10/4 Rolls

.github/pull_request_template

@@ -1,65 +1,82 @@
 <!--
-     For Work In Progress Pull Requests, please use the Draft PR feature,
-     see https://github.blog/2019-02-14-introducing-draft-pull-requests/ for further details.
 
-     For a timely review/response, please avoid force-pushing additional
-     commits if your PR already received reviews or comments.
+This includes templates for different types of PRs (rolls, docs, 2PR). Please delete the templates that are not
+relevant to your PR. Refer to wiki for development workflow practices. Do not include the "BEGIN" and "END" lines.
 
-     Before submitting a Pull Request, please ensure you've done the following:
-     - 📖 Read the Forem Contributing Guide: https://developers.forem.com/contributing-guide/forem#create-a-pull-request
-     - 📖 Read the Forem Code of Conduct: https://github.com/forem/forem/blob/main/CODE_OF_CONDUCT.md
-     - 👷‍♀️ Create small PRs. In most cases this will be possible.
-     - ✅ Provide tests for your changes.
-     - 📝 Use descriptive commit messages.
-     - 📗 Update any related documentation and include any relevant screenshots.
-
-     NOTE: Pull Requests from forked repositories will need to be reviewed by
-     a Forem Team member before any CI builds will run. Once your PR is approved
-     with a `/ci` reply to the PR, it will be allowed to run subsequent builds without
-     manual approval.
 -->
 
-## What type of PR is this? (check all applicable)
-
-- [ ] Refactor
-- [ ] Feature
-- [ ] Bug Fix
-- [ ] Optimization
-- [ ] Documentation Update
-
-## Description
-_Describe the CHANGES, the REASONING, and BENEFITS of this PR._
+BEGIN -- Rolls PR
+<!--
+Rolls PRs are for individual features that are being merged into the `rolls` branch. These should be small, focused
+changes.
+-->
 
-## Related Tickets & Documents
+### Overview
+<!--
+Add a brief description of the changes made in this PR in a few sentences at the top. If it is already documented
+enough in issues and/or PR title, this section can be omitted.
+-->
 
+### Linked Issues
 <!--
-For pull requests that relate or close an issue, please include them
-below.  We like to follow [Github's guidance on linking issues to pull requests](https://docs.github.com/en/issues/tracking-your-work-with-issues/linking-a-pull-request-to-an-issue).
+Link any relevant issues here that should be resolved when this PR is closed. If there are none, this section can be
+omitted.
 
-For example having the text: "closes #1234" would connect the current pull
-request to issue 1234.  And when we merge the pull request, Github will
-automatically close the issue.
+IMPORTANT - make sure to Development -> Cog icon -> Add linked issue(s) in the sidebar, *after* the PR is created so
+that they are automatically closed when this PR is merged.
 -->
+#(issue number)
 
-- Related Issue #
-- Closes #
+### Tasks
+<!--
+List tasks here that must be completed before the PR can be merged.
 
-## QA Instructions, Screenshots, Recordings
+These are intended to be mostly trivial changes and testing tasks (such as mock rolls), where that the code will not
+change significantly after initial review. Changes that require sync with firmware (such as the serial protocol) should
+also be included here. If there are larger changes that need to be made, this should be a draft PR until those changes
+are finished.
 
-_Please replace this line with instructions on how to test your changes, a note
-on the devices and browsers this has been tested on, as well as any relevant
-images for UI changes._
+If there is an open 2PR from rolls -> main, there must be a task to close it and merge main into this branch.
+
+Edit below tasks as needed.
+-->
+- [ ] Test in sim
+- [ ] Test during mock rolls
+- [ ] Close #(CURRENT 2PR HERE) and merge main into this branch
 
-## Added/updated tests?
-_We encourage you to keep the code coverage percentage at 80% and above._
+### Testing
+<!--
+For any involved testing tasks above, describe how they will be tested here. Typically this section is omitted as
+testing is usually straightforward ("Make sure this looks correct and doesn't crash").
+-->
+END -- Rolls PR
 
-- [ ] Yes
-- [ ] No, and this is why: _please replace this line with details on why tests
-      have not been included_
-- [ ] I need help with writing tests
+BEGIN -- Documentation PR
+<!--
+Documentation PRs are for changes to documentation only that are being merged into the `main` branch. These should not
+include any code changes.
 
