Merge branch 'master' into rqt-docs

uf-mil · Sep 4, 2023 · 6fbbb20 · 6fbbb20
2 parents ca59e5a + 1562ae9
commit 6fbbb20
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diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -37,13 +37,13 @@ jobs:
           submodules: recursive
           path: catkin_ws/src/mil
       - name: Setup ROS Noetic
-        uses: ros-tooling/setup-ros@v0.3
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: noetic
       - name: Install pip dependencies
         run: |
           cd $GITHUB_WORKSPACE/catkin_ws/src/mil
-          pip install -r requirements.txt
+          pip3 install -r requirements.txt
       # We want to run a full test suite in CI - this includes the BlueView
       # tests!
       - name: Install BlueView Sonar SDK

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -15,15 +15,15 @@ repos:
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 23.3.0
+    rev: 23.7.0
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v16.0.4
+    rev: v16.0.6
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
-    rev: v2.1.1
+    rev: v2.2.0
     hooks:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
@@ -34,18 +34,18 @@ repos:
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
         args: [--severity=warning, --exclude=SC1090]
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-2
+    rev: v3.7.0-1
     hooks:
       - id: shfmt
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
-  - repo: https://github.com/charliermarsh/ruff-pre-commit
+  - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: 'v0.0.270'
+    rev: 'v0.0.282'
     hooks:
       - id: ruff
         args: [--fix, --exit-non-zero-on-fix]
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.5
     hooks:
       - id: codespell
         args:

diff --git a/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py b/NaviGator/gnc/navigator_msg_multiplexer/nodes/ogrid_arbiter.py
@@ -493,10 +493,7 @@ def publish(self, timer_event):
                     )
                     print(e)
                     fprint(
-                        "w: {}, h: {}".format(
-                            global_ogrid.info.width,
-                            global_ogrid.info.height,
-                        ),
+                        f"w: {global_ogrid.info.width}, h: {global_ogrid.info.height}",
                         msg_color="red",
                     )
 

diff --git a/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py b/NaviGator/gnc/navigator_thrust_mapper/navigator_thrust_mapper/thruster_map.py
@@ -166,15 +166,11 @@ def from_urdf(
             if find != -1 and find + len(transmission_suffix) == len(transmission.name):
                 if len(transmission.joints) != 1:
                     raise Exception(
-                        "Transmission {} does not have 1 joint".format(
-                            transmission.name,
-                        ),
+                        f"Transmission {transmission.name} does not have 1 joint",
                     )
                 if len(transmission.actuators) != 1:
                     raise Exception(
-                        "Transmission {} does not have 1 actuator".format(
-                            transmission.name,
-                        ),
+                        f"Transmission {transmission.name} does not have 1 actuator",
                     )
 
                 t_ratio = transmission.actuators[0].mechanicalReduction
@@ -195,9 +191,7 @@ def from_urdf(
                         joint = t_joint
                 if joint is None:
                     rospy.logerr(
-                        "Transmission joint {} not found".format(
-                            transmission.joints[0].name,
-                        ),
+                        f"Transmission joint {transmission.joints[0].name} not found",
                     )
                 try:
                     trans = buff.lookup_transform(
@@ -217,9 +211,7 @@ def from_urdf(
                 joints.append(joint.name)
                 if limit != -1 and joint.limit.effort != limit:
                     raise Exception(
-                        "Thruster {} had a different limit, cannot proceed".format(
-                            joint.name,
-                        ),
+                        f"Thruster {joint.name} had a different limit, cannot proceed",
                     )
                 limit = joint.limit.effort
         limit_tuple = (limit, -limit)

diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/kill.py
@@ -28,21 +28,15 @@ def _online_bagger_cb(self, status, result):
             rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}")
         else:
             rospy.logwarn(
-                "KILL BAG {}, status: {}".format(
-                    TerminalState.to_string(status),
-                    result.status,
-                ),
+                f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}",
             )
 
