Added Code extentions recommendations

.github/workflows/ros-docker-image.yaml

@@ -4,23 +4,23 @@ on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: 'Is it a "development" or a "stable" release?'
         required: true
-        default: 'development'
+        default: "development"
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: 'In case of "stable" release specify the ROS distro of the existing docker image (eg. humble)'
         type: string
         default: "ardent"
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: 'In case of "stable" release specify the version of the existing docker image (eg. 1.0.12)'
         type: string
         default: "0.0.0"
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: 'In case of "stable" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)'
         type: string
         default: "20131206"
   repository_dispatch:
@@ -36,7 +36,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-
         include:
           - dockerfile: Dockerfile.hardware
             repo_name: ""
@@ -56,15 +55,14 @@ jobs:
             ros_distro: "iron"
 
     steps:
-
       - name: Checkout
         uses: actions/checkout@v2
 
       - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
         uses: husarion-ci/[email protected]
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: ros2
           dockerfile: ${{ matrix.dockerfile }}
           repo_name: ${{ matrix.repo_name }}

.github/workflows/vulcanexus-docker-image.yaml

@@ -4,23 +4,23 @@ on:
   workflow_dispatch:
     inputs:
       build_type:
-        description: "Is it a \"development\" or a \"stable\" release?"
+        description: 'Is it a "development" or a "stable" release?'
         required: true
-        default: 'development'
+        default: "development"
         type: choice
         options:
           - development
           - stable
       target_distro:
-        description: "In case of \"stable\" release specify the ROS distro of the existing docker image (eg. humble)"
+        description: 'In case of "stable" release specify the ROS distro of the existing docker image (eg. humble)'
         type: string
         default: "ardent"
       target_release:
-        description: "In case of \"stable\" release specify the version of the existing docker image (eg. 1.0.12)"
+        description: 'In case of "stable" release specify the version of the existing docker image (eg. 1.0.12)'
         type: string
         default: "0.0.0"
       target_date:
-        description: "In case of \"stable\" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)"
+        description: 'In case of "stable" release specify the date of the existing docker image in format YYYYMMDD (eg. 20220124)'
         type: string
         default: "20131206"
   repository_dispatch:
@@ -36,7 +36,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-
         include:
           - dockerfile: Dockerfile.hardware
             repo_name: ""
@@ -48,15 +47,14 @@ jobs:
             ros_distro: "humble"
 
     steps:
-
       - name: Checkout
         uses: actions/checkout@v2
 
       - name: ${{ matrix.dockerfile }} | ${{ matrix.ros_distro }} | Build
         uses: husarion-ci/[email protected]
         with:
           dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token:  ${{ secrets.DOCKERHUB_TOKEN }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
           main_branch_name: ros2
           dockerfile: ${{ matrix.dockerfile }}
           repo_name: ${{ matrix.repo_name }}

.gitignore

@@ -1 +1 @@
-rosbot_ros/
+rosbot_ros/

.vscode/extensions.json

@@ -0,0 +1,6 @@
+{
+    "recommendations": [
+        "redhat.vscode-yaml",
+        "shardulm94.trailing-spaces"
+    ]
+}

.vscode/settings.json

@@ -0,0 +1,6 @@
+{
+    "files.insertFinalNewline": true,
+    "files.associations": {
+        "*.yaml": "yaml"
+    }
+}

Dockerfile.simulation

@@ -49,4 +49,4 @@ RUN MYDISTRO=${PREFIX:-ros}; MYDISTRO=${MYDISTRO//-/} && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt
+RUN echo $(cat /ros2_ws/src/rosbot_gazebo/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt

README.md

@@ -38,7 +38,7 @@ In *docker-compose.yaml* you have to change `device` passed to docker. For more
 docker run \
 --rm -it --privileged \
 husarion/rosbot:humble \
-print-serial-number.py 
+print-serial-number.py
 ```
 
 ## ROS node

demo/README.md

@@ -43,4 +43,4 @@ and run inside `teleop_twist_keyboard` to drive the ROSbot
 ros2 run teleop_twist_keyboard teleop_twist_keyboard
 ```
 
-With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.
+With keys `i`, `j`, `l`, `,` you can drive forward, counter clockwise, clockwise and backwards. If you are using macanum wheels (see `demo/.env` file) hold `Shift` key that way the ROSbot goes left and right with `j` and `l` keys instead rotates.

