CI integration

.clang-format

@@ -1,6 +1,5 @@
 BasedOnStyle: Google
 Language: Cpp
-
 AlignTrailingComments: true
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak

.github/workflows/test.yml

@@ -0,0 +1,21 @@
+name: Test
+
+on:
+  pull_request:
+    branches: [master]
+  push:
+    branches: [master]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    name: Run pre-commit hooks
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with: { python-version: "3.10" }
+      - uses: pre-commit/action@v3.0.1

.pre-commit-config.yaml

@@ -0,0 +1,45 @@
+repos:
+  # Common sanity checks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-added-large-files
+        args: [--enforce-all, --maxkb=12300]
+      - id: check-merge-conflict
+      - id: check-xml
+      - id: check-json
+      - id: check-yaml
+      - id: check-toml
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+
+  # YAML linter
+  - repo: https://github.com/adrienverge/yamllint
+    rev: v1.35.1
+    hooks:
+      - id: yamllint
+        exclude: ^.clang-tidy$
+        args: [--strict, -d, ".yamllint-config.yaml"]
+
+  # CMake linter and formatter
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.10
+    hooks:
+      - id: cmake-format
+      - id: cmake-lint
+
+  # Python linters & formatters
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.1.3
+    hooks:
+      - id: ruff
+        args: [--fix, --show-fixes]
+      - id: ruff-format
+
+  # C++ formatter
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format
+        types_or: [c, c++]

.yamllint-config.yaml

@@ -0,0 +1,17 @@
+rules:
+  line-length:
+    max: 180
+
+  quoted-strings:
+    quote-type: double
+    required: false
+
+  braces:
+    min-spaces-inside: 1
+    max-spaces-inside: 1
+    min-spaces-inside-empty: 0
+    max-spaces-inside-empty: 0
+
+  brackets:
+    min-spaces-inside-empty: 0
+    max-spaces-inside-empty: 0

Dockerfile

@@ -216,7 +216,7 @@ ENV PYTORCH_WHL="torch-1.13.0a0+340c4120.nv22.06-cp38-cp38-linux_aarch64.whl"
 ENV PYTORCH_URL="https://developer.download.nvidia.com/compute/redist/jp/v50/pytorch/${PYTORCH_WHL}"
 
 RUN wget --no-check-certificate -qO ${PYTORCH_WHL} ${PYTORCH_URL} \
-    && pip3 install --no-cache-dir ${PYTORCH_WHL} \ 
+    && pip3 install --no-cache-dir ${PYTORCH_WHL} \
     && rm -rf /tmp/*
 
 RUN wget -qO - https://github.com/pytorch/vision/archive/refs/tags/v${TORCHVISION_VERSION}.tar.gz | tar -xz \
@@ -243,7 +243,7 @@ RUN wget -qO - https://github.com/IntelRealSense/librealsense/archive/refs/tags/
         -DBUILD_WITH_TM2=false \
     && make -j$(($(nproc)-1)) install \
     && rm -rf /tmp/*
- 
+
 FROM --platform=linux/amd64 truck-common AS truck-cuda-amd64
 
 # INSTALL OPENCV
@@ -443,7 +443,7 @@ RUN cd ${ROS_TMP} \
     && colcon build \
         --merge-install \
         --install-base ${ROS_ROOT} \
-        --cmake-args -DBUILD_TESTING=OFF \ 
+        --cmake-args -DBUILD_TESTING=OFF \
     && rm -rf /tmp/*
 
 RUN printf "export ROS_ROOT=${ROS_ROOT}\n" >> /root/.bashrc \
@@ -460,7 +460,7 @@ RUN git clone https://github.com/Slamtec/sllidar_ros2.git \
     && colcon build \
         --merge-install \
         --install-base ${ROS_ROOT} \
-        --cmake-args -DBUILD_TESTING=OFF \ 
+        --cmake-args -DBUILD_TESTING=OFF \
     && rm -rf /tmp/*
 
 FROM truck-ros AS truck-dev
@@ -481,7 +481,7 @@ RUN apt-get update -q && \
         libeigen3-dev \
         libtbb-dev \
         libproj-dev \
-        libsuitesparse-dev \ 
+        libsuitesparse-dev \
     && rm -rf /var/lib/apt/lists/* && apt-get clean
 
 ARG LIBNABO_VERSION="1.0.7"

doc/Makefile

@@ -8,5 +8,3 @@ build_dir:
 ackermann_vehicle_svg: build_dir
 	latex -output-directory build tex/ackermann_vehicle.tex
 	dvisvgm --no-fonts build/ackermann_vehicle.dvi -o svg/*
-
-

doc/README.md

@@ -3,13 +3,11 @@
 ### Overview
 - [Ackermann model](ackermann_vehicle.md)
 - [Nodes & topics](nodes_and_topics.md)
-  
+
 ### Dev
 - [Getting started](getting_started.md)
 - [Foxglove](foxglove.md)
 - [CPP guides](https://github.com/robotics-laboratory/cookbook/blob/master/cpp/style.md)
 
 ### Build docs
 To rebuild docs run `make` in current dir.
-
-

doc/foxglove.md

@@ -8,4 +8,4 @@ At current moment we use [rosbridge](http://wiki.ros.org/rosbridge_suite) to com
 - For local run just use address ```ws://localhost:9090```.
 