     def _kill_task_cb(self, status, result):
         if status == 3:
             rospy.loginfo("Killed task success!")
             return
         rospy.logwarn(
-            "Killed task failed ({}): {}".format(
-                TerminalState.to_string(status),
-                result.result,
-            ),
+            f"Killed task failed ({TerminalState.to_string(status)}): {result.result}",
         )
 
     def raised(self, alarm):

diff --git a/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py b/NaviGator/mission_control/navigator_alarm/navigator_alarm_handlers/thruster_fault.py
@@ -65,9 +65,7 @@ def _check_faults(self, msg, topic):
                 return
             self.broadcaster.raise_alarm(
                 severity=5,
-                problem_description="{} thrusters have faults".format(
-                    len(self._raised_alarms),
-                ),
+                problem_description=f"{len(self._raised_alarms)} thrusters have faults",
                 parameters={
                     t: self._get_fault_codes(k) for t, k in self._raised_alarms.items()
                 },

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py b/NaviGator/mission_control/navigator_missions/navigator_missions/detect_deliver_2016.py
@@ -240,10 +240,7 @@ async def search_sides(self, moves):
                 self.shape_pose = found_pose
                 return
             fprint(
-                "Saw (Shape={}, Color={}) on this side".format(
-                    shape_color[0],
-                    shape_color[1],
-                ),
+                f"Saw (Shape={shape_color[0]}, Color={shape_color[1]}) on this side",
                 title="DETECT DELIVER",
                 msg_color="green",
             )
@@ -287,10 +284,7 @@ def select_backup_shape(self):
             self.shape_pose = point_normal
             if self.Shape == shape or self.Color == color:
                 fprint(
-                    "Correct shape not found, resorting to shape={} color={}".format(
-                        shape,
-                        color,
-                    ),
+                    f"Correct shape not found, resorting to shape={shape} color={color}",
                     title="DETECT DELIVER",
                     msg_color="yellow",
                 )
@@ -430,9 +424,7 @@ async def shoot_and_align_forest(self):
         move = await self.align_to_target()
         if move.failure_reason != "":
             fprint(
-                "Error Aligning with target = {}. Ending mission :(".format(
-                    move.failure_reason,
-                ),
+                f"Error Aligning with target = {move.failure_reason}. Ending mission :(",
                 title="DETECT DELIVER",
                 msg_color="red",
             )
@@ -479,9 +471,7 @@ async def shoot_and_align(self):
         move = await self.align_to_target()
         if move.failure_reason != "":
             fprint(
-                "Error Aligning with target = {}. Ending mission :(".format(
-                    move.failure_reason,
-                ),
+                f"Error Aligning with target = {move.failure_reason}. Ending mission :(",
                 title="DETECT DELIVER",
                 msg_color="red",
             )

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py b/NaviGator/mission_control/navigator_missions/navigator_missions/identify_dock.py
@@ -150,10 +150,7 @@ async def check_bays(self):
 
     def update_shape(self, shape_res, normal_res, tf):
         print_good(
-            "Found (Shape={}, Color={} in a bay".format(
-                shape_res.Shape,
-                shape_res.Color,
-            ),
+            f"Found (Shape={shape_res.Shape}, Color={shape_res.Color} in a bay",
         )
         self.identified_shapes[(shape_res.Shape, shape_res.Color)] = self.get_shape_pos(
             normal_res,

