pre-commit: fixed buil dissues

.LICENSE

@@ -0,0 +1 @@
+Licensed under GPLv2. See LICENSE file. Copyright Carologistics.

mps_description/launch/machine_base_description.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

mps_description/launch/machine_cap_description.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

mps_description/launch/machine_delivery_description.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

mps_description/launch/machine_ring_description.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

mps_description/launch/machine_storage_description.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/config/omnidirectional_controllers.yaml

@@ -24,7 +24,7 @@ omnidirectional_controller:
     publish_rate: 50.0
     odom_frame_id: odom
     base_frame_id: base_link
-    pose_covariance_diagonal : [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
+    pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
     twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.01]
     odom_numeric_integration_method: runge_kutta2
 

robotino_simulation/include/robotino_simulation/robotino_driver.hpp

@@ -1,3 +1,5 @@
+// Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
+
 #ifndef ROBOTINO_DRIVER_WEBOTS_PLUGIN_HPP
 #define ROBOTINO_DRIVER_WEBOTS_PLUGIN_HPP
 

robotino_simulation/launch/robotino_cluster.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/launch/robotino_controller.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/launch/robotino_simulation.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/launch/robotinocluster_simulation.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/launch/webots_cluster.launch.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/robotino_simulation/__init__.py

@@ -0,0 +1 @@
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.

robotino_simulation/robotino_simulation/extract_rosbag_data.py

@@ -1,51 +1,49 @@
 #!/usr/bin/python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
+from decimal import Decimal
 
+import matplotlib.pyplot as plt
+import pandas as pd
 import rclpy
-from rclpy.node import Node
-from nav_msgs.msg import Path
-from tf2_msgs.msg import TFMessage
 from rcl_interfaces.msg import Log
-from decimal import Decimal
-from builtin_interfaces.msg import Time
-import pandas as pd
-import matplotlib.pyplot as plt
+from rclpy.node import Node
 from tf2_ros import TransformException
 from tf2_ros.buffer import Buffer
 from tf2_ros.transform_listener import TransformListener
-from PIL import Image
+
 
 class DataExtractorNode(Node):
     def __init__(self):
-        super().__init__('data_extractor')
+        super().__init__("data_extractor")
         self.declare_parameter("namespace", "robotinobase1")
         self.namespace = self.get_parameter("namespace").get_parameter_value().string_value
         self.goal_start_time = None
         self.goal_end_time = None
 
         # Subscribe to rosout topic
-        self.rosout_sub = self.create_subscription(Log, '/rosbag_rosout', self.rosout_callback, 10)
+        self.rosout_sub = self.create_subscription(Log, "/rosbag_rosout", self.rosout_callback, 10)
 
         # Subscribe to namespace plan topic
-        #self.plan_sub = self.create_subscription(Path, self.namespace+'/plan', self.plan_callback, 10)
+        # self.plan_sub = self.create_subscription(Path, self.namespace+'/plan', self.plan_callback, 10)
 
         # Call on_timer function every second
         self.timer = self.create_timer(0.1, self.on_timer)
 
         # Declare and acquire `target_frame` parameter
-        self.target_frame = self.namespace +'/base_link'
+        self.target_frame = self.namespace + "/base_link"
         self.tf_buffer = Buffer()
         self.tf_listener = TransformListener(self.tf_buffer, self)
 
