add ZED urdf + list of choices (#49)

* add ZED urdf + list of choices * choices to root dir * readme * Update README.md * Update README.md * fix gz bridge * Remapping * Add word * add suggestions * add urdf tests * Add None and velodyne to test * Update pre-commit and fix tests
husarion · Nov 13, 2023 · 4915d27 · 4915d27
1 parent 330e16e
commit 4915d27
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diff --git a/.flake8 b/.flake8
@@ -0,0 +1,6 @@
+[flake8]
+extend-ignore = E203, B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202
+import-order-style = google
+max-line-length = 99
+show-source = true
+statistics = true
diff --git a/.gitignore b/.gitignore
@@ -11,7 +11,6 @@ install/
 log/
 __pycache__/
 
-
 # ROSbots submodules
 rosbot_hardware_interfaces/
 ros_components_description/

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@ repos:
             args: [--pytest-test-first]
 
     - repo: https://github.com/codespell-project/codespell
-      rev: v1.16.0
+      rev: v2.2.6
       hooks:
           - id: codespell
             name: codespell
@@ -26,13 +26,13 @@ repos:
             types: [text]
 
     - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
-      rev: 0.2.1
+      rev: 0.2.3
       hooks:
           - id: yamlfmt
             files: ^.github|./\.yaml
 
     - repo: https://github.com/psf/black
-      rev: 23.10.1
+      rev: 23.11.0
       hooks:
         - id: black
           args: ["--line-length=99", "--preview"]
@@ -41,7 +41,7 @@ repos:
       rev: 6.1.0
       hooks:
         - id: flake8
-          args: ["--ignore=E501,W503"] # ignore too long line and line break before binary operator,
+          args: ["--ignore=E501,W503,E203"] # ignore too long line and line break before binary operator,
                                        # black checks it
 
     - repo: local

diff --git a/.wordlist.txt b/.wordlist.txt
@@ -62,6 +62,8 @@ gazebosim
 msgs
 nav
 pytest
+FIXME
+TODO
 nan
 rclpy
 utils

diff --git a/README.md b/README.md
@@ -42,17 +42,15 @@ To run the software on real ROSbot XL, also communication with Digital Board wil
 First update your firmware to make sure that you use the latest version, then run the `micro-ROS` agent.
 For detailed instructions refer to the [rosbot_xl_firmware repository](https://github.com/husarion/rosbot_xl_firmware).
 
-## Source build
+## Prepare environment
 
-### Prerequisites
-
-Install `colcon`, `vsc` and `rosdep`:
+1. **Install `colcon`, `vsc` and `rosdep`**
 ```
 sudo apt-get update
 sudo apt-get install -y python3-colcon-common-extensions python3-vcstool python3-rosdep
 ```
 
-Create workspace folder and clone `rosbot_xl_ros` repository:
+2. **Create workspace folder and clone `rosbot_xl_ros` repository:**
 ```
 mkdir -p ros2_ws/src
 cd ros2_ws
@@ -61,7 +59,7 @@ git clone https://github.com/husarion/rosbot_xl_ros src/
 
 ### Build and run on hardware
 
-Building:
+1. **Building**
 ```
 export HUSARION_ROS_BUILD=hardware
 
@@ -77,19 +75,18 @@ rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
 ```
 
-> **Prerequisites**
->
-> Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent (as described in the *Usage on hardware* step).
+> [!NOTE]
+> Before starting the software on the robot please make sure that you're using the latest firmware and run the `micro-ROS` agent as described in the [Usage on hardware](#usage-on-hardware) step.
 
-Running:
+2. **Running**
 ```
 source install/setup.bash
 ros2 launch rosbot_xl_bringup bringup.launch.py
 ```
 
 ### Build and run Gazebo simulation
 
-Building:
+1. **Building**
 ```
 export HUSARION_ROS_BUILD=simulation
 
@@ -104,7 +101,7 @@ rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y
 colcon build
 ```
 
-Running:
+2. **Running**
 ```
 source install/setup.bash
 ros2 launch rosbot_xl_gazebo simulation.launch.py
@@ -123,6 +120,9 @@ pre-commit install
 
