Implemented base control architecture and demonstrations (#11)

* Added skeleton packages for controllers * Added vcs install to devcontainers and fixed example_pkg build error * Fixed clang format andlicense * Implemented velocity controller, TAM controller, and thruster controller (#6) * Started ISMC implementation * Continued implementing ismc * Started implementation file * Added hydrodynamic parameters * Added generate_parameter_library integration * Added everything but state callback and control law * Added system state updates * Finished initial version of velocity controller * Cleanup and minor bug fixes * Added missing imports * Added dummy package for testing * Added call to update state values * thruster allocation matrix controller before testing * changes according to PR comments * Fixed pluginlib issue. Able to load both controllers but need to address why ros2_control node dies * WIP: Modified URDF * Partially works. Still need to fix TAM controller * Save point * Started fixed * Added configuration type * Rewrite of tam controller and isolated bug in velocity controller * Added author names * Cleaned up velocity controller and fixed some bugs * Fixed bug with URDF and cleaned up thruster controller * Finished thrust curve controller * Fixed linter errors * Fixed tam bug * fixing tam todos. more work needed. * Added deadband into thruster controller * renamed command interface prefix to reference controller * Updated meta package * Added auv_control_msg package and fixed the TODOs in TAM controller * Removed unnecessary deps * Cleanup a bit * Added missing dep for hydrodynamics to package configuration * Updated to use effort interfaces * Removed unused package * Initial cleanup for pr * Fixed precommit errors and attempting to fix ci workflow * i hate devops so much * take two * Trying ros industrial again * Trying again * WHY * tired * Attempting to setup the upstream workspace * fixed clang-tidy file and linter errors * you win clang tidy * Forgot to remove colcon build from devcontainer stage * Resolved pr comments --------- Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> * Added documentation and examples to demonstrate project use (#10) * Create README.md Added a readme for the tam controller * Update README.md * additional edits to tam README.md * fixed formatting README.md * revert code block formatting and update summary in tam README.md * Created README.md for velocity controller. * Fixed velocity controller README.md formatting * Created README.md for thrust controllers. * Update README.md * Update README.md * Update README.md * Updated main README * Cleaned up readmes * Fixed notice * More formatting changes * Fixed capitalization of chainable * Fixed formatting in velocity control readme * Added missing abbreviation declaration * Implemented examples and associated documentation (#9) * add auv_control_demos * added example for individual controller * updated package.xml * minor fix to launch file * Suggested PR changes * Made some minor grammar fixes and added copyright to launch files * Fixed lint errors in auv_control_demos top-level readme * Made some formatting improvements to the chained controller demo * Made some final small changes --------- Co-authored-by: EverardoG <[email protected]> Co-authored-by: Evan Palmer <[email protected]> --------- Co-authored-by: coamitch <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: EverardoG <[email protected]> --------- Co-authored-by: unknown <[email protected]> Co-authored-by: EverardoG <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]> Co-authored-by: coamitch <[email protected]> Co-authored-by: Rakesh Vivekanandan <[email protected]>
Robotic-Decision-Making-Lab · Mar 19, 2024 · c811671 · c811671
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diff --git a/.clang-format b/.clang-format
@@ -1,7 +1,7 @@
 ---
 Language: Cpp
 BasedOnStyle: Google
-ColumnLimit: 100
+ColumnLimit: 120
 MaxEmptyLinesToKeep: 1
 