 ## Layouts
-We have several launch configs in package 'truck'. Some layout is prepared for each of them. Freely use it, exporting from repo to foxglove studio.
+We have several launch configs in package 'truck'. Some layout is prepared for each of them. Freely use it, exporting from repo to foxglove studio.

doc/getting_started.md

@@ -22,7 +22,7 @@ docker-compose up -d truck-jetson
 # exit doesn't stop the container
 docker exec -it truck bash
 
-# also you 
+# also you
 
 # stop container
 docker stop truck
@@ -91,18 +91,18 @@ gzclient --verbose
 ```
 
 ## Connecting bluetooth gamepad
-Note: you should run the following commands on a host device, not in a docker container.  
+Note: you should run the following commands on a host device, not in a docker container.
 Start bluetoothctl. Enable the agent and set it as default:
 ```
 [bluetooth]# agent on
 [bluetooth]# default-agent
 ```
 
-Power on the Bluetooth controller, and set it as discoverable: 
+Power on the Bluetooth controller, and set it as discoverable:
 ```
 [bluetooth]# power on
 [bluetooth]# discoverable on
-[bluetooth]# pairable on 
+[bluetooth]# pairable on
 ```
 
 Switch controller to pairing mode:

doc/nodes_and_topics.md

@@ -7,7 +7,7 @@
 - `/motion/command` [[truck_interfecase/Control](https://github.com/robotics-laboratory/truck/blob/master/packages/truck_interfaces/msg/Control.msg)] - target of trajectory follower
 
 ### Remote control
-- `/joy/set_feedback` [[sensos_msgs/JoyFeedback](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JoyFeedback.html)] - joypad input topic (rumble, leds and etc) 
+- `/joy/set_feedback` [[sensos_msgs/JoyFeedback](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/JoyFeedback.html)] - joypad input topic (rumble, leds and etc)
 - `/joy` [[sensos_msgs/Joy](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/Joy.html)] - joypad output topic
 
 ### Control

doc/tex/ackermann_vehicle.tex

@@ -17,7 +17,7 @@
         % truck axes
         \draw[->, blue, thick] (0,0) -- (4,0) node[black, right] {$x_{truck}$};
         \draw[->, blue, thick] (0,0) -- (0,3) node[black, above] {$y_{truck}$};
-        
+
         % base points
         \node[fill=blue, opacity=0.4, label=above:{$O$}] at (-3,12) {};
         \node[fill=blue, opacity=0.4, label={below right:{$(x,y,\theta,v)$}}] at (0,0) {};
@@ -26,69 +26,69 @@
         % axial guides
         \draw[dashed] (-5,-2) -- (6,-2);
         \draw[dashed] (-5,2) -- (6,2);
-        
+
         % steering guides
-        \draw[<->, black, dashed] (-3, 0) -- (-3,12) node[left, midway] {$R_b$}; 
-        \draw[black, dashed] (-3, -3) -- (-3,0); 
-        
+        \draw[<->, black, dashed] (-3, 0) -- (-3,12) node[left, midway] {$R_b$};
+        \draw[black, dashed] (-3, -3) -- (-3,0);
+
         \draw[<->, black, dashed] (0,0) -- (-3,12) node[right, midway] {$R$};
         \draw[<->, black, dashed] (3,2) -- (-3,12) node[right, midway] {$R_l$};
         \draw[<->, black, dashed] (3,-2) -- (-3,12) node[right, midway] {$R_r$};
 
         % rear tyres
         \draw[red, very thick] (-4.0,+1.5) rectangle (-2.0,+2.5);
         \draw[red, very thick] (-4.0,-2.5) rectangle (-2.0,-1.5);
-        
+
         % front tires
         \draw[red, very thick, shift={(3,2)}, rotate=30.96] (-1.0,-0.5) rectangle (+1.0,+0.5);
         \draw[red, very thick, shift={(3,-2)}, rotate=22.85] (-1.0,-0.5) rectangle (+1.0,+0.5);
-        
+
         % front guides
         \draw[black, dashed] (3,-3) -- (3,2);
         \draw[black, dashed, shift={(3,2)}, rotate=30] (0,0) -- (3,0);
         \draw[black, dashed, shift={(3,-2)}, rotate=22.85] (0,0) -- (3,0);
 
         % width
         \draw[<->] (-5,-2) -- (-5,2) node[left, midway] {$w$};
-        
+
         % from rear to base
         \draw[<->] (-3,0) -- (0,0) node[midway, below right] {$l_b$};
 
         % length
         \draw[<->] (-3,-3) -- (3,-3) node[midway, above] {$l$};
-        
+
         % front angles
         \fill[green, opacity=0.3] (3,2) -- (4.5,2) arc [start angle=0, end angle=30, radius=1.5];