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/move.py b/NaviGator/mission_control/navigator_missions/navigator_missions/move.py
@@ -149,9 +149,7 @@ async def run(self, args):
                     "yl": "yaw_left",
                     "yr": "yaw_right",
                 }
-                command = (
-                    command if command not in shorthand.keys() else shorthand[command]
-                )
+                command = command if command not in shorthand else shorthand[command]
                 movement = getattr(self.move, command)
 
                 trans_move = command[:3] != "yaw"

diff --git a/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py b/NaviGator/mission_control/navigator_missions/navigator_missions/navigation.py
@@ -187,9 +187,7 @@ async def explore_closest_until(self, is_done, filter_and_sort):
                     )
                     if classification_index != -1:
                         self.send_feedback(
-                            "{} identified. Canceling investigation".format(
-                                move_id_tuple[1],
-                            ),
+                            f"{move_id_tuple[1]} identified. Canceling investigation",
                         )
                         move_task.cancel()
 

diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_navigation.py
@@ -151,9 +151,7 @@ async def explore_closest_until(self, is_done, filter_and_sort):
                     )
                     if classification_index != -1:
                         self.send_feedback(
-                            "{} identified. Canceling investigation".format(
-                                move_id_tuple[1],
-                            ),
+                            f"{move_id_tuple[1]} identified. Canceling investigation",
                         )
                         move_id_tuple[0].cancel()
                         await self.nh.sleep(1.0)

diff --git a/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py b/NaviGator/mission_control/navigator_missions/vrx_missions/vrx_perception.py
@@ -79,11 +79,7 @@ async def run(self, parameters):
                     )
                 elif objects[key] != new_objects[key]:
                     self.send_feedback(
-                        "{} changed from {} to {}".format(
-                            key,
-                            objects[key],
-                            new_objects[key],
-                        ),
+                        f"{key} changed from {objects[key]} to {new_objects[key]}",
                     )
                     await self.announce_object(
                         key,

diff --git a/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py b/NaviGator/simulation/navigator_gazebo/test/test_sim_integration.py
@@ -71,10 +71,7 @@ def test_odom(self):
             rospy.sleep(0.1)
         self.assertTrue(
             len(self.odom_pos_msg) == 3 and len(self.odom_ori_msg) == 4,
-            msg="POS, ORI: {}, {}".format(
-                len(self.odom_pos_msg),
-                len(self.odom_ori_msg),
-            ),
+            msg=f"POS, ORI: {len(self.odom_pos_msg)}, {len(self.odom_ori_msg)}",
         )
         initial_pos = [-1.2319, 0.0, 0.0]
         initial_ori = [0.0, 0.0, 0.0, 1.0]
@@ -100,10 +97,7 @@ def test_absodom(self):
             rospy.sleep(0.1)
         self.assertTrue(
             len(self.absodom_pos_msg) == 3 and len(self.absodom_ori_msg) == 4,
-            msg="POS, ORI: {}, {}".format(
-                len(self.absodom_pos_msg),
-                len(self.absodom_ori_msg),
-            ),
+            msg=f"POS, ORI: {len(self.absodom_pos_msg)}, {len(self.absodom_ori_msg)}",
         )
         initial_pos = [743789.637462, -5503821.36715, 3125622.10477]
         initial_ori = [0.0, 0.0, 0.0, 1.0]
@@ -122,25 +116,13 @@ def verify_pos_ori(self, pos, initial_pos, ori, initial_ori, topic):
                 actual,
                 initial,
                 places=0,
-                msg=(
-                    "Error: {} position is: {} should be {}".format(
-                        topic,
-                        actual,
-                        initial,
-                    )
-                ),
+                msg=(f"Error: {topic} position is: {actual} should be {initial}"),
             )
         for actual, initial in zip(ori, initial_ori):
             self.assertEqual(
                 actual,
                 initial,
-                msg=(
-                    "Error: {} orientation is: {} should be {}".format(
-                        topic,
-                        actual,
-                        initial,
-                    )
-                ),
+                msg=(f"Error: {topic} orientation is: {actual} should be {initial}"),
             )
 