 IndentWidth: 2

diff --git a/.clang-tidy b/.clang-tidy
@@ -25,56 +25,43 @@ Checks: >
   -bugprone-easily-swappable-parameters,
   -bugprone-implicit-widening-of-multiplication-result,
   -clang-diagnostic-error,
-  -bugprone-exception-escape
+  -bugprone-exception-escape,
+  -misc-include-cleaner,
+  -bugprone-reserved-identifier
 WarningsAsErrors: "*"
 CheckOptions:
   - key: readability-braces-around-statements.ShortStatementLines
     value: "2"
   - key: readability-identifier-naming.NamespaceCase
     value: lower_case
-  - key: readability-identifier-naming.ClassCase
+  # type names
+  - key:   readability-identifier-naming.ClassCase
     value: CamelCase
-  - key: readability-identifier-naming.StructCase
+  - key:   readability-identifier-naming.StructCase
     value: CamelCase
-  - key: readability-identifier-naming.TemplateParameterCase,
-    value: CamelCase,
-  - key: readability-identifier-naming.FunctionCase
-    value: camelBack
-  - key: readability-identifier-naming.MethodCase
-    value: camelBack
-  - key: readability-identifier-naming.VariableCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassMemberCase
-    value: lower_case
-  - key: readability-identifier-naming.ClassMemberSuffix
-    value: _
-  - key: readability-identifier-naming.PrivateMemberSuffix
-    value: _
-  - key: readability-identifier-naming.ProtectedMemberSuffix
-    value: _
-  - key: readability-identifier-naming.EnumConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.EnumConstantPrefix
-    value: k
-  - key: readability-identifier-naming.ConstexprVariableCase
-    value: CamelCase
-  - key: readability-identifier-naming.ConstexprVariablePrefix
-    value: k
-  - key: readability-identifier-naming.GlobalConstantCase
+  - key:   readability-identifier-naming.EnumCase
     value: CamelCase
-  - key: readability-identifier-naming.GlobalConstantPrefix
-    value: k
-  - key: readability-identifier-naming.MemberConstantCase
+  - key:   readability-identifier-naming.UnionCase
     value: CamelCase
-  - key: readability-identifier-naming.MemberConstantPrefix
-    value: k
-  - key: readability-identifier-naming.StaticConstantCase
-    value: CamelCase
-  - key: readability-identifier-naming.StaticConstantPrefix
-    value: k
-  - key: readability-implicit-bool-conversion.AllowIntegerConditions
-    value: 1
-  - key: readability-implicit-bool-conversion.AllowPointerConditions
-    value: 1
-  - key: readability-function-cognitive-complexity.IgnoreMacros
-    value: 1
+  # function names
+  - key:   readability-identifier-naming.FunctionCase
+    value: lower_case
+  # method names
+  - key:   readability-identifier-naming.MethodCase
+    value: lower_case
+  # variable names
+  - key:   readability-identifier-naming.VariableCase
+    value: lower_case
+  - key:   readability-identifier-naming.PrivateMemberSuffix
+    value: "_"
+  - key:   readability-identifier-naming.ProtectedMemberSuffix
+    value: "_"
+  # const, static, or global variables
+  - key:   readability-identifier-naming.EnumConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.StaticConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.GlobalConstantCase
+    value: UPPER_CASE
+  - key:   readability-identifier-naming.ClassConstantCase
+    value: UPPER_CASE
diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
@@ -9,8 +9,6 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-RUN ls src/$PROJECT_NAME
-
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \

diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
@@ -34,7 +34,8 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "josetr.cmake-language-support-vscode"
       ]
     }
   }

diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
@@ -9,8 +9,6 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-RUN ls src/$PROJECT_NAME
-
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \

diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
@@ -38,7 +38,8 @@
         "esbenp.prettier-vscode",
         "xaver.clang-format",
         "charliermarsh.ruff",
-        "ms-python.black-formatter"
+        "ms-python.black-formatter",
+        "josetr.cmake-language-support-vscode"
       ]
     }
   }

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -4,7 +4,6 @@ FROM ros:$ROS_DISTRO-ros-base as ci
 ENV DEBIAN_FRONTEND=noninteractive
 WORKDIR /root/ws_ros
 
-# Update to be your project's name
 ENV PROJECT_NAME=auv_controllers
 
 COPY . src/$PROJECT_NAME
@@ -28,7 +27,8 @@ RUN apt-get -q update \
     && rm -rf /var/lib/apt/lists/*
 
 # Install all ROS dependencies needed for CI
-RUN apt-get -q update \
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
+    && apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
@@ -37,7 +37,7 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-FROM ci as robot
+FROM ci as desktop
 
 # Configure a new non-root user
 ARG USERNAME=ros
@@ -61,12 +61,10 @@ WORKDIR $USER_WORKSPACE
 
 COPY --chown=$USER_UID:$USER_GID . src/$PROJECT_NAME
 
-# Uncomment to download and install external repos used by the project
-# RUN vcs import src < src/$PROJECT_NAME/ros2.repos
-
 # Install all ROS dependencies
 WORKDIR $USER_WORKSPACE
-RUN sudo apt-get -q update \
+RUN vcs import src < src/$PROJECT_NAME/ros2.repos \
+    && sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
     && rosdep update \
     && rosdep install -y --from-paths src --ignore-src -r --rosdistro ${ROS_DISTRO} \
@@ -80,39 +78,6 @@ RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
 
