Merge master

uf-mil · Sep 4, 2023 · a108286 · a108286
2 parents e059b4f + fa48768
commit a108286
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diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md
@@ -9,9 +9,9 @@
 
 
 ## Related Issues
-<!-- BELOW: What issues are closed by this PR? Write "Closed #XXX" to close the issue when the PR is merged. -->
+<!-- BELOW: What issues are closed by this PR? Write "Closes #XXX" to link the issue to the PR and close it when the PR is merged. -->
 
-* #XXX
+\- Closes #XXX
 
 ## Testing
 <!-- BELOW: Briefly explain how someone can go about testing your PR. -->

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
@@ -37,43 +37,36 @@ 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
-      - name: Install system dependencies
-        # GH-803: This should not need continue-on-error: true
-        continue-on-error: true
-        run: |
-          cd $GITHUB_WORKSPACE/catkin_ws/src/mil
-          ./scripts/install.sh
+          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
         run: |
           cd $GITHUB_WORKSPACE/catkin_ws/src/mil
           ./scripts/hardware_installers/install_bvtsdk --pass ${{ secrets.ZOBELISK_PASSWORD }}
           ls mil_common/drivers/mil_blueview_driver
           echo $PWD
-      - name: Run catkin_make
-        run: |
-          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
-          cd $GITHUB_WORKSPACE/catkin_ws
-          ls src/mil/mil_common/drivers/mil_blueview_driver
-          source /opt/ros/noetic/setup.bash
-          rm -rf build devel
-          catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \
-                      -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
-                      -j6
-      # We want to run a full test suite in CI - this includes the BlueView
-      # tests!
-      - name: Run pylint
+      - name: Install system dependencies
         run: |
+          # Needed for /etc/update-manager/release-upgrades
+          sudo apt-get install -y ubuntu-release-upgrader-core
           cd $GITHUB_WORKSPACE/catkin_ws/src/mil
-          source /opt/ros/noetic/setup.bash
-          source ../../devel/setup.bash
-          pylint $(git ls-files "*.py") --jobs=0
+          rm -rf build devel
+          export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
+          ./scripts/install.sh
+      # - name: Run catkin_make
+      #   run: |
+      #     cd $GITHUB_WORKSPACE/catkin_ws
+      #     source /opt/ros/noetic/setup.bash
+      #     catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+      #                 -DPYTHON_INCLUDE_DIR=/usr/include/python3.8 \
+      #                 -j6
       - name: Run catkin_make tests
         run: |
           export HOME=$GITHUB_WORKSPACE # Temporary fix for setup scripts
@@ -106,7 +99,7 @@ jobs:
 
   deploy-docs:
     name: Deploy docs from master
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-20.04
     needs:
       - super-ci
     if: github.ref == 'refs/heads/master'
@@ -127,7 +120,7 @@ jobs:
       # We need to install rsync for GitHub Pages deploy action
       - name: Install rsync
         run: |
-          sudo apt-get upgrade && sudo apt-get update && sudo apt-get install -y rsync
+          sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync
 
       # Publish the artifact to the GitHub Pages branch
       - name: Push docs to GitHub Pages

diff --git a/.github/workflows/gh_pages.yaml b/.github/workflows/gh_pages.yaml
@@ -50,7 +50,7 @@ jobs:
       # We need to install rsync for GitHub Pages deploy action
       - name: Install rsync
         run: |
-          sudo apt-get upgrade && sudo apt-get update && sudo apt-get install -y rsync
+          sudo apt-get update && sudo apt-get upgrade && sudo apt-get install -y rsync
 
       - name: Move folders
         if: github.event.action != 'closed'

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -8,62 +8,48 @@ ci:
   autofix_prs: false
   autoupdate_commit_msg: 'Update pre-commit hooks to latest versions'
   autoupdate_schedule: monthly
-  skip: [pylint]
 
 repos:
-  - repo: https://github.com/pycqa/isort
-    rev: 5.11.4
-    hooks:
-      - id: isort
-        name: isort (python)
-        args: ['--profile', 'black']
   - repo: https://github.com/adrienverge/yamllint.git
-    rev: v1.28.0
+    rev: v1.32.0
     hooks:
       - id: yamllint
   - repo: https://github.com/psf/black
-    rev: 22.12.0
+    rev: 23.7.0
     hooks:
       - id: black
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v16.0.6
     hooks:
       - id: clang-format
   - repo: https://github.com/PyCQA/autoflake
-    rev: v2.0.0
+    rev: v2.2.0
     hooks:
       - id: autoflake
         args: [--remove-all-unused-imports, --ignore-init-module-imports]
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.9.0.2
+    rev: v0.9.0.5
     hooks:
       - id: shellcheck
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
         args: [--severity=warning, --exclude=SC1090]
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.6.0-1
+    rev: v3.7.0-1
     hooks:
       - id: shfmt
         exclude: ^docker|deprecated|NaviGator/simulation/VRX
-  - repo: local
-    hooks:
-      - id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        args: [--jobs=0]
-  - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    # Ruff version.
+    rev: 'v0.0.282'
     hooks:
-      - id: pyupgrade
-        args: [--py38-plus]
+      - id: ruff
+        args: [--fix, --exit-non-zero-on-fix]
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.5
     hooks:
       - id: codespell
         args:
-          - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd
+          - --ignore-words-list=fpr,ser,wan,te,wan,ba,ned,ans,hist,nd,wronly
           - --skip="./.*,*.csv,*.json"
           - --quiet-level=2
         exclude_types: [csv, json]

diff --git a/NaviGator/docs/CMakeLists.txt b/NaviGator/docs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(navigator_documentation)
 find_package(catkin REQUIRED)
 catkin_package()

diff --git a/NaviGator/gnc/navigator_controller/CMakeLists.txt b/NaviGator/gnc/navigator_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(navigator_controller)
 
 find_package(catkin REQUIRED

diff --git a/NaviGator/gnc/navigator_controller/nodes/gps_to_baselink_odom.py b/NaviGator/gnc/navigator_controller/nodes/gps_to_baselink_odom.py
@@ -16,7 +16,6 @@ def __init__(self):
 
     # Requires both odom and range_bearing to be publishing data
     def odometrySubscriber(self, msg):
-
         base_link_odom = msg
         pose = [[0, 0, 0], [0, 0, 0, 0]]