Merge branch 'main' into planner_node

.github/workflows/humble.yml

@@ -18,9 +18,10 @@ jobs:
         uses: ros-tooling/setup-ros@v0.5
         with:
           required-ros-distributions: humble
+      - name: Install dependencies
+        run: pip install black
       - name: ROS2 build and test
         uses: ros-tooling/action-ros-ci@v0.2
         with:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           target-ros2-distro: humble
-          skip-tests: true

.github/workflows/rolling.yml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   build_docker:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     container:
       image: ubuntu:jammy
     steps:
@@ -18,9 +18,10 @@ jobs:
         uses: ros-tooling/setup-ros@v0.5
         with:
           required-ros-distributions: rolling
+      - name: Install dependencies
+        run: pip install black
       - name: ROS2 build and test
         uses: ros-tooling/action-ros-ci@v0.2
         with:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           target-ros2-distro: rolling
-          skip-tests: true

.gitignore

@@ -1,4 +1,6 @@
-.vscode
+.vscode/*
+.history/
+
 
 # Byte-compiled / optimized / DLL files
 __pycache__/

README.md

@@ -1,13 +1,12 @@
 # freeflyer2
-![foxy build](https://github.com/StanfordASL/freeflyer2/actions/workflows/foxy.yml/badge.svg?event=push)
 ![humble build](https://github.com/StanfordASL/freeflyer2/actions/workflows/humble.yml/badge.svg?event=push)
 ![rolling build](https://github.com/StanfordASL/freeflyer2/actions/workflows/rolling.yml/badge.svg?event=push)
 
 ASL FreeFlyer software stack with ROS2. See build status for support on ROS2 distrbutions.
 
 ## Quick Start
-1. Install ROS2 ([Foxy](https://docs.ros.org/en/foxy/Installation.html),
-[Humble](https://docs.ros.org/en/humble/Installation.html), or
+1. Install ROS2 (
+[Humble](https://docs.ros.org/en/humble/Installation.html) or
 [Rolling](https://docs.ros.org/en/rolling/Installation.html))
 2. Clone the repo into a ROS2 workspace, e.g.
 ```sh
@@ -18,19 +17,68 @@ git clone git@github.com:StanfordASL/freeflyer2.git ~/ff_ws/src/freeflyer2
 ```sh
 rosdep update && rosdep install --from-paths ~/ff_ws/src --ignore-src -y
 ```
-4. Build the code
+4. Build the code (skipping the driver package)
 ```sh
-cd ~/ff_ws && colcon build
+cd ~/ff_ws && colcon build --packages-skip ff_drivers
 ```
+
 5. Source workspace install
 ```sh
 source ~/ff_ws/install/local_setup.bash
 ```
 
+## Development Guide
+The CI will build and run all registered tests. PR can be merged only when all status checks
+pass. [ROS2 code styles](https://docs.ros.org/en/humble/The-ROS2-Project/Contributing/Code-Style-Language-Versions.html)
+are enforced for C++. Python code style is enforced through `black`.
+Here are some tips for fixing code style issues for a PR.
+
+Run the following command to manually run all tests and see detailed test results including
+format violation
+```sh
+$ colcon build && colcon test && colcon test-result --verbose
+```
+
+#### Copyright
+Every source file (e.g. `.cpp`, `.hpp`, `.py`) including launch files should have a copy of
+the license at the very top. See any source files for an example.
+
+#### C++ Code Style
+1. Run `ament_uncrustify --reformat` to automatically format C++ source files.
+2. Run `ament_cpplint` to check for style violations and fix them manually.
+
+#### Python Code Style
+Please install `black` with `pip install black` for the first time.
+
+Importantly
+- to format all Python code with black automatically run
+```sh
+$ cd freeflyer2
+$ black .
+```
+- to check formatting without changing the files run
+```sh
+$ cd freeflyer2
+$ black --check .
+```
+
+#### Disable Code Style Test
+If you hate the ROS2 conventions so bad, you can disable specific code style test by adding
+the following line before `ament_lint_auto_find_test_dependencies()` in `CMakeLists.txt`.
+```cmake
+set(AMENT_LINT_AUTO_EXCLUDE <test1> [<test2> ...])
+```
+For example, if you want to disable code style checks for all Python files, you can add
+```cmake
+set(AMENT_LINT_AUTO_EXCLUDE ament_cmake_flake8 ament_cmake_pep257)
+```
+
 ## Package Layout
 
 * `freeflyer` -- top level pacakge (contains just launch files)
+* `ff_estimate` -- implement different state estimators
 * `ff_control` -- implement different controllers
+* `ff_drivers` -- driver code that interfaces with hardware
 * `ff_msgs` -- custom message types
 * `ff_params` -- shared parameters about dynamics and actuators
 * `ff_sim` -- a lightweight pure Python simulator

ff_control/CMakeLists.txt

@@ -7,6 +7,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(Eigen3)
 find_package(geometry_msgs REQUIRED)
@@ -25,11 +26,13 @@ ament_target_dependencies(ctrl_lib rclcpp ff_msgs ff_params Eigen3)
 ament_export_targets(ctrl_libTarget HAS_LIBRARY_TARGET)
 ament_export_dependencies(rclcpp ff_msgs ff_params Eigen3 eigen3_cmake_module)
 
+# install headers
 install(
   DIRECTORY include/
   DESTINATION include
 )
 
+# install CPP libraries
 install(
   TARGETS ctrl_lib
   EXPORT ctrl_libTarget
@@ -39,28 +42,33 @@ install(
   INCLUDES DESTINATION include
 )
 
-add_executable(wrench_ctrl_node src/nodes/wrench_ctrl_node.cpp)
-target_link_libraries(wrench_ctrl_node ctrl_lib)
+add_executable(wrench_ctrl_cpp_node src/nodes/wrench_ctrl_node.cpp)
+target_link_libraries(wrench_ctrl_cpp_node ctrl_lib)
 
-add_executable(pd_ctrl_node src/nodes/pd_ctrl_node.cpp)
-target_link_libraries(pd_ctrl_node ctrl_lib)
-ament_target_dependencies(pd_ctrl_node geometry_msgs)
+add_executable(pd_ctrl_cpp_node src/nodes/pd_ctrl_node.cpp)
+target_link_libraries(pd_ctrl_cpp_node ctrl_lib)
+ament_target_dependencies(pd_ctrl_cpp_node geometry_msgs)
 
-add_executable(key_teleop_node src/nodes/key_teleop_node.cpp)
-target_link_libraries(key_teleop_node ctrl_lib)
+add_executable(key_teleop_cpp_node src/nodes/key_teleop_node.cpp)
+target_link_libraries(key_teleop_cpp_node ctrl_lib)
 
-install(TARGETS wrench_ctrl_node pd_ctrl_node key_teleop_node
+# install CPP nodes
+install(TARGETS wrench_ctrl_cpp_node pd_ctrl_cpp_node key_teleop_cpp_node
   DESTINATION lib/${PROJECT_NAME})
 
+# install Python libraries
+ament_python_install_package(${PROJECT_NAME})
+
+# install Python nodes
+install(PROGRAMS
+  scripts/pd_ctrl_py_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
+  # disable Python style checkers
+  set(AMENT_LINT_AUTO_EXCLUDE ament_cmake_flake8 ament_cmake_pep257)
   ament_lint_auto_find_test_dependencies()
 endif()
 

ff_control/ff_control/__init__.py

@@ -0,0 +1,21 @@
+# MIT License
+#
+# Copyright (c) 2023 Stanford Autonomous Systems Lab
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.