Merge branch 'main' into ozan/add_auv_vision

.clang-format

@@ -1 +1,2 @@
-BasedOnStyle: Google
+---
+BasedOnStyle: Google

.github/FUNDING.yml

@@ -1,3 +1,4 @@
+---
 github: [senceryazici, ituauvteam]
 buy_me_a_coffee: ituauvteam
 custom: ["https://auv.itu.edu.tr/sponsorship.html"]

.github/workflows/build_and_push_images.yml

@@ -1,3 +1,4 @@
+---
 name: main docker images
 
 on:
@@ -7,8 +8,8 @@ on:
         description: 'Type of image to build [main, base]'
         required: true
         type: string
-  
-concurrency: 
+
+concurrency:
   group: ${{ github.workflow }}-${{ (github.event_name == 'pull_request' && github.event.pull_request.number) || github.ref }}
   cancel-in-progress: true
 
@@ -21,7 +22,7 @@ env:
 jobs:
   build-and-push:
     runs-on: ubuntu-latest
-    
+
     strategy:
       fail-fast: false
       matrix:
@@ -47,7 +48,7 @@ jobs:
         uses: docker/setup-qemu-action@v3
         with:
           platforms: ${{ matrix.platform }}
-      
+
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
@@ -98,7 +99,6 @@ jobs:
 
   # build-and-push-arm64:
   #   runs-on: self-hosted
-
   #   strategy:
   #     matrix:
   #       host: [tegra]
@@ -115,7 +115,6 @@ jobs:
   #       uses: docker/setup-qemu-action@v3
   #       with:
   #         platforms: ${{ matrix.platform }}
-
   #     - name: Set up Docker Buildx
   #       uses: docker/[email protected]
   #       with:

.github/workflows/build_and_push_scheduled.yml

@@ -1,3 +1,4 @@
+---
 name: scheduled build and push
 
 # scheduled run every day at 00:00 GMT +03:00
@@ -12,7 +13,7 @@ on:
   schedule:
     - cron: "0 21 * * *"
 
-concurrency: 
+concurrency:
   group: scheduled-${{ github.workflow }}-${{ (github.event_name == 'pull_request' && github.event.pull_request.number) || github.ref }}
   cancel-in-progress: true
 

.github/workflows/formatting.yml

@@ -0,0 +1,33 @@
+---
+name: Pre-commit Checks
+
+on:
+  workflow_call:
+
+jobs:
+  pre-commit:
+    name: Run Pre-commit Checks
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+
+      - name: Install pre-commit
+        run: |
+          python -m pip install --upgrade pip
+          pip install pre-commit
+
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format libxml2-utils
+
+      - name: Run pre-commit
+        run: pre-commit run --all-files
+
+      - name: Check for modifications
+        run: git diff --exit-code

.github/workflows/industrial_ci.yml

@@ -1,3 +1,4 @@
+---
 name: industrial_ci
 
 on:
@@ -23,7 +24,7 @@ jobs:
           directory=$(mktemp -d)
           echo build_directory=$directory >> $GITHUB_ENV
       - uses: ros-industrial/industrial_ci@master
-        env: 
+        env:
           ROS_DISTRO: noetic
           UPSTREAM_WORKSPACE: third_party.repos
           ADDITIONAL_DEBS: lld

.github/workflows/main_ci.yml

@@ -1,3 +1,4 @@
+---
 name: CI
 
 on:
@@ -6,11 +7,14 @@ on:
       - main
   pull_request:
 
-concurrency: 
+concurrency:
   group: main-${{ github.workflow }}-${{ (github.event_name == 'pull_request' && github.event.pull_request.number) || github.ref }}
   cancel-in-progress: true
 
 jobs:
+  formatting:
+    uses: ./.github/workflows/formatting.yml
+
   build-and-push-base-docker:
     uses: ./.github/workflows/build_and_push_images.yml
     with:
@@ -26,10 +30,9 @@ jobs:
     with:
       runner: ${{ matrix.host }}
       docker_image_tag: ghcr.io/itu-auv/auv-software-base:latest
-  
+
   build-and-push-main-docker:
     needs: [native-ci, build-and-push-base-docker]
     uses: ./.github/workflows/build_and_push_images.yml
     with:
       image_type: main
-

.pre-commit-config.yaml

@@ -0,0 +1,39 @@
+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: check-yaml
+        files: \.(yaml|yml)$
+      - id: check-xml
+        files: \.(xml|launch|launch\.xml|sdf|urdf\.xacro|xacro|urdf)$|model\.config$
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: destroyed-symlinks
+      - id: check-executables-have-shebangs
+        exclude: \.cpp|\.cxx|\.hpp|\.h$
+      - id: forbid-submodules
+      - id: check-added-large-files
+      - id: check-case-conflict
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        args: [--mapping, "2", --sequence, "4", --offset, "2", --width, "150", --preserve-quotes]
+        exclude: ^auv_bringup/config/ekf.yaml$
+  - repo: https://github.com/lsst-ts/pre-commit-xmllint
+    rev: v1.0.0
+    hooks:
+      - id: format-xmllint
+        files: \.(xml|launch|launch\.xml|sdf|urdf\.xacro|xacro|urdf)$|model\.config$
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v19.1.5
+    hooks:
+      - id: clang-format
+        files: \.(cpp|h|hpp)$
+  - repo: https://github.com/psf/black
+    rev: 24.8.0
+    hooks:
+      - id: black
+        language_version: python3
+        files: \.py$

