Develop #481
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Develop #481
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…ng-errors-in-codebase Add pylint configuration, fix linting issues, and update CI pipeline for Python
…s-for-linting-and-code-formatting Combine Python CI/CD pipelines into a single workflow and remove faulty pipelines
…s-for-c Restructure CI/CD Pipelines and add pre-commit hooks
Add CI/CD Pipeline that tests that the codebase can build
Talhanc
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Feb 5, 2025
* feat: adding in the setup for dp controller, dosent build, need to fix * feat: adding in pid parts * Develop (#481) * chore(pylint): add .pylintrc configuration file * refactor: fix pylint warning W1510 * refactor: fix pylint warning C0116 * refactor: fix pylint warning C0411 * refactor: fix pylint warning R1731 * refactor: fix pylint warning R1705 * refactor: fix pylint warning W1514 * refactor: fix pylint warning C0200 * refactor: fix pylint warning W0611 * refactor: fix pylint warning W0702 * refactor: fix pylint warning C0121 * refactor: fix pylint warning W0107 * refactor: fix pylint warning R1714 * refactor: fix pylint warning C0201 * refactor: fix pylint warning C0303 and W0613 * refactor: fix pylint warning W0621 * refactor: fix pylint warning R0402 * refactor: fix pylint warning W0212 * chore(pylint): update rule adjustments and formatting * style: format code with black * style: format imports with isort * ci: add isort and pylint to Python pipeline * Committing black-format changes * chore: add pyproject.toml for project configuration * ci: update order of pipeline jobs * ci: update pylint job and pylint rules * ci: update which python versions pylint test * ci: update python pipeline to only run on pull_request * refactor: fix pylint warning C0103 * chore: update linting and project configuration rules in .pylintrc and pyproject.toml * Rename files to snake_case * ci: add pipeline for grammar in comments * refactor: fix spelling mistakes in comments * ci: update job codespell_fix to continue on error * refactor: fix spelling mistakes in comments * ci: update pipeline codespell to only have one job * refactor: fix variable naming issues and adjust imports as per review * Committing codespell fixes * refactor: spelling correction * ci: update CI file and job names for consistency * ci: update CI file for more clarity * chore: add codespell configuration and ignore list * chore: add type hints and return types * ci: add mypy.ini for type checking configuration * ci: add mypy type checking workflow * refactor: format code with black * refactor: format all yaml files using prettier * ci: add pipeline for yaml formatting using prettier * ci: update yaml formatting pipeline to run on pull request * refactor: remove deprecated typing * refactor: fix import sorting * ci: remove faulty ci pipelines and combine python pipelines into single file * fix(security): replace subprocess call with safer alternative to remove shell=true * feat: add pre-commit hooks for black, isort, and codespell * ci: update python pipeline to use latest versions * refactor: apply code formatting fixes via pre-commit hooks * ci: split python ci/cd pipelines into multiple files * ci: add ci pipeline for checking style clang-format * refactor: remove unused config file for clang-format * refactor: remove duplicate file * ci: add ci pipeline that tests that codebase can build * refactor: update ci-build pipeline to only run on pull request * refactor: update clang-format config * refactor: apply clang-format * feat: update pipeline to build and run tests * refactor: disable linting checks when running colcon test * refactor: update .pre-commit-config file (#480) --------- Co-authored-by: Black Robot <[email protected]> Co-authored-by: Codespell Robot <[email protected]> Co-authored-by: Sondre Haugen <[email protected]> * self.reference_mode erstattes med States.REFERENCE_MODE * Some formatting * feat: add pid gains * refactor: move controller to control * refactor: change function name from J to create_J to avoid conflict with variable J * Vinklene restarter seg ikke til null når du slipper opp kontrolleren * feat: added a new main.cpp file with ros2 node class * feat: add pid controller for dp * feat: add possiblity to tune the PID during runtime by publishing Float64MultiArray * feat: add config file for parameters * remove unnecessary typedef * refactor: move eta, eta_d and nu over to ros node * feat: add launch file * feat: add eta_dot_d as reference state * build fix * feat: add reference filter * added zeta and omega as ros params * feat: initialized action server * feat: action server for reference filter * feat: add odom subscriber for reference filter * Add parameter file * Add ssa * Add better formating and cleaner code * Add documentation * feat: adding joystick input * Add documentation and remove spamming in terminal * fix: some issues with pid_controller_ros.hpp file * feat: add multithreaded executor * feat: make new goals overwrite the old goal * feat: add rotation of velocity from body to NED * feat: tuning reference filter * fix: fix conversions between quat and euler using tf2 * refactor: use tf2 for conversion between euler and quat * feat: init tuning process * feat: added anti windup * fix: variable issue in controller input * refactor: Update include order in pid_controller_utils.hpp Reorder the include statements in pid_controller_utils.hpp to follow the established convention of including standard library headers before external library headers. This improves code readability and maintainability. Refactor the include order in pid_controller_utils.hpp to adhere to the established convention. * feat: added in quaternions instead of euler * feat: added quaternion normalization to fix error * fix: changed pid params * refactor(dp_controller): removed previous version * docs: added documentation * docs: added documentation * hey * refactor: applied formatting changes * refactor: did some changes asked by anders * fix(pid_controller_utils): forgot ; in one line * feat: add methods for filling vectors * refactor: remove redundant code * feat: add tf2_geometry_msgs dependency * fix: fix methods * refactor: make precommit hook happy * make pre-commit hook happy * fix: fix parameter names * feat: added struct elements for the quaternions and position * Merge branch 'feat/dp_controller_euler' into 434-task-dp-controller * feat: add correct qos profile for odom sug * fix: structure fix * fix: make pre-commit guy habby * fix:something wrong * fix:something wrong * fix: fixing the control input computation * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: variabel error in guidance callback * fix: some merge errors * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * feat: added topics into config file for the euler pid controller * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: Adeed kill switch and remove the msgs error * fix: change in reference filter parameter * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * feat: Added adaptive backstepping controller * fix: something happend * feat: adding in the adaptive backstepping in cpp * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: fixed config file and added the rest of the adaptive controller * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: some errors with the commits, removed some of the code * refactor: improve consistency * refactor: remove callbacks for tuning params * feat: adaptive backstepping controller works in dpp * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix: standard cpp version * fix: changed and fixed som config file values * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * feat: removed the python adaptive controller, it is now in local legacy folder * fix: containing was written wrong * refactor: reference filter * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * refactor: remove unused odom topic declaration * doc: add doc to pose and twist callback * fix: cpp version * fix: license * fix: removed iostream library from the files * remove iostream * fix: removed /orca/odom, and added /dvl/pose and twist * fix: added some changed requested * fix: made it more readable * feat: added Readme for the adaptive backstepping controller * fix: some problem in the README files * fix: tried to fix it again * fix: tried to fix it again v2 * fix: tried to fix it again v3 * fix: tried to fix it again v4 * fix: trying to fix error in README * fix: trying to fix error in README v2 * fix: trying to fix error in README v3 * fix: trying to fix error in README v4 * fix: trying to fix error in README v5 * fix: trying to fix error in README v6 * fix: trying to fix error in README v7 * started readme for reference filter * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * started readme for reference filter v2 * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * finish readme for reference filter * fix: eigen include * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * feat: added set_subcribers_and_publisher() function in all dp controller * feat: added struct adapt params, feed into constructur and removed license stuff * feat: add _very_ short READMEs for PIDs * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * refactor: update topics for reference filter
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