = "project"
+PROJECT_NAME           = "wavemap"
 
 # The PROJECT_NUMBER tag can be used to enter a project or revision number. This
 # could be handy for archiving the generated documentation or if some version

docs/conf.py

@@ -80,6 +80,7 @@
 html_theme = 'sphinx_rtd_theme'
 html_theme_path = [sphinx_rtd_theme.get_html_theme_path()]
 html_logo = "logo.png"
+html_title = f"release {version}"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
@@ -170,8 +171,8 @@
 
 # -- Extension configuration -------------------------------------------------
 # Setup the breathe extension
-breathe_projects = {"project": "./_doxygen/xml"}
-breathe_default_project = "project"
+breathe_projects = {"wavemap": "./_doxygen/xml"}
+breathe_default_project = "wavemap"
 
 # Setup the exhale extension
 exhale_args = {

docs/index.rst

@@ -1,5 +1,5 @@
-Wavemap
-#######
+Wavemap documentation
+#####################
 
 .. image:: https://github.com/ethz-asl/wavemap/assets/6238939/0df66963-3871-4fae-8567-523518c43494
   :alt: 3D reconstruction of Newer College's Cloister