 # manually run tests
 pre-commit run -a
+
+# update revision
+pre-commit autoupdate
 ```
 
 After initialization [pre-commit configuration](.pre-commit-config.yaml) will applied on every commit.

diff --git a/rosbot_xl_bringup/launch/bringup.launch.py b/rosbot_xl_bringup/launch/bringup.launch.py
@@ -35,18 +35,36 @@ def generate_launch_description():
         ),
     )
 
-    lidar_model = LaunchConfiguration("lidar_model")
-    declare_lidar_model_arg = DeclareLaunchArgument(
-        "lidar_model",
-        default_value="slamtec_rplidar_s1",
-        description="Lidar model added to the URDF",
-    )
-
     camera_model = LaunchConfiguration("camera_model")
     declare_camera_model_arg = DeclareLaunchArgument(
         "camera_model",
         default_value="None",
-        description="Camera model added to the URDF",
+        description="Add camera model to the robot URDF",
+        choices=[
+            "None",
+            "intel_realsense_d435",
+            "stereolabs_zed",
+            "stereolabs_zedm",
+            "stereolabs_zed2",
+            "stereolabs_zed2i",
+            "stereolabs_zedx",
+            "stereolabs_zedxm",
+        ],
+    )
+
+    lidar_model = LaunchConfiguration("lidar_model")
+    declare_lidar_model_arg = DeclareLaunchArgument(
+        "lidar_model",
+        default_value="slamtec_rplidar_s1",
+        description="Add LiDAR model to the robot URDF",
+        choices=[
+            "None",
+            "ouster_os1_32",
+            "slamtec_rplidar_a2",
+            "slamtec_rplidar_a3",
+            "slamtec_rplidar_s1",
+            "velodyne_puck",
+        ],
     )
 
     include_camera_mount = LaunchConfiguration("include_camera_mount")
@@ -72,13 +90,11 @@ def generate_launch_description():
 
     controller_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    get_package_share_directory("rosbot_xl_controller"),
-                    "launch",
-                    "controller.launch.py",
-                ]
-            )
+            PathJoinSubstitution([
+                get_package_share_directory("rosbot_xl_controller"),
+                "launch",
+                "controller.launch.py",
+            ])
         ),
         launch_arguments={
             "mecanum": mecanum,
@@ -96,23 +112,21 @@ def generate_launch_description():
         name="ekf_filter_node",
         output="screen",
         parameters=[
-            PathJoinSubstitution(
-                [get_package_share_directory("rosbot_xl_bringup"), "config", "ekf.yaml"]
-            )
+            PathJoinSubstitution([
+                get_package_share_directory("rosbot_xl_bringup"), "config", "ekf.yaml"
+            ])
         ],
     )
 
     laser_filter_node = Node(
         package="laser_filters",
         executable="scan_to_scan_filter_chain",
         parameters=[
-            PathJoinSubstitution(
-                [
-                    get_package_share_directory("rosbot_xl_bringup"),
-                    "config",
-                    "laser_filter.yaml",
-                ]
-            )
+            PathJoinSubstitution([
+                get_package_share_directory("rosbot_xl_bringup"),
+                "config",
+                "laser_filter.yaml",
+            ])
         ],
     )
 

diff --git a/rosbot_xl_bringup/test/test_diff_drive_ekf_and_scan.py b/rosbot_xl_bringup/test/test_diff_drive_ekf_and_scan.py
@@ -31,13 +31,11 @@ def generate_test_description():
     rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    rosbot_xl_bringup,
-                    "launch",
-                    "bringup.launch.py",
-                ]
-            )
+            PathJoinSubstitution([
+                rosbot_xl_bringup,
+                "launch",
+                "bringup.launch.py",
+            ])
         ),
         launch_arguments={
             "use_sim": "False",

diff --git a/rosbot_xl_bringup/test/test_flake8.py b/rosbot_xl_bringup/test/test_flake8.py
@@ -13,11 +13,13 @@
 # limitations under the License.
 
 from ament_flake8.main import main_with_errors
+from os.path import join, dirname
 import pytest
 
 
 @pytest.mark.flake8
 @pytest.mark.linter
 def test_flake8():
-    rc, errors = main_with_errors(argv=[])
+    config_file = join(dirname(dirname(dirname(__file__))), ".flake8")
+    rc, errors = main_with_errors(argv=["--config", config_file])
     assert rc == 0, "Found %d code style errors / warnings:\n" % len(errors) + "\n".join(errors)
diff --git a/rosbot_xl_bringup/test/test_mecanum_ekf_and_scan.py b/rosbot_xl_bringup/test/test_mecanum_ekf_and_scan.py
@@ -31,13 +31,11 @@ def generate_test_description():
     rosbot_xl_bringup = get_package_share_directory("rosbot_xl_bringup")
     bringup_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
-            PathJoinSubstitution(
-                [
-                    rosbot_xl_bringup,
-                    "launch",
-                    "bringup.launch.py",
-                ]
-            )
+            PathJoinSubstitution([
+                rosbot_xl_bringup,
+                "launch",
+                "bringup.launch.py",
+            ])
         ),
         launch_arguments={
             "use_sim": "False",