         # Define the lookup table for the poses
         self.machine_pose = {
             "C-BS-I": (5.50, 2.50, 90),
             "C-BS-O": (5.50, 4.50, 270),
-            "C-RS2-I": (3.50, 5.50,180),
-            "C-RS2-O": (5.50, 5.50,0),
-            "C-CS1-I": (0.50, 5.50,180),
-            "C-CS1-O": (2.50, 5.50,0),
-            "C-CS2-I": (0.50, 1.50,180),
-            "C-CS2-O": (2.50, 1.50,0),
+            "C-RS2-I": (3.50, 5.50, 180),
+            "C-RS2-O": (5.50, 5.50, 0),
+            "C-CS1-I": (0.50, 5.50, 180),
+            "C-CS1-O": (2.50, 5.50, 0),
+            "C-CS2-I": (0.50, 1.50, 180),
+            "C-CS2-O": (2.50, 1.50, 0),
             "C-DS-I": (0.50, 0.50, 180),
             "C-DS-O": (2.50, 0.50, 0),
             "C-RS1-I": (1.50, 4.50, 270),
@@ -54,12 +52,12 @@ def __init__(self):
             "C-SS-O": (4.50, 3.50, 270),
             "M-BS-I": (-5.50, 2.50, 90),
             "M-BS-O": (-5.50, 4.50, 270),
-            "M-RS2-I": (-3.50, 5.50,0),
-            "M-RS2-O": (-5.50, 5.50,180),
-            "M-CS1-I": (-0.50, 5.50,0),
-            "M-CS1-O": (-2.50, 5.50,180),
-            "M-CS2-I": (-0.50, 1.50,0),
-            "M-CS2-O": (-2.50, 1.50,180),
+            "M-RS2-I": (-3.50, 5.50, 0),
+            "M-RS2-O": (-5.50, 5.50, 180),
+            "M-CS1-I": (-0.50, 5.50, 0),
+            "M-CS1-O": (-2.50, 5.50, 180),
+            "M-CS2-I": (-0.50, 1.50, 0),
+            "M-CS2-O": (-2.50, 1.50, 180),
             "M-DS-I": (-0.50, 0.50, 0),
             "M-DS-O": (-2.50, 0.50, 180),
             "M-RS1-I": (-1.50, 4.50, 270),
@@ -68,7 +66,17 @@ def __init__(self):
             "M-SS-O": (-4.50, 3.50, 270),
         }
 
-        self.columns = ["pose_start_x", "pose_start_y", "pose_end_x", "pose_end_y", "machine_start", "machine_end", "time_start", "time_end", "time_diff"]
+        self.columns = [
+            "pose_start_x",
+            "pose_start_y",
+            "pose_end_x",
+            "pose_end_y",
+            "machine_start",
+            "machine_end",
+            "time_start",
+            "time_end",
+            "time_diff",
+        ]
         self.table = pd.DataFrame(columns=self.columns)
 
         self.columns_ = ["pose_x", "pose_y"]
@@ -85,7 +93,7 @@ def __init__(self):
         self.record_data = False
 
     def rosout_callback(self, msg):
-        if msg.name == self.namespace + '.bt_navigator':
+        if msg.name == self.namespace + ".bt_navigator":
             if self.msg_check(msg.msg, "Begin navigating"):
                 self.goal_start_time = self.get_time(msg)
                 self.pose_data = self.machine_pose_check(msg.msg)
@@ -98,14 +106,14 @@ def rosout_callback(self, msg):
                     "pose_end_y": [self.pose_data[3]],
                     "machine_start": [self.machine_start],
                     "machine_end": [self.machine_end],
-                    "time_start": [self.goal_start_time]
+                    "time_start": [self.goal_start_time],
                 }
                 self.table = pd.concat([self.table, pd.DataFrame(data_row)], ignore_index=True)
 
             if msg.msg == "Goal succeeded":
                 self.goal_end_time = self.get_time(msg)
                 self.table.at[self.counter, "time_end"] = self.goal_end_time
-                #self.table.at[self.counter, "time_diff"] = self.goal_end_time - self.goal_start_time
+                # self.table.at[self.counter, "time_diff"] = self.goal_end_time - self.goal_start_time
                 self.machine_start = self.machine_end
                 self.counter += 1
                 if self.counter in [1, 5, 9, 13, 17]:
@@ -117,10 +125,9 @@ def rosout_callback(self, msg):
                 #     self.table.to_csv(self.namespace+"_pose_data.csv", index=False)
                 #     self.get_logger().info(f'Pose data saved, check rosbag status and shutdown the node')
 
-
     def msg_check(self, message, check):
         words = message.split()
-        first_two = ' '.join(words[:2])
+        first_two = " ".join(words[:2])
         return first_two == check
 
     def machine_pose_check(self, message):
@@ -132,7 +139,7 @@ def machine_pose_check(self, message):
         for key, value in self.machine_pose.items():
             if end_pose_x == value[0] and end_pose_y == value[1]:
                 machine_end = key
-                self.get_logger().info(f'machine end: {machine_end}')
+                self.get_logger().info(f"machine end: {machine_end}")
                 return [start_pose_x, start_pose_y, end_pose_x, end_pose_y, machine_end]
 
     def get_time(self, msg):
@@ -141,47 +148,44 @@ def get_time(self, msg):
     def on_timer(self):
         if self.record_data:
             try:
-                t = self.tf_buffer.lookup_transform('map', self.target_frame, rclpy.time.Time())
+                t = self.tf_buffer.lookup_transform("map", self.target_frame, rclpy.time.Time())
 
             except TransformException as ex:
-                self.get_logger().info(
-                    f'Could not transform {self.target_frame} to map: {ex}')
+                self.get_logger().info(f"Could not transform {self.target_frame} to map: {ex}")
                 return
             self.robot_pose_x.append(t.transform.translation.x)
             self.robot_pose_y.append(t.transform.translation.y)
 