     def cam_info_right_cb(self, msg):
@@ -229,10 +211,7 @@ def verify_not_empty(self, data_lists, num_topics):
         self.assertEqual(
             len(data_lists),
             num_topics,
-            msg="Number of topics is {}, should be {}".format(
-                len(data_lists),
-                num_topics,
-            ),
+            msg=f"Number of topics is {len(data_lists)}, should be {num_topics}",
         )
         for data_list in data_lists:
             self.assertNotEqual(len(data_list), 0, msg="data is empty")
@@ -243,13 +222,7 @@ def verify_info(self, res_info, initial_info, topic):
                 self.assertNotEqual(
                     actual_dim,
                     initial_dim,
-                    msg=(
-                        "Error: {} is: {} shouldn't be {}".format(
-                            topic,
-                            actual_dim,
-                            initial_dim,
-                        )
-                    ),
+                    msg=(f"Error: {topic} is: {actual_dim} shouldn't be {initial_dim}"),
                 )
 
 

diff --git a/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py b/NaviGator/utils/navigator_robotx_comms/nodes/robotx_comms_client.py
@@ -559,10 +559,7 @@ def connect(self) -> None:
         """
         if not self.connected:
             rospy.loginfo(
-                "Attempting Connection to TD Server at {}:{}".format(
-                    self.tcp_ip,
-                    self.tcp_port,
-                ),
+                f"Attempting Connection to TD Server at {self.tcp_ip}:{self.tcp_port}",
             )
         while not self.connected and not rospy.is_shutdown():
             # recreate socket

diff --git a/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py b/NaviGator/utils/navigator_tools/navigator_tools/object_database_helper.py
@@ -50,7 +50,7 @@ async def get_object_by_id(self, my_id):
         req = ObjectDBQueryRequest()
         req.name = "all"
         resp = await self._database(req)
-        ans = [obj for obj in resp.objects if obj.id == my_id][0]
+        ans = next(obj for obj in resp.objects if obj.id == my_id)
         return ans
 
     async def begin_observing(self, cb):

diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/kill.py
@@ -101,10 +101,7 @@ def _bag_done_cb(self, status, result):
             rospy.loginfo(f"KILL BAG WRITTEN TO {result.filename}")
         else:
             rospy.logwarn(
-                "KILL BAG {}, status: {}".format(
-                    TerminalState.to_string(status),
-                    result.status,
-                ),
+                f"KILL BAG {TerminalState.to_string(status)}, status: {result.status}",
             )
 
     def bagger_dump(self):

diff --git a/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py b/SubjuGator/command/subjugator_alarm/alarm_handlers/odom_kill.py
@@ -101,9 +101,7 @@ def check_continuity(self, new_odom_msg: Odometry):  # True if 'continuous'
         if jump > self.MAX_JUMP:
             rospy.logerr("ODOM DISCONTINUITY DETECTED")
             self.ab.raise_alarm(
-                problem_description="ODOM DISCONTINUITY DETECTED JUMPED {} METERS".format(
-                    jump,
-                ),
+                problem_description=f"ODOM DISCONTINUITY DETECTED JUMPED {jump} METERS",
                 severity=5,
             )
             self.odom_discontinuity = True
@@ -120,9 +118,7 @@ def need_kill(self):
         if odom_loss:
             rospy.logerr_throttle(
                 1,
-                "LOST ODOM FOR {} SECONDS".format(
-                    (rospy.Time.now() - self.last_time).to_sec(),
-                ),
+                f"LOST ODOM FOR {(rospy.Time.now() - self.last_time).to_sec()} SECONDS",
             )
             self.ab.raise_alarm(
                 problem_description="LOST ODOM FOR {} SECONDS".format(

diff --git a/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py b/SubjuGator/command/subjugator_keyboard_control/teleop_twist_keyboard.py
@@ -141,9 +141,7 @@ def wait_for_subscribers(self):
         while not rospy.is_shutdown() and self.publisher.get_num_connections() == 0:
             if i == 4:
                 print(
-                    "Waiting for subscriber to connect to {}".format(
-                        self.publisher.name,
-                    ),
+                    f"Waiting for subscriber to connect to {self.publisher.name}",
                 )
             rospy.sleep(0.5)
             i += 1