Refactored repo with linters

.vscode/settings.json

@@ -1,7 +1,6 @@
 {
     "githubIssues.issueBranchTitle": "${issueNumber}-${sanitizedIssueTitle}",
     "githubIssues.queries": [
-
         {
             "label": "My Issues",
             "query": "default"

build/agent_service.yaml

@@ -3,6 +3,10 @@ services:
     build:
       dockerfile: build/docker/agent/Dockerfile
       context: ../
+      args:
+        USERNAME: ${USERNAME}
+        USER_UID: ${USER_UID}
+        USER_GID: ${USER_GID}
     init: true
     tty: true
     shm_size: 2gb

build/docker-compose.dev.yaml

@@ -1,5 +1,8 @@
 # compose file for the development without a driving vehicle
 # "interactive" development without a car
+include:
+  - roscore_service.yaml
+
 services:
   agent-dev:
     build:
@@ -24,5 +27,4 @@ services:
       - DISPLAY=${DISPLAY}
     network_mode: host
     privileged: true
-    entrypoint: ["/dev_entrypoint.sh"]
     command: bash -c "sudo chown -R ${USER_UID}:${USER_GID} ../ && sudo chmod -R a+w ../ && bash"

build/docker/agent-dev/dev_entrypoint.sh

@@ -1,19 +1,7 @@
 #!/bin/bash
+set -e
 
-# Source ROS setup
 source /opt/ros/noetic/setup.bash
-
-# Source the catkin workspace setup
 source /catkin_ws/devel/setup.bash
 
-# Set up any additional environment variables if needed
-export CARLA_ROOT=/opt/carla
-export SCENARIO_RUNNER_ROOT=/opt/scenario_runner
-export LEADERBOARD_ROOT=/opt/leaderboard
-
-# Execute the command passed to the script, or start a bash session if no command was given
-if [ $# -eq 0 ]; then
-    exec bash
-else
-    exec "$@"
-fi
+exec "$@"

build/docker/agent/Dockerfile

@@ -170,12 +170,11 @@ RUN source /opt/ros/noetic/setup.bash && catkin_make
 
 ADD ./build/docker/agent/entrypoint.sh /entrypoint.sh
 
-
-
 # set the default working directory to the code
 WORKDIR /workspace/code
 
 RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
 
 ENTRYPOINT ["/entrypoint.sh"]
 CMD ["bash", "-c", "sleep 10 && \

build/docker/agent/Dockerfile_Submission

@@ -19,18 +19,18 @@ ARG DEBIAN_FRONTEND=noninteractive
 
 # install rendering dependencies for rviz / rqt
 RUN apt-get update \
-  && apt-get install -y -qq --no-install-recommends \
+    && apt-get install -y -qq --no-install-recommends \
     libxext6 libx11-6 libglvnd0 libgl1 \
     libglx0 libegl1 freeglut3-dev
 
 # install dependencies for libgit2 and Carla PythonAPI
 RUN apt-get install wget unzip
 
 RUN wget https://github.com/una-auxme/paf/releases/download/v0.0.1/PythonAPI_Leaderboard-2.0.zip -O PythonAPI.zip \
-  && unzip PythonAPI.zip \
-  && rm PythonAPI.zip \
-  && mkdir -p /opt/carla \
-  && mv PythonAPI /opt/carla/PythonAPI
+    && unzip PythonAPI.zip \
+    && rm PythonAPI.zip \
+    && mkdir -p /opt/carla \
+    && mv PythonAPI /opt/carla/PythonAPI
 
 # build libgit2
 RUN wget https://github.com/libgit2/libgit2/archive/refs/tags/v1.5.0.tar.gz -O libgit2-1.5.0.tar.gz \
@@ -67,12 +67,12 @@ ENV PYTHONPATH=$PYTHONPATH:/opt/carla/PythonAPI/carla/dist/carla-0.9.14-py3.7-li
 
 # install mlocate, pip, wget, git and some ROS dependencies for building the CARLA ROS bridge
 RUN apt-get update && apt-get install -y \
-        mlocate python3-pip wget git python-is-python3 \
-        ros-noetic-ackermann-msgs ros-noetic-derived-object-msgs \
-        ros-noetic-carla-msgs ros-noetic-pcl-conversions \
-        ros-noetic-rviz ros-noetic-rqt ros-noetic-pcl-ros ros-noetic-rosbridge-suite ros-noetic-rosbridge-server \
-        ros-noetic-robot-pose-ekf ros-noetic-ros-numpy \
-        ros-noetic-py-trees-ros ros-noetic-rqt-py-trees ros-noetic-rqt-reconfigure
+    mlocate python3-pip wget git python-is-python3 \
+    ros-noetic-ackermann-msgs ros-noetic-derived-object-msgs \
+    ros-noetic-carla-msgs ros-noetic-pcl-conversions \
+    ros-noetic-rviz ros-noetic-rqt ros-noetic-pcl-ros ros-noetic-rosbridge-suite ros-noetic-rosbridge-server \
+    ros-noetic-robot-pose-ekf ros-noetic-ros-numpy \
+    ros-noetic-py-trees-ros ros-noetic-rqt-py-trees ros-noetic-rqt-reconfigure
 
