Noetic cleanup (#9)

* raspicam_node cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * control cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * description cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * firmware cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * gazebo cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * nav cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * slam cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * README cleanup Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * clang format yaml parsable Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * add ignore and pre-commit Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> * package.xml fix Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com> --------- Signed-off-by: Aaryan Murgunde (Spectre Jammy) <aaryan.murgunde@gmail.com>
rigbetellabs · Nov 9, 2023 · ccc413e · ccc413e
1 parent 8926ee4
commit ccc413e
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Showing 64 changed files with 900 additions and 796 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,54 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+#VS Code
+.vscode
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,46 @@
+exclude: ydlidar_ros/
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-yaml
+      - id: end-of-file-fixer
+      - id: trailing-whitespace
+      - id: check-executables-have-shebangs
+      - id: check-shebang-scripts-are-executable
+      - id: check-merge-conflict
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-symlinks
+      - id: debug-statements
+      - id: mixed-line-ending
+  - repo: https://github.com/psf/black
+    rev: 23.10.1
+    hooks:
+      - id: black
+        name: black
+        description: "Black: The uncompromising Python code formatter"
+        entry: black
+        stages: [pre-commit, pre-merge-commit, pre-push, manual]
+        language: python
+        minimum_pre_commit_version: 2.9.2
+        require_serial: true
+        types_or: [python, pyi]
+  - repo: https://github.com/tier4/pre-commit-hooks-ros
+    rev: v0.7.0
+    hooks:
+      - id: prettier-xacro
+      - id: prettier-launch-xml
+      - id: prettier-package-xml
+      - id: ros-include-guard
+      - id: sort-package-xml
+  - repo: local
+    hooks:
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false
diff --git a/README.md b/README.md
@@ -4,7 +4,7 @@ Clone this repo in your src folder with the following command so as to also clon
 ```
 git clone --recursive https://github.com/rigbetellabs/tortoisebot.git
 ```
-Required Dependences: 
+Required Dependences:
 ```
 sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy ros-noetic-teleop-twist-keyboard ros-noetic-amcl ros-noetic-map-server ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro ros-noetic-rqt-image-view ros-noetic-gmapping ros-noetic-navigation ros-noetic-joint-state-publisher ros-noetic-robot-state-publisher ros-noetic-slam-gmapping ros-noetic-dwa-local-planner ros-noetic-joint-state-publisher-gui
 ```
diff --git a/raspicam_node/.clang-format b/raspicam_node/.clang-format
@@ -8,7 +8,6 @@ AllowAllParametersOfDeclarationOnNextLine: false
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
-AllowShortLoopsOnASingleLine: false
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
@@ -52,15 +51,15 @@ BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping: {
-    AfterClass: 'true'
-    AfterNamespace : 'true'
-    AfterControlStatement: 'false'
-    AfterEnum : 'false'
-    AfterFunction : 'false'
-    AfterStruct : 'false'
-    AfterUnion : 'false'
-    BeforeCatch : 'false'
-    BeforeElse : 'false'
+    AfterClass: 'true',
+    AfterNamespace : 'true',
+    AfterControlStatement: 'false',
+    AfterEnum : 'false',
+    AfterFunction : 'false',
+    AfterStruct : 'false',
+    AfterUnion : 'false',
+    BeforeCatch : 'false',
+    BeforeElse : 'false',
     IndentBraces : 'false'
 }
 ...
diff --git a/raspicam_node/CMakeLists.txt b/raspicam_node/CMakeLists.txt
@@ -21,7 +21,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
-if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) 
+if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*)
   FIND_LIBRARY(mmal_LIBS NAMES mmal PATHS /opt/vc/lib)
   FIND_LIBRARY(mmalcore_LIBS NAMES mmal_core PATHS /opt/vc/lib)
   FIND_LIBRARY(mmalutil_LIBS NAMES mmal_util PATHS /opt/vc/lib)
@@ -45,14 +45,14 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*)
       MESSAGE(FATAL_ERROR "Could not find vchostif library")
   ENDIF()
 
-  set(RPI_LIBRARIES ${RPI_LIBRARIES} 
+  set(RPI_LIBRARIES ${RPI_LIBRARIES}
   ${bcmhost_LIBS}
-  ${vcos_LIBS} 
-  ${mmal_LIBS} 
-  ${mmalcore_LIBS} 
-  ${mmalutil_LIBS}  
-  ${mmalvcclient_LIBS} 
-  ${vchostif_LIBS} 
+  ${vcos_LIBS}
+  ${mmal_LIBS}
+  ${mmalcore_LIBS}
+  ${mmalutil_LIBS}
+  ${mmalvcclient_LIBS}
+  ${vchostif_LIBS}
   )
 ENDIF()
 
@@ -132,7 +132,7 @@ add_dependencies(raspicam_node raspicam_node_gencfg)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(raspicam_node
   ${catkin_LIBRARIES}
-  ${RPI_LIBRARIES} 
+  ${RPI_LIBRARIES}
 )
 
 #############

diff --git a/raspicam_node/camera_info/camerav2_410x308.yaml b/raspicam_node/camera_info/camerav2_410x308.yaml
@@ -17,4 +17,4 @@ rectification_matrix:
 projection_matrix:
   rows: 3
   cols: 4
-  data: [329.2483825683594, 0, 198.4101510452074, 0, 0, 329.1044006347656, 155.5057121208347, 0, 0, 0, 1, 0]
+  data: [329.2483825683594, 0, 198.4101510452074, 0, 0, 329.1044006347656, 155.5057121208347, 0, 0, 0, 1, 0]
diff --git a/raspicam_node/cfg/Camera.cfg b/raspicam_node/cfg/Camera.cfg
@@ -48,4 +48,3 @@ awb_modes = gen.enum([gen.const("awb_off", str_t, "off", ""),
 gen.add("awb_mode", str_t, 0, "AWB mode", "auto", edit_method=awb_modes)
 
 exit(gen.generate(PACKAGE, "raspicam_node", "Camera"))
-
Original file line number	Diff line number	Diff line change
Expand Up		@@ -48,4 +48,3 @@ awb_modes = gen.enum([gen.const("awb_off", str_t, "off", ""),
		gen.add("awb_mode", str_t, 0, "AWB mode", "auto", edit_method=awb_modes)

		exit(gen.generate(PACKAGE, "raspicam_node", "Camera"))