auv_bringup/config/cameras.yaml

@@ -1,3 +1,4 @@
+---
 cam_front:
   width: 640
   height: 480
@@ -50,4 +51,4 @@ cam_bottom:
   projection_matrix:
     rows: 3
     cols: 4
-    data: [750.047689, 0, 313.903300,0, 0, 988.371962, 250.566244,0, 0, 0, 1,0]
+    data: [750.047689, 0, 313.903300, 0, 0, 988.371962, 250.566244, 0, 0, 0, 1, 0]

auv_bringup/config/environment.yaml

@@ -1 +1,2 @@
+---
 /env/sound_speed: 1500

auv_bringup/config/move_base/costmap_common_params.yaml

@@ -1,3 +1,4 @@
+---
 obstacle_range: 20.0
 raytrace_range: 30.0
 
@@ -20,4 +21,3 @@ map_type: costmap
 
 observation_sources: pointcloud
 pointcloud: {sensor_frame: taluy/base_link, data_type: PointCloud, topic: pointcloud, marking: true, clearing: true}
-

auv_bringup/config/move_base/dwa_local_planner_params.yaml

@@ -1,3 +1,4 @@
+---
 DWAPlannerROS:
 
 # Robot Configuration Parameters
@@ -16,7 +17,7 @@ DWAPlannerROS:
 
   acc_lim_x: 2.0
   acc_lim_y: 0.0
-  acc_lim_theta: 3.0 
+  acc_lim_theta: 3.0
   acc_lim_trans: 5.0
 
 # Goal Tolerance Parametes
@@ -44,5 +45,5 @@ DWAPlannerROS:
   oscillation_reset_dist: 0.05
 
 # Debugging
-  publish_traj_pc : true
+  publish_traj_pc: true
   publish_cost_grid_pc: true

auv_bringup/config/move_base/global_costmap_params.yaml

@@ -1,3 +1,4 @@
+---
 global_costmap:
   global_frame: odom
   robot_base_frame: taluy/base_link
@@ -11,5 +12,5 @@ global_costmap:
   resolution: 0.1
 
   static_map: false
-  rolling_window: true 
+  rolling_window: true
   track_unknown_space: false

auv_bringup/config/move_base/local_costmap_params.yaml

@@ -1,3 +1,4 @@
+---
 local_costmap:
   global_frame: odom
   robot_base_frame: taluy/base_link
@@ -11,4 +12,4 @@ local_costmap:
   width: 10
   height: 10
   resolution: 0.01
-  track_unknown_space: false 
+  track_unknown_space: false

auv_bringup/config/move_base/move_base_params.yaml

@@ -1,3 +1,4 @@
+---
 shutdown_costmaps: false
 controller_frequency: 10.0
 planner_patience: 5.0

auv_bringup/launch/cameras.launch

@@ -11,4 +11,4 @@
     <arg name="verbose" value="$(arg verbose)" />
     <arg name="pub_camera_info" value="$(arg pub_camera_info)" />
   </include>
-</launch>
+</launch>

auv_bringup/launch/inc/boards/start_expansion_board_bridge.launch.xml

@@ -1,30 +1,24 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="namespace" default="turquoise" />
-  <arg name="port" default="/dev/ttyACM0" />
-  <arg name="baudrate" default="1500000" />
-  <arg name="virtual_port" default="/tmp/vcom0" />
-  <arg name="respawn" default="true" />
-
+  <arg name="namespace" default="turquoise"/>
+  <arg name="port" default="/dev/ttyACM0"/>
+  <arg name="baudrate" default="1500000"/>
+  <arg name="virtual_port" default="/tmp/vcom0"/>
+  <arg name="respawn" default="true"/>
   <group ns="$(arg namespace)">
     <!-- start expansion board bridge -->
-    <node pkg="rosserial_python" type="serial_node.py" name="expansion_board_bridge_node"
-      args="$(arg port) _baud:=$(arg baudrate)" output="screen" respawn="$(arg respawn)" />
-
+    <node pkg="rosserial_python" type="serial_node.py" name="expansion_board_bridge_node" args="$(arg port) _baud:=$(arg baudrate)" output="screen" respawn="$(arg respawn)"/>
     <!-- start serial to ros bridge -->
-    <node pkg="auv_hardware_bridge" type="serial_to_ros_bridge_node"
-      name="expansion_serial_to_ros_bridge_node" output="screen" respawn="$(arg respawn)">
-      <param name="virtual_port" value="$(arg virtual_port)" />
-      <remap from="incoming" to="board/serial_port/incoming" />
-      <remap from="outgoing" to="board/serial_port/outgoing" />
+    <node pkg="auv_hardware_bridge" type="serial_to_ros_bridge_node" name="expansion_serial_to_ros_bridge_node" output="screen" respawn="$(arg respawn)">
+      <param name="virtual_port" value="$(arg virtual_port)"/>
+      <remap from="incoming" to="board/serial_port/incoming"/>
+      <remap from="outgoing" to="board/serial_port/outgoing"/>
     </node>
-
     <!-- start remapper node: depth -> pose -->
-    <node pkg="auv_hardware_bridge" type="expansion_bridge_remapper_node.py"
-      name="expansion_bridge_remapper_node" respawn="$(arg respawn)">
-      <param name="pressure_sensor_position_covariance" value="0.1" />
-      <remap from="depth" to="sensors/external_pressure_sensor/depth" />
-      <remap from="pose" to="sensors/external_pressure_sensor/pose" />
+    <node pkg="auv_hardware_bridge" type="expansion_bridge_remapper_node.py" name="expansion_bridge_remapper_node" respawn="$(arg respawn)">
+      <param name="pressure_sensor_position_covariance" value="0.1"/>
+      <remap from="depth" to="sensors/external_pressure_sensor/depth"/>
+      <remap from="pose" to="sensors/external_pressure_sensor/pose"/>
     </node>
   </group>
-</launch>
+</launch>