         \node[label=above:{$\delta_l$}] at (3,2) {};
-        
+
         \fill[green, opacity=0.3] (3,-2) -- (4.5,-2) arc [start angle=0, end angle=22.85, radius=1.5];
         \node[label=above:{$\delta_r$}] at (3,-2) {};
-        
+
         % path
         \draw[->, blue, very thick, opacity=0.3, rotate=14.04] (0,0) arc [start angle=-90, end angle=-40, radius=12.37];
         \draw[->, red, very thick, opacity=0.3, shift={(3,2)}, rotate=30.96] (0,0)  arc [start angle=-90, end angle=-60,radius=11.66];
         \draw[->, red, very thick, opacity=0.3, shift={(3,-2)}, rotate=23.20] (0,0)  arc [start angle=-90, end angle=-60,radius=15.23];
-        
+
         % velocity
         \draw[->, blue, very thick, rotate=14.04] (0,0) -- (2,0) node[black, midway, above] {$\vec{v}$};
         \draw[->, red, very thick] (-3,2) node[black, above]{$v_l$} -- (-1.10,2);
         \draw[->, red, very thick] (-3,-2) node[black, above]{$v_r$} -- (-0.90,-2);
     \end{scope}
-    
+
     % pose
     \draw[dashed] (7,2) -- (7,0) node[fill=blue, opacity=0.4, label=above left:{$x$}] {};
     \draw[dashed] (9,2) -- (0,2) node[fill=blue, opacity=0.4, label=above left:{$y$}] {};
-    
+
     \fill[green, opacity=0.3] (7,2) -- (8.5,2) arc [start angle=0, end angle=30, radius=1.5];
     \node[label=above:{$\theta$}] at (7, 2) {};
-    
+
     % hints
     \draw (12,-1) node[fill=yellow!30, draw, rounded corners] {$v_l = \big(1 + C_b \frac{w}{2} \big) \cdot v_b$};
     \draw (12,-2) node[fill=yellow!30, draw, rounded corners] {$v_r = \big(1 - C_b \frac{w}{2} \big) \cdot v_b$};
-    
+
     \draw (5,11) node[fill=yellow!30, draw, rounded corners] {$\delta_l = \arctan \big(|C_b| l, 1 - C_b \frac{w}{2} \big)$};
     \draw (5,10) node[fill=yellow!30, draw, rounded corners] {$\delta_r = \arctan \big(|C_b| l, 1 + C_b \frac{w}{2} \big)$};
-    
+
 
     \draw (0, 4.5) node[fill=yellow!30, draw, rounded corners] {$C_b = \frac{C}{\sqrt{1 - (C l_b)^2}}$};
     \draw (0, 3.5) node[fill=yellow!30, draw, rounded corners] {$C = \frac{C_b}{\sqrt{1 + (C_b l_b)^2}}$};

layout/pure_pursuit.json

@@ -72,4 +72,4 @@
     "direction": "row",
     "splitPercentage": 98
   }
-}
+}

packages/aruco_localization/CMakeLists.txt

@@ -14,31 +14,29 @@ find_package(tf2_geometry_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 
 add_executable(
-    aruco_localization
-    src/aruco_localization.cpp
-    src/math_helpers.cpp 
-    src/camera_tracker.cpp
-    src/transform.cpp
-    src/visualization_helpers.cpp
-    src/tf_graph.cpp
-    src/graph_algorithms.cpp
-)
+  aruco_localization
+  src/aruco_localization.cpp
+  src/math_helpers.cpp
+  src/camera_tracker.cpp
+  src/transform.cpp
+  src/visualization_helpers.cpp
+  src/tf_graph.cpp
+  src/graph_algorithms.cpp)
 
-target_include_directories(aruco_localization PRIVATE include/aruco_localization)
+target_include_directories(aruco_localization
+                           PRIVATE include/aruco_localization)
 ament_target_dependencies(
-    ${PROJECT_NAME}
-    cv_bridge
-    nav_msgs
-    OpenCV
-    rclcpp
-    sensor_msgs
-    tf2
-    tf2_geometry_msgs
-    tf2_msgs
-    visualization_msgs )
+  ${PROJECT_NAME}
+  cv_bridge
+  nav_msgs
+  OpenCV
+  rclcpp
+  sensor_msgs
+  tf2
+  tf2_geometry_msgs
+  tf2_msgs
+  visualization_msgs)
 
-install(TARGETS
-    ${PROJECT_NAME}
-    DESTINATION lib/${PROJECT_NAME})
+install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

packages/aruco_localization/include/aruco_localization/aruco_localization.hpp

@@ -27,12 +27,11 @@
 
 namespace rosaruco {
 
-
 class ArucoLocalization : public rclcpp::Node {
-   public:
+  public:
     ArucoLocalization();
 
-   private:
+  private:
     void HandleImage(sensor_msgs::msg::Image::ConstSharedPtr msg);
     void UpdateCameraInfo(sensor_msgs::msg::CameraInfo::ConstSharedPtr msg);
 
@@ -51,4 +50,4 @@ class ArucoLocalization : public rclcpp::Node {
     CameraTracker coordinator_;
 };
 
-} // namespace rosaruco
+}  // namespace rosaruco