-## [optional] Are there any post deployment tasks we need to perform?
+Include a brief description of the changes made in this PR in a few sentences at the top if it is not already clear from
+title and linked issues. As with rolls PRs, link any relevant issues here that should be resolved when this PR is
+closed and add them to the sidebar after the PR is created.
+-->
+END -- Documentation PR
 
-## [optional] What gif best describes this PR or how it makes you feel?
+BEGIN -- 2PR
+<!--
+2PRs are for merging changes from the `rolls` branch into the `main` branch. These should be created after rolls every
+week, and summarize the changes that were made that week. This should be reviewed live during weekly software standup
+meetings to ensure that everything is captured accurately.
+-->
+### Summary of changes
+<!--
+Link PRs that were merged into rolls here, and any additional changes that were committed directly to rolls.
+-->
+- #(PR number)
+- Other minor change
 
-![alt_text](gif_link)
+### Rolls Results
+<!--
+Describe what happened and/or outcomes of the rolls. If there was anything that didn't work, also describe them here.
+-->
+END -- 2PR

.github/workflows/.pylintrc

@@ -3,8 +3,50 @@
 disable=all
 
 enable=
+    # whitespace / style
     bad-indentation,
     trailing-whitespace,
     wrong-import-order,
+
+    # unused / redefined / scope issues
     unused-variable,
-    unused-import
+    unused-import,
+    unused-argument,
+    unused-private-member,
+    redefined-outer-name,
+    redefined-builtin,
+    reimported,
+    global-variable-not-assigned,
+    global-variable-undefined,
+    used-before-assignment,
+    # undefined-variable,
+
+    # correctness / safety
+    dangerous-default-value,
+    pointless-statement,
+    expression-not-assigned,
+    eval-used,
+    exec-used,
+    broad-exception-caught,
+    bare-except,
+    raising-bad-type,
+    bad-except-order,
+    return-outside-function,
+    return-in-init,
+    too-many-function-args,
+    not-callable,
+    comparison-with-callable,
+    not-an-iterable,
+    not-context-manager,
+
+    # suspicious / clarity
+    # simplifiable-if-statement,
+    # chained-comparison,
+    # unnecessary-lambda,
+    # consider-using-in,
+    # consider-using-enumerate,
+    # consider-using-with,
+    # consider-using-join,
+    # consider-using-dict-comprehension,
+    # consider-using-set-comprehension,
+    literal-comparison

.github/workflows/pylint.yml

@@ -1,35 +1,63 @@
 name: Pylint
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   build:
     runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version: ["3.8", "3.9", "3.10"]
+    env:
+      PYTHON_VERSION: "3.10"
     steps:
     - uses: actions/checkout@v3
-    - name: Set up Python ${{ matrix.python-version }}
+    - name: Set up Python ${{ env.PYTHON_VERSION }}
       uses: actions/setup-python@v3
       with:
-        python-version: ${{ matrix.python-version }}
+        python-version: ${{ env.PYTHON_VERSION }}
     - name: Install dependencies
       run: |
         python -m pip install --upgrade pip
         pip install pylint
     - name: Getting changed Python files and Analysing the code with pylint
       run: |
-        git fetch origin ${CI_MERGE_REQUEST_TARGET_BRANCH_NAME}
-        echo CI_COMMIT_SHA=${GITHUB_SHA}
-        tmp_files=$(git diff --name-only origin/main ${CI_COMMIT_SHA})
-        echo "Changed files are $tmp_files"
-        if [ -z "$(echo "$tmp_files" | grep "\.py")" ]; then exit 0; else echo "Python files are found"; fi
-        tmp_pfiles=$(echo "$tmp_files" | grep "\.py")
-        echo "Python files are $tmp_pfiles"
-        if [[ -z "$tmp_pfiles" ]]; then
+        git fetch origin main
+        if [ -n "${{ github.base_ref }}" ]; then
+          echo "Pull request detected, base_ref=${{ github.base_ref }}"
+          git fetch origin ${{ github.base_ref }}
+
+          # Files changed vs main
+          files_main=$(git diff --name-only origin/main ${GITHUB_SHA})
+          # Files changed vs PR base
+          files_base=$(git diff --name-only origin/${{ github.base_ref }} ${GITHUB_SHA})
+
+          # Union of both sets
+          tmp_files=$(printf "%s\n%s\n" "$files_main" "$files_base" | sort -u)
+        else
+          echo "Push detected, using main as base"
+          tmp_files=$(git diff --name-only origin/main ${GITHUB_SHA})
+        fi
+
+        echo -e "Changed files are: \n$tmp_files\n"
+
+        tmp_pfiles=$(echo "$tmp_files" | grep '\.py$' || true)
+        if [ -z "$tmp_pfiles" ]; then
+          echo "No Python files changed"
+          exit 0
+        fi
+
+        existing_pfiles=""
+        for f in $tmp_pfiles; do
+          if [ -f "$f" ]; then
+            existing_pfiles="$existing_pfiles $f"
+          else
+            echo "Skipping deleted file $f"
+          fi
+        done
+        existing_pfiles=$(echo "$existing_pfiles" | xargs || true)
+        echo -e "Existing Python files are: \n$existing_pfiles\n"
+
+        if [[ -z "$existing_pfiles" ]]; then
           echo "No files to lint"
         else
           echo "Running Linter!"
-          pylint --rc-file=/home/runner/work/robobuggy-software/robobuggy-software/.github/workflows/.pylintrc $tmp_pfiles
+          pylint --rc-file=/home/runner/work/robobuggy-software/robobuggy-software/.github/workflows/.pylintrc $existing_pfiles
         fi