-            data_row = {
-                    "pose_x": [t.transform.translation.x],
-                    "pose_y": [t.transform.translation.y]
-                }
+            data_row = {"pose_x": [t.transform.translation.x], "pose_y": [t.transform.translation.y]}
             self.table_ = pd.concat([self.table_, pd.DataFrame(data_row)], ignore_index=True)
 
-
         if self.plot_data:
             quo, rem = divmod(self.counter, 4)
 
             plt.figure(quo)
 
             plt.clf()
-            plt.plot(self.robot_pose_x, self.robot_pose_y,'-b')
-            plt.xlabel('X_Position')
-            plt.ylabel('Y_Position')
-            plt.title(self.namespace+'_iteration'+str(quo)+'_followed_Path')
+            plt.plot(self.robot_pose_x, self.robot_pose_y, "-b")
+            plt.xlabel("X_Position")
+            plt.ylabel("Y_Position")
+            plt.title(self.namespace + "_iteration" + str(quo) + "_followed_Path")
             plt.grid(True)
             plt.xlim(-6, 6)
             plt.ylim(0, 6)
-            plt.gca().set_aspect('equal')
+            plt.gca().set_aspect("equal")
 
-            plt.text(self.robot_pose_x[0], self.robot_pose_y[0], 'Start', fontsize=12, color='green', ha='right')
-            plt.text(self.robot_pose_x[-1], self.robot_pose_y[-1], 'End', fontsize=12, color='red', ha='right')
+            plt.text(self.robot_pose_x[0], self.robot_pose_y[0], "Start", fontsize=12, color="green", ha="right")
+            plt.text(self.robot_pose_x[-1], self.robot_pose_y[-1], "End", fontsize=12, color="red", ha="right")
 
-            plt.savefig(self.namespace+'_iteration'+str(quo)+'_followed_path'+'.png')  # Save the plot as PNG file
-            self.table_.to_csv(self.namespace+'_iteration'+str(quo)+'_pose_data.csv', index=False)
+            plt.savefig(
+                self.namespace + "_iteration" + str(quo) + "_followed_path" + ".png"
+            )  # Save the plot as PNG file
+            self.table_.to_csv(self.namespace + "_iteration" + str(quo) + "_pose_data.csv", index=False)
 
             self.columns_ = ["pose_x", "pose_y"]
             self.table_ = pd.DataFrame(columns=self.columns_)
 
-            self.get_logger().info(f'Plotting followed path data for iteration {quo}')
+            self.get_logger().info(f"Plotting followed path data for iteration {quo}")
 
             plt.close()
 
@@ -221,16 +225,18 @@ def on_timer(self):
     #             self.plan_pose_x = []
     #             self.plan_pose_y = []
 
+
 def main(args=None):
     rclpy.init(args=args)
     node = DataExtractorNode()
     try:
-        node.get_logger().info('Beginning data extraction node, shut down with CTRL-C')
+        node.get_logger().info("Beginning data extraction node, shut down with CTRL-C")
         rclpy.spin(node)
     except KeyboardInterrupt:
-        node.get_logger().info('Keyboard interrupt, shutting down.\n')
+        node.get_logger().info("Keyboard interrupt, shutting down.\n")
     node.destroy_node()
     rclpy.shutdown()
 
-if __name__ == '__main__':
+
+if __name__ == "__main__":
     main()

robotino_simulation/robotino_simulation/mps_publisher.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/robotino_simulation/robotino_driver_plugin.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/robotino_simulation/robotinobase1_driver_plugin.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/robotino_simulation/robotinobase2_driver_plugin.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse

robotino_simulation/robotino_simulation/robotinobase3_driver_plugin.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+# Licensed under GPLv2. See LICENSE file. Copyright Carologistics.
 # Author: Saurabh Borse([email protected])
 #  MIT License
 #  Copyright (c) 2023 Saurabh Borse