 SHELL ["/bin/bash", "-c"]
 
@@ -178,12 +178,13 @@ ADD ./build/docker/agent/entrypoint.sh /entrypoint.sh
 WORKDIR /workspace/code
 
 RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
 
 ENTRYPOINT ["/entrypoint.sh"]
 CMD ["bash", "-c", "sleep 10 && python3 /opt/leaderboard/leaderboard/leaderboard_evaluator.py --debug=${DEBUG_CHALLENGE} \
---repetitions=${REPETITIONS} \
---checkpoint=${CHECKPOINT_ENDPOINT} \
---track=${CHALLENGE_TRACK} \
---agent=${TEAM_AGENT} \
---routes=${ROUTES} \
---host=${CARLA_SIM_HOST}"]
+    --repetitions=${REPETITIONS} \
+    --checkpoint=${CHECKPOINT_ENDPOINT} \
+    --track=${CHALLENGE_TRACK} \
+    --agent=${TEAM_AGENT} \
+    --routes=${ROUTES} \
+    --host=${CARLA_SIM_HOST}"]

build/docker/agent/entrypoint.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 set -e
 
-source "/opt/ros/noetic/setup.bash"
-source "/catkin_ws/devel/setup.bash"
+source /opt/ros/noetic/setup.bash
+source /catkin_ws/devel/setup.bash
 
 exec "$@"

code/perception/launch/perception.launch

@@ -41,8 +41,8 @@
     <param name="right" value="False" />
 
       <!--Object-Detection: 
-      - fasterrcnn_resnet50_fpn_v2 
-      - fasterrcnn_mobilenet_v3_large_320_fpn
+      - frcnn_resnet50_fpn_v2 
+      - frcnn_mobilenet_v3_large_320_fpn
       - yolov8n
       - yolov8s
       - yolov8m

code/perception/src/traffic_light_detection/src/traffic_light_detection/traffic_light_training.py

@@ -12,15 +12,15 @@
 import os
 
 sys.path.append(os.path.abspath(sys.path[0] + "/.."))
-from traffic_light_detection.transforms import (
+from traffic_light_detection.transforms import (  # noqa: E402
     Normalize,
     ResizeAndPadToSquare,
     load_image,
-)  # noqa: E402
+)
 from data_generation.weights_organizer import WeightsOrganizer  # noqa: E402
-from traffic_light_detection.classification_model import (
+from traffic_light_detection.classification_model import (  # noqa: E402
     ClassificationModel,
-)  # noqa: E402
+)
 from traffic_light_config import TrafficLightConfig  # noqa: E402
 
 

code/perception/src/traffic_light_node.py

@@ -10,9 +10,9 @@
 from perception.msg import TrafficLightState
 from std_msgs.msg import Int16
 from cv_bridge import CvBridge
-from traffic_light_detection.src.traffic_light_detection.traffic_light_inference import (
+from traffic_light_detection.src.traffic_light_detection.traffic_light_inference import (  # noqa: E501
     TrafficLightInference,
-)  # noqa: E501
+)
 import cv2
 import numpy as np
 

code/perception/src/vision_node.py

@@ -42,15 +42,15 @@ def __init__(self, name, **kwargs):
 
         # dictionary of pretrained models
         self.model_dict = {
-            "fasterrcnn_resnet50_fpn_v2": (
+            "frcnn_resnet50_fpn_v2": (
                 fasterrcnn_resnet50_fpn_v2(
                     weights=FasterRCNN_ResNet50_FPN_V2_Weights.DEFAULT
                 ),
                 FasterRCNN_ResNet50_FPN_V2_Weights.DEFAULT,
                 "detection",
                 "pyTorch",
             ),
-            "fasterrcnn_mobilenet_v3_large_320_fpn": (
+            "frcnn_mobilenet_v3_large_320_fpn": (
                 fasterrcnn_mobilenet_v3_large_320_fpn(
                     weights=FasterRCNN_MobileNet_V3_Large_320_FPN_Weights.DEFAULT
                 ),

code/planning/src/behavior_agent/behavior_tree.py

@@ -5,15 +5,21 @@
 import py_trees_ros
 import rospy
 import sys
-import behaviours
+from behaviours import (
+    intersection,
+    lane_change,
+    overtake,
+    maneuvers,
+    meta,
+    road_features,
+    topics2blackboard,
+)
 from py_trees.composites import Parallel, Selector, Sequence
 
 """
 Source: https://github.com/ll7/psaf2
 """
 
-# flake8: noqa: E501
-
 
 def grow_a_tree(role_name):
 