.gitignore

@@ -3,6 +3,7 @@
 .python-requirements.txt.un~
 docker-compose.yml~
 *TEMP_DO_NOT_EDIT.txt
+.vscode/
 
 # BAGS
 rb_ws/bags

rb_ws/src/buggy/CMakeLists.txt

@@ -39,7 +39,9 @@ install(PROGRAMS
   scripts/telemetry/telematics.py
   scripts/debug/debug_steer.py
   scripts/debug/set_steer.py
-  scripts/estimation/ukf_node.py
+  scripts/estimation/nand_estimator.py
+  scripts/estimation/steer_offset_estimator.py
+  scripts/vision/detector_node.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -48,10 +50,12 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/TrajectoryMsg.msg"
+  "msg/StampedFloat64Msg.msg"
   "msg/SCDebugInfoMsg.msg"
   "msg/SCSensorMsg.msg"
   "msg/NANDRawGPSMsg.msg"
   "msg/NANDDebugInfoMsg.msg"
+  DEPENDENCIES std_msgs
 )
 ament_export_dependencies(rosidl_default_runtime)
 

rb_ws/src/buggy/config/nand-mockroll.yaml

@@ -15,4 +15,5 @@ NAND:
       steeringTopic: 'input/steering'
       useHeadingRate: true
       controllerName: 'controller'
+      useSteerOffset: false
       controller: 'stanley'

rb_ws/src/buggy/config/nand-roll.yaml

@@ -1,6 +1,6 @@
 /**: # Global Params
   ros__parameters:
-      traj_name: "buggycourse_pavedline.json"
+      traj_name: "buggycourse_nand.json"
 
 NAND:
   bnyahaj:
@@ -15,5 +15,6 @@ NAND:
       steeringTopic: "input/steering"
       useHeadingRate: true
       controllerName: "controller"
+      useSteerOffset: false
       # traj_name: "buggycourse_safe.json"
       controller: "stanley"

rb_ws/src/buggy/config/sc-mockroll.yaml

@@ -25,9 +25,14 @@ SC:
       steeringTopic: 'other/steering'
       useHeadingRate: false
       controllerName: 'NAND_controller'
+      useSteerOffset: false
       traj_name: 'cut_square.json'
       controller: 'stanley'
 
   SC_path_planner:
     ros__parameters:
       curb_name: ''
+
+  SC_vision:
+    ros__parameters:
+      model_name: "01-15-25_no_pushbar_yolov11n.pt"

rb_ws/src/buggy/config/sc-roll.yaml

@@ -1,6 +1,6 @@
 /**: # Global Params
   ros__parameters:
-      traj_name: "buggycourse_pavedline.json"
+      traj_name: "buggycourse_sc.json"
 
 SC:
   bnyahaj:
@@ -15,9 +15,10 @@ SC:
       steeringTopic: "input/steering"
       useHeadingRate: true
       controllerName: "controller"
+      useSteerOffset: false 
       # traj_name: "buggycourse_safe.json"
       controller: "stanley"
-  
+
   SC_NAND_controller:
     ros__parameters:
       dist: 0.0
@@ -26,10 +27,14 @@ SC:
       steeringTopic: "other/steering"
       useHeadingRate: false
       controllerName: "NAND_controller"
-      traj_name: "buggycourse_pavedline.json"
+      traj_name: "buggycourse_nand.json"
       controller: "stanley"
 
   SC_path_planner:
     ros__parameters:
       # traj_name: "buggycourse_safe.json"
-      curb_name: "buggycourse_curb.json"
+      curb_name: "buggycourse_curb.json"
+
+  SC_vision:
+    ros__parameters:
+      model_name: "01-15-25_no_pushbar_yolov11n.pt"