-FROM robot as desktop
-
-ENV DEBIAN_FRONTEND=noninteractive
-ENV USER_WORKSPACE=/home/$USERNAME/ws_ros
-WORKDIR $USER_WORKSPACE
-
-# Install tools needed for Gazebo installation
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y \
-    lsb-release \
-    wget \
-    gnupg \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Set to the desired version of Gazebo
-# Refer to the official documentation for the recommended pairings:
-# https://gazebosim.org/docs/harmonic/ros_installation
-ENV GAZEBO_VERSION=harmonic
-
-RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
-    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
-    && sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get install -y \
-    gz-$GAZEBO_VERSION \
-    ros-$ROS_DISTRO-ros-gz$GAZEBO_VERSION \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
 FROM desktop as desktop-nvidia
 
 # Install NVIDIA software

diff --git a/.dockerignore b/.dockerignore
@@ -3,6 +3,9 @@
 
 # Except the following
 !requirements-dev.txt
-
-# Allow your ROS 2 packages here, e.g.:
-!example_pkg
+!auv_controllers
+!velocity_controllers
+!thruster_allocation_matrix_controller
+!thruster_controllers
+!auv_control_msgs
+!ros2.repos
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -38,6 +38,9 @@ jobs:
         uses: ros-industrial/industrial_ci@master
         env:
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/auv_controllers:${{ matrix.env.IMAGE }}
+          UPSTREAM_WORKSPACE: ros2.repos
+          AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+          AFTER_SETUP_DOWNSTREAM_WORKSPACE: vcs pull $BASEDIR/downstream_ws/src
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
           CC: ${{ env.CLANG_TIDY && 'clang' }}

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -55,54 +55,6 @@ jobs:
           labels: ${{ steps.meta.outputs.labels }}
           push: ${{ env.PUSH }}
 
-  robot:
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [iron]
-    runs-on: ubuntu-latest
-    permissions:
-      packages: write
-      contents: read
-    steps:
-      - name: Checkout repository
-        uses: actions/checkout@v4
-
-      - name: Set up QEMU
-        uses: docker/[email protected]
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Log into registry
-        if: env.PUSH == 'true'
-        uses: docker/[email protected]
-        with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Extract Docker metadata
-        if: env.PUSH == 'true'
-        id: meta
-        uses: docker/[email protected]
-        with:
-          images: ghcr.io/${{ github.repository }}
-          tags: |
-            type=raw,value=${{ matrix.ROS_DISTRO }}-${{ github.job }}
-
-      - name: Build and push Docker image
-        uses: docker/[email protected]
-        with:
-          context: .
-          file: .docker/Dockerfile
-          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
-          target: ${{ github.job }}
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          push: ${{ env.PUSH }}
-          platforms: linux/amd64,linux/arm64
-
   desktop:
     strategy:
       fail-fast: false

diff --git a/.gitignore b/.gitignore
@@ -1,4 +1,4 @@
 # ROS 2
-build
-install
-log
+build/
+install/
+log/
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
@@ -5,7 +5,8 @@
       "includePath": [
         "${workspaceFolder}/**",
         "/opt/ros/iron/include/**",
-        "/usr/include/gz/**"
+        "/usr/include/eigen3/**",
+        "/home/ros/ws_ros/**"
       ],
       "defines": [],
       "compilerPath": "/usr/bin/gcc",

diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -38,7 +38,7 @@
   "C_Cpp.codeAnalysis.clangTidy.codeAction.formatFixes": true,
   "clang-format.executable": "/usr/bin/clang-format-14",
   "[cpp]": {
-    "editor.rulers": [100],
+    "editor.rulers": [120],
     "editor.tabSize": 2,
     "editor.defaultFormatter": "xaver.clang-format"
   },

diff --git a/LICENSE b/LICENSE
@@ -1,28 +1,21 @@
-BSD 3-Clause License
+MIT License
 
-Copyright (c) 2024, Robotic Decision Making Lab
+Copyright (c) 2024 Evan Palmer
 
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
+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:
 
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
 
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-3. Neither the name of the copyright holder nor the names of its
-   contributors may be used to endorse or promote products derived from
-   this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+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.