demo/compose.simulation.yaml

@@ -1,28 +1,25 @@
-x-net-config:
-  &net-config
+x-net-config: &net-config
   network_mode: host
   ipc: host
   env_file: net.env
 
-x-gpu-config:
-  &gpu-config
+x-gpu-config: &gpu-config
   runtime: nvidia
   environment:
     - DISPLAY=${DISPLAY:?err}
     - NVIDIA_VISIBLE_DEVICES=all
     - NVIDIA_DRIVER_CAPABILITIES=all
 
-x-cpu-config:
-  &cpu-config
+x-cpu-config: &cpu-config
   environment:
     - DISPLAY=${DISPLAY:?err}
     - LIBGL_ALWAYS_SOFTWARE=1
 
 services:
   rosbot:
     image: husarion/rosbot-gazebo:humble
-    <<: [ *net-config, *gpu-config]
+    <<: [*net-config, *gpu-config]
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /dev:/dev
-    command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}
+    command: ros2 launch rosbot_gazebo simulation.launch.py mecanum:=${MECANUM:-False}

demo/compose.yaml

@@ -1,25 +1,22 @@
-x-net-config:
-  &net-config
+x-net-config: &net-config
   network_mode: host
   ipc: host
   env_file: net.env
 
 services:
-
   rosbot:
     image: husarion/rosbot:humble
     <<: *net-config
     environment:
       - ROS_DOMAIN_ID
     command: ros2 launch rosbot_bringup bringup.launch.py mecanum:=${MECANUM:-False}
 
-
   micro-xrce-agent:
     image: husarion/micro-xrce-agent:v2.4.1
     <<: *net-config
     devices:
       - ${SERIAL_PORT:?err}
     environment:
-      - XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID}  # ***
+      - XRCE_DOMAIN_ID_OVERRIDE=${ROS_DOMAIN_ID} # ***
       - SERIAL_PORT
     command: MicroXRCEAgent serial -D $SERIAL_PORT serial -b 576000 # -v6

demo/net.env

@@ -14,4 +14,4 @@ RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
 # 4. Cyclone DDS + VPN
 # RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml
+# CYCLONEDDS_URI=file:///husarnet-cyclonedds.xml

flash-firmware.py

@@ -120,4 +120,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
+    main()

print-serial-number.py

@@ -48,19 +48,19 @@ def hex_to_num(self, hex_str):
         # Check if the hex string is valid
         if not all(c in string.hexdigits for c in hex_str):
             raise ValueError("Invalid hex string")
-    
+
         # Convert the hex string to bytes
         try:
             hex_bytes = bytes.fromhex(hex_str)
         except ValueError:
             raise ValueError("Invalid hex string")
-    
+
         # Compute the SHA-256 hash of the hex bytes
         hash = hashlib.sha256(hex_bytes).hexdigest()
-    
+
         # Truncate the hash to 6 characters
         hash = hash[:6]
-    
+
         # Return the hash as an ASCII string
         return hash
 
@@ -103,7 +103,7 @@ def generate(self):
             print()
 
         # Close the serial port
-        ser.close()    
+        ser.close()
         return result
 
 
@@ -129,8 +129,3 @@ def main():
 
 if __name__ == "__main__":
     main()
-
-
-
-
-

read_cpu_id/platformio.ini

@@ -20,8 +20,8 @@ upload_protocol = stlink
 
 monitor_speed = 460800
 
-build_flags = 
+build_flags =
     -D SERIAL_UART_INSTANCE=1
     -D TARGET_STM32F4
 
-debug_tool = stlink
+debug_tool = stlink

read_cpu_id/src/main.cpp

@@ -27,5 +27,3 @@ void loop()
   // Wait for a second before printing again
   delay(1000);
 }
-
-

sync_with_rosbot.sh

@@ -7,4 +7,4 @@ sshpass -p "husarion" rsync -vRr ./ husarion@$1:/home/husarion/${PWD##*/}
 
 while inotifywait -r -e modify,create,delete,move ./ ; do
     sshpass -p "husarion" rsync -vRr ./ husarion@$1:/home/husarion/${PWD##*/}
-done
+done