@@ -23,34 +29,26 @@ def grow_a_tree(role_name):
             Selector(
                 "Priorities",
                 children=[
-                    behaviours.maneuvers.UnstuckRoutine("Unstuck Routine"),
+                    maneuvers.UnstuckRoutine("Unstuck Routine"),
                     Selector(
                         "Road Features",
                         children=[
-                            behaviours.maneuvers.LeaveParkingSpace(
-                                "Leave Parking Space"
-                            ),
+                            maneuvers.LeaveParkingSpace("Leave Parking Space"),
                             Sequence(
                                 "Intersection",
                                 children=[
-                                    behaviours.road_features.IntersectionAhead(
+                                    road_features.IntersectionAhead(
                                         "Intersection Ahead?"
                                     ),
                                     Sequence(
                                         "Intersection Actions",
                                         children=[
-                                            behaviours.intersection.Approach(
+                                            intersection.Approach(
                                                 "Approach Intersection"
                                             ),
-                                            behaviours.intersection.Wait(
-                                                "Wait Intersection"
-                                            ),
-                                            behaviours.intersection.Enter(
-                                                "Enter Intersection"
-                                            ),
-                                            behaviours.intersection.Leave(
-                                                "Leave Intersection"
-                                            ),
+                                            intersection.Wait("Wait Intersection"),
+                                            intersection.Enter("Enter Intersection"),
+                                            intersection.Leave("Leave Intersection"),
                                         ],
                                     ),
                                 ],
@@ -63,61 +61,49 @@ def grow_a_tree(role_name):
                             Sequence(
                                 "Laneswitch",
                                 children=[
-                                    behaviours.road_features.LaneChangeAhead(
-                                        "Lane Change Ahead?"
-                                    ),
+                                    road_features.LaneChangeAhead("Lane Change Ahead?"),
                                     Sequence(
                                         "Lane Change Actions",
                                         children=[
-                                            behaviours.lane_change.Approach(
-                                                "Approach Change"
-                                            ),
-                                            behaviours.lane_change.Wait("Wait Change"),
-                                            behaviours.lane_change.Enter(
-                                                "Enter Change"
-                                            ),
-                                            behaviours.lane_change.Leave(
-                                                "Leave Change"
-                                            ),
+                                            lane_change.Approach("Approach Change"),
+                                            lane_change.Wait("Wait Change"),
+                                            lane_change.Enter("Enter Change"),
+                                            lane_change.Leave("Leave Change"),
                                         ],
                                     ),
                                 ],
                             ),
                             Sequence(
                                 "Overtaking",
                                 children=[
-                                    behaviours.road_features.OvertakeAhead(
-                                        "Overtake Ahead?"
-                                    ),
+                                    road_features.OvertakeAhead("Overtake Ahead?"),
                                     Sequence(
                                         "Overtake Actions",
                                         children=[
-                                            behaviours.overtake.Approach(
-                                                "Approach Overtake"
-                                            ),
-                                            behaviours.overtake.Wait("Wait Overtake"),
-                                            behaviours.overtake.Enter("Enter Overtake"),
-                                            behaviours.overtake.Leave("Leave Overtake"),
+                                            overtake.Approach("Approach Overtake"),
+                                            overtake.Wait("Wait Overtake"),
+                                            overtake.Enter("Enter Overtake"),
+                                            overtake.Leave("Leave Overtake"),
                                         ],
                                     ),
                                 ],
                             ),
                         ],
                     ),
-                    behaviours.maneuvers.Cruise("Cruise"),
+                    maneuvers.Cruise("Cruise"),
                 ],
             )
         ],
     )
 
     metarules = Sequence(
         "Meta",
-        children=[behaviours.meta.Start("Start"), rules, behaviours.meta.End("End")],
+        children=[meta.Start("Start"), rules, meta.End("End")],
     )
     root = Parallel(
         "Root",
         children=[
-            behaviours.topics2blackboard.create_node(role_name),
+            topics2blackboard.create_node(role_name),
             metarules,
             Running("Idle"),
         ],

code/planning/src/behavior_agent/behaviours/__init__.py

@@ -1,3 +0,0 @@
-from . import intersection, lane_change, overtake, maneuvers, meta, road_features
-from . import topics2blackboard, traffic_objects
-from . import behavior_speed

code/planning/src/behavior_agent/behaviours/intersection.py

@@ -3,12 +3,16 @@
 from std_msgs.msg import String
 
 import rospy
+import sys
+import os
 
-from . import behavior_speed as bs
+from behaviours import behavior_speed as bs
 
-import planning  # noqa: F401
-
-from local_planner.utils import TARGET_DISTANCE_TO_STOP, convert_to_ms
+sys.path.append(os.path.abspath(sys.path[0] + "/.."))
+from local_planner.utils import (  # type: ignore # noqa: E402
+    TARGET_DISTANCE_TO_STOP,
+    convert_to_ms,
+)
 
 """
 Source: https://github.com/ll7/psaf2

code/planning/src/behavior_agent/behaviours/lane_change.py

@@ -4,7 +4,7 @@
 
 import rospy
 
-from . import behavior_speed as bs
+from behaviours import behavior_speed as bs
 from local_planner.utils import TARGET_DISTANCE_TO_STOP, convert_to_ms
 
 """

code/planning/src/behavior_agent/behaviours/maneuvers.py

@@ -2,7 +2,7 @@
 import rospy
 from std_msgs.msg import String, Float32, Bool
 import numpy as np
-from . import behavior_speed as bs
+from behaviours import behavior_speed as bs
 
 # from behavior_agent.msg import